A femtosecond laser surgical robot control system and method

Abstract

The present invention relates to a control system and method for a femtosecond laser surgical robot, wherein the control method comprises: logging into an operator's personal information account; verifying the personal identity information of the current operator; deploying the spatial position relationship of each surgical control or execution element according to the determined personal identity information of the operator; confirming the communication status between a master hand handle and any slave hand coupled thereto; the operator controls and switches the operation of the master hand handle and / or the slave hand to perform the operation; in response to a braking signal related to the master hand handle and / or the slave hand, cutting off the communication of the surgical robot to end the operation, wherein deploying the spatial position relationship of each surgical control or execution element according to the determined personal identity information of the operator comprises: based on the instrument type of any two slave hands currently coupled to two different master hands, selecting a motion scheme corresponding to the current instrument type to specify the activity range and / or spacing of the current two slave hands.

Description

Technical Field

[0001] The present invention relates to the technical field of femtosecond laser surgical equipment, and in particular to a femtosecond laser surgical robot control system and method. Background Art

[0002] Femtosecond laser is a laser with an extremely short pulse width, which generally lasts only 10-100fs. It is the shortest pulse that can be obtained with the current technology. Due to the characteristics of short pulse width, extremely high pulse peak power and extremely wide spectrum coverage, femtosecond laser is widely used in physics, biology, chemistry and other fields. In the past few decades, the most widely used application of femtosecond laser in the medical field is ophthalmic surgery. In view of some substantial needs of oral surgery, the application of femtosecond laser for oral surgery is also a general trend. However, many oral surgical robots on the market are still in their infancy, and generally have problems such as inconvenient operation or imperfect functions. In order to realize the convenient control of surgical robots, the existing technology provides a variety of surgical robot consoles, such as,

[0003] CN113100971A discloses a femtosecond laser oral surgery robot console, comprising a main console, a sub-console and a high-definition display screen, which are arranged in a surround manner, and are all equipped with pulleys at the bottom to enable flexible movement, so as to facilitate the operation or observation of the surgeon. The three parts have separate functions and cooperate with each other, wherein the main console realizes the main surgical functions, and the surgeon uses a pedal mechanism to cooperate with an active manipulator to precisely control a slave manipulator to ensure the smooth progress of the surgical plan, and the sub-console provides functions such as changes in the field of view and angle, real-time monitoring of the patient's physiological state, and monitoring by experts outside the surgery, and the high-definition display screen can observe the real-time status of the surgery from multiple angles, and can collaborate on multiple screens to provide collaborative consultation on multiple platforms. Compared with the prior art, the console of the present invention has comprehensive functions, simple structure, and convenient operation, and can improve the surgeon's surgical comfort, reduce the surgeon's workload, and improve surgical efficiency.

[0004] However, the main problem of this patent is that the main console and the auxiliary console are set up separately, which increases the duty cycle, and the split design requires the doctor to frequently switch between the main console and the auxiliary console, which easily leads to the doctor's flustered operation, thereby reducing work efficiency and increasing the risk of accidents. If additional people are deployed to operate the main console and the auxiliary console respectively, additional personnel will be occupied, which is extremely disadvantageous during surgery, especially when manpower turnover is difficult; secondly, this patent configures the handbrake on the auxiliary console, and in the process of doctors frequently using both hands to operate the corresponding surgical instruments to perform the operation, once encountering an emergency, they need to The handbrake on the side of the sub-console is pulled to terminate the surgical process. For minimally invasive oral surgery, extremely small delays or errors will cause great danger to the patient's oral cavity and personal safety, especially since the operating environment of oral surgery is very narrow. Therefore, the certain delay time caused by pulling the handbrake at the sub-console position is prone to cause accidents. In addition, for very dangerous surgical devices such as femtosecond laser cutters, there is no special brake unit for this purpose. Since femtosecond lasers have huge energy, the use of femtosecond laser cutters is particularly cautious, and the response rate of femtosecond laser cutters is required to be very fast to avoid surgical accidents. Therefore, the prior art still has at least one or more technical problems that need to be solved urgently.

[0005] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a femtosecond laser surgical robot control system and method, aiming to solve at least one or more technical problems existing in the prior art.

[0007] To achieve the above object, the present invention provides a femtosecond laser surgical robot control method, the method at least comprising:

[0008] Log in to the operator's personal information account;

[0009] Verify the personal identification information of the current operator;

[0010] Deploy the spatial position relationship of each surgical control or execution element according to the determined personal identification information of the operator;

[0011] Confirm the communication status between the master handle and any slave handle coupled thereto;

[0012] The operator controls and switches the operation of the master hand handle and / or the slave hand to perform the surgery;

[0013] In response to a brake signal associated with the master hand handle and / or the slave hand, the communication of the surgical robot is cut off to end the surgery,

[0014] The spatial position relationship of each surgical control or execution element is deployed according to the determined personal identity information of the operator, including:

[0015] According to the instrument type of any two slave hands currently coupled to two different master hands, a motion scheme corresponding to the current instrument type is selected to specify the activity range and / or spacing of the current two slave hands. For minimally invasive oral surgery, which has extremely strict requirements on operation accuracy, the inherent activity space of surgical devices in the oral cavity is very limited. If the movement mode or movement path of the surgical devices is not strictly controlled, it is very easy to cause physical and functional interference between multiple surgical devices. Physical interference, such as mutual collision, not only easily causes damage to the surgical devices, but also the broken parts will cause serious damage to the patient's oral cavity. In the present invention, when the operator drives different slave hand surgical devices to perform corresponding surgical operations, the pre-configured motion scheme corresponding to the current slave hand type will be called from the system database according to the specific slave hand device type to plan or limit the movement space of any slave hand inside the patient's oral cavity, thereby preventing the physical or functional interference between the slave hands when they move, affecting the implementation of the operation and even causing personal injury. Secondly, for some operators who are not proficient in the operation of instruments and equipment, it can objectively and passively limit their control range or space of the surgical devices of the slave hands. On the one hand, it can not only reduce the probability of surgical accidents, but also, referring to the performance status of the activity space and / or spacing presented by each other during the movement of the slave hands, it is helpful for them to learn or supplement the knowledge of surgical operation specifications and equipment use specifications. Especially for some practitioners who lack experience in large-scale operations, it can help or guide them to perform safe operations in a reasonable operating space. In addition, when operators who lack experience or are unskilled in the operation of instruments and equipment need to use the oral surgery robot to perform corresponding surgical simulations or experiments, they can also call the configuration schemes of other operators through the console of the present invention to learn or draw lessons from the movement of the corresponding type of slave hands during the surgical operation.

[0016] Preferably, the present invention provides a femtosecond laser surgical robot control system, the control system at least comprising:

[0017] The touch control unit is used for operator account login and identity verification, and controls the communication status and operation between the master handle and any slave handle coupled thereto;

[0018] A master hand operating unit, used to manipulate or control at least one slave hand coupled thereto based on command actuation;

[0019] In which, when the operator controls the movement of the master hand operating part and at least one slave hand coupled thereto through the touch control part, the activity space and / or spacing of any two slave hands coupled to different master hands is determined at least according to the instrument type of the slave hand.

[0020] Preferably, when the operator controls the movement of any two slave hands that are respectively coupled to different master hand operating parts through the touch control unit, the system allows the movement rate of at least one of the slave hands to change in view of the reduction or increase in the distance between it and the other slave hand. In the process of the operator controlling the movement of the slave hand surgical device, the system will limit / adjust the movement rate of the currently moving slave hand according to the distance between the adjacent slave hands, especially to avoid unexpected overspeed movement and collision of the surgical device, so as to reduce the probability of physical or functional mutual interference between adjacent surgical devices near the patient's oral surgical area, thereby preventing the physical collision or functional interference from causing harm to the patient's oral safety and personal safety, especially for minimally invasive surgery, which has extremely strict requirements on surgical accuracy.

[0021] Preferably, the activity space and / or spacing of any two slave hands coupled to different master hands is determined at least according to the type of the device of the slave hands, including:

[0022] Any slave hand has a risk level corresponding to its own instrument type, and the activity space and / or spacing between any two slave hands changes linearly / non-linearly based on the cumulative degree of the risk levels corresponding to any two slave hands. Different types of slave hand devices have different degrees of risk or damage levels due to their respective properties. In the present invention, slave hands are divided according to the risk levels corresponding to their specific types, which helps the operator or doctor to configure the corresponding surgical plan in advance and plan and control the movement of the corresponding slave hand, so as to strictly control the operation of each surgical device during minimally invasive oral surgery, control the spatial position between each other, thereby reducing damage to devices, equipment and systems, while reducing the probability of surgical accidents, and improving the efficiency and effectiveness of the operation. At the same time, different types of surgical instruments are divided into different activity spaces and spacings according to the situation to improve the accuracy of the operation and control of different surgical devices, thereby preventing improper use of surgical devices from causing unexpected instrument damage or personal danger.

[0023] Preferably, the control system further comprises:

[0024] An arm support frame, which is movably coupled to the main hand operating part and is used to support the operator's arm;

[0025] An image display unit, used for displaying the image of the surgical area inside the patient's oral cavity in real time;

[0026] A mechanical driving arm has an image display unit coupled to its end, and the mechanical driving arm is composed of a plurality of independently drivable mechanical shafts coupled together, so that the mechanical driving arm can at least drive the image display unit to complete movement in at least three degrees of freedom according to the driving instructions of the touch control unit.

[0027] Preferably, the touch control unit includes:

[0028] A first movable rod and a second movable rod that are movably coupled to each other;

[0029] and a display touch screen for providing a process control function, wherein the display touch screen is coupled to the second moving rod and is coupled to the console through the first moving rod.

[0030] Preferably, the master hand operating part comprises a first master hand arranged at a first end of the console table, and a second master hand arranged at a second end, wherein:

[0031] The first master hand and / or the second master hand are configured in such a way that their central axes deviate from the edge of the table top to a preset angle.

[0032] Preferably, the first master hand and the second master hand are each coupled with at least one slave hand, and the at least one slave hand comprises surgical forceps, a femtosecond laser cutter and / or an endoscope, wherein:

[0033] At least one slave hand coupled to and driven by the first master hand includes at least one surgical forceps;

[0034] At least one slave hand coupled to and driven by the second master hand includes a femtosecond laser cutter and an endoscope;

[0035] And at least one slave hand is coupled to the corresponding slave hand mechanical arm as an end effector.

[0036] Preferably, the arm support frame is coupled to the main hand operating part and the console table in a manner that it can rotate within the plane of the console, wherein the arm support frame comprises:

[0037] A first bracket and a second bracket are coupled to each other, and ends of the first bracket and the second bracket facing away from each other are respectively coupled to the main hand operation part and the console table.

[0038] in,

[0039] The second bracket is at least partially configured as a groove for receiving and supporting the operator's arm.

[0040] Preferably, the control system further comprises:

[0041] A brake clutch, which can be used to perform an intrinsically safe brake for cutting off an intrinsically safe operation and a safety brake for cutting off an intrinsically safe operation.

[0042] A central control unit, which can switch the on / off position of at least one brake clutch part according to the state of at least one brake clutch part and / or the state of at least one master hand operating part,

[0043] in,

[0044] The safety brake part in the brake clutch part is configured to have at least one neutral position in addition to the on position and the off position, wherein the safety brake part switches between the on position, the off position and at least one neutral position based on the corresponding state determined by the central control unit, wherein the safety brake part in at least one neutral position performs a cut-off operation involving a dangerous operation different from that in the off position.

[0045] Preferably, the intrinsically safe braking part in the brake clutch part is configured to have at least one neutral position in addition to the on position and the off position, wherein the intrinsically safe braking part can be switched between the on position, the off position and at least one neutral position based on an external force operation, wherein the intrinsically safe braking part is switched to at least one neutral position based on an external force operation different from switching to the off position, so that the intrinsically safe braking part performs a cut-off operation involving an intrinsically safe operation different from the off position.

[0046] Preferably, the central control unit can switch the corresponding intrinsically safe braking part of the brake clutch part to a neutral position in which the intrinsically safe braking part is in a first activation state in response to at least one master hand operating part switching from a first operation not involving laser operation to a second operation involving laser operation or in response to at least one master hand operating part performing a second operation involving laser operation, and / or switch the corresponding safety braking part of the brake clutch part to a neutral position in which the safety braking part is in a second activation state, wherein,

[0047] When the corresponding intrinsically safe brake part is in the neutral position of the first activation state, the intrinsically safe brake part is in the ready-to-be-activated state.

[0048] When the corresponding safety brake component is in the neutral position of the second activation state, the safety brake component is in the standby activation state.

[0049] The present invention creatively divides the brake clutch part into an intrinsically safe brake part and a safety brake part, wherein the intrinsically safe brake part that can be used to execute the cut-off involving intrinsically safe operations and the safety brake part that is used to execute the cut-off involving dangerous operations respectively have at least one neutral position. In this neutral position, the central control unit of the system will record the position, stroke and posture of each moving part with higher frequency and accuracy, so that when the operator steps on the corresponding pedal with a significantly higher acceleration or a significantly deeper stepping depth in this neutral position, the intrinsically safe brake part can brake the master hand operating part coupled to the slave hand (such as a grasping robot) while recording the current stroke position and / or posture, thereby significantly reducing the restart time after stopping, so as to reduce or avoid ineffective waiting of patients on the operating table.

[0050] In addition, especially when the safety brake is in the neutral position, the central control unit of the system will be fully prepared for the emergency stop of the femtosecond laser in terms of electricity, such as disconnecting electrical components that are not related to the current surgical operation in the circuit to avoid the current shock caused by the emergency stop. This is because the femtosecond laser cutter is a component with extremely high instantaneous power. If the discharge bypass (such as a pressure relief channel with a tail diode) is not pre-connected during the instantaneous emergency stop, there will be a risk of instantaneous breakdown of certain electrical components. For example, replacing a fuse requires a ten-minute surgical pause, which introduces unnecessary surgical risks and infection risks (such as caused by the entry of equipment maintenance personnel). In addition, the central control unit of the system will pre-disconnect electrical components that are not related to the current surgical operation, which also helps to reduce circuit inertia and shorten the circuit-breaking time to a minimum. For high-risk operations such as femtosecond laser surgery, its safety is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is one of the assembly schematic diagrams of a femtosecond laser surgical robot control system according to a preferred embodiment of the present invention;

[0052] Figure 2 This is the second assembly schematic diagram of a femtosecond laser surgical robot control system according to a preferred embodiment of the present invention;

[0053] Figure 3 This is a control flow chart of a femtosecond laser surgical robot control system according to a preferred embodiment of the present invention;

[0054] Figure 4 is a structural schematic diagram of a support frame according to a preferred embodiment of the present invention;

[0055] Figure 5 It is a schematic structural diagram of a touch control unit according to a preferred embodiment of the present invention.

[0056] Reference numerals list

[0057] 10: image display unit; 20: mechanical drive arm; 30: touch control unit; 40: master hand operation unit; 50: arm support frame; 60: brake clutch unit; 301: display touch screen; 302: first moving rod; 303: second moving rod; 501: first bracket; 502: second bracket; 601: first master hand communication brake pedal; 602: second master hand communication brake pedal; 603: laser cutter brake pedal; 604: emergency brake pedal. DETAILED DESCRIPTION

[0058] The following is a detailed description with reference to the accompanying drawings.

[0059] The present invention provides a femtosecond laser surgical robot control system, such as Figure 1 As shown, it may include one of the following components:

[0060] The image display unit 10 is used to display the surgical area image inside the patient's oral cavity in real time, and is arranged on the console table;

[0061] A mechanical driving arm 20 is arranged on one side of the console table, and the end of the mechanical driving arm 20 is coupled to the image display unit 10. The mechanical driving arm 20 is used to drive the image display unit 10 to move so as to change its spatial position;

[0062] A touch control unit 30 is disposed on the console table and is communicatively coupled with the mechanical drive arm 20 so as to change the spatial position of the image display unit 10 by controlling the operation of the mechanical drive arm 20;

[0063] A master hand operating part 40, which is disposed on the console table and may be composed of two master hand handles symmetrically distributed about the console table, and the master hand operating part 40 is used to manipulate or drive at least one slave hand coupled thereto;

[0064] An arm support frame 50, which is movably coupled to the main hand operating part 40 and the console tabletop so as to be able to rotate around the main hand operating part 40 in the plane where the console tabletop is located, and the arm support frame 50 is mainly used to support the operator's arm;

[0065] The brake clutch unit 60 is disposed at the bottom of the control console and is used to provide the functions of signal cutoff between the master and slave hands and emergency stop of the entire system.

[0066] According to a preferred embodiment, Figure 1 and Figure 2As shown, a mechanical drive arm 20 composed of a plurality of coupled mechanical shafts is provided at one end of the console table, and an image display unit 10 is coupled to the end of the mechanical drive arm 20. The image display unit 10, as the operator's main visual interface, can display the real-time surgical area image captured by the endoscope. Furthermore, the mechanical shafts are movably connected, such as hinged, and each mechanical shaft can be driven independently. Thus, by driving each mechanical shaft of the mechanical drive arm 20, the image display unit 10 can be controlled to move in the horizontal and vertical directions, for example, the image display unit 10 can be moved up and down, left and right, and front and back, so as to adjust the relative position relationship between the image display unit 10 and the operator, so as to be suitable for the operator's personal usage habits and visual behavior habits.

[0067] According to a preferred embodiment, Figure 5 As shown, the touch control unit 30 is the core control element of the console of the present invention, which can be composed of a first moving rod 302, a second moving rod 303 and a display touch screen 301. Specifically, the display touch screen 301 is connected to the console table through the first moving rod 302 and the second moving rod 303 that are coupled and movable.

[0068] According to a preferred embodiment, Figure 1 and Figure 2 As shown, a storage slot matching the shape of the display touch screen 301 is arranged in the middle of the console table. When the surgical console is in standby mode, the display touch screen 301 can be stored in the storage slot by adjusting the first movable rod 302 and the second movable rod 303; and when performing minimally invasive oral surgery through the console, the operator can adjust the relative position relationship between the display touch screen 301 and itself through the first movable rod 302 and the second movable rod 303.

[0069] According to a preferred embodiment, Figure 1 and Figure 2 As shown, the main hand operating part 40 may include two main hand handles symmetrically distributed about the console table. Preferably, the main hand handles used may be Touch handles. In particular, when the operator places his arms on the console table in a natural state, the arms of both hands are not perpendicular to the edge of the table inside the console table, but are tilted to a certain extent, that is, a certain angle is formed between the arms and the trunk. Therefore, in order to adapt to the natural behavior habits of the operator's arms and better fit the curve of the arms when they are naturally placed and at rest, so as to conform to the ergonomic design, the main hand operating part 40 is tilted and arranged on the table at a certain angle away from the vertical line perpendicular to the edge of the table.

[0070] Further, for ease of understanding, one of the master hand handles arranged at the first end (for example, the left end) of the console table can be defined as the first master hand, and the other master hand handle at the second end (for example, the right end) of the console table can be defined as the second master hand. The first master hand and the second master hand are each coupled with at least one slave hand (not shown in the figure), which is an oral surgical instrument, and each oral surgical instrument is coupled to the corresponding slave hand mechanical arm as an end effector. Specifically, the slave hand coupled to the first master hand and driven by the touch control unit 30 may include two surgical forceps, and the slave hand coupled to the second master hand and driven by the touch control unit 30 may include a femtosecond laser cutter and an endoscope. Preferably, each slave hand can be controlled by a Touch handle coupled to it.

[0071] According to a preferred embodiment, Figure 1 and Figure 2 As shown, an arm support frame 50 is provided at the edge of the console table corresponding to the position of the main hand operating part 40, one end of the arm support frame 50 is coupled to the bottom of the console table, and the other end is coupled to the outside of the main hand operating part 40. Specifically, the arm support frame 50 is coupled to the main hand operating part 40 and the console table in a movable manner to realize its own rotation within the plane where the console table is located.

[0072] Furthermore, if Figure 4 As shown, the arm support frame 50 can be composed of a second support frame 502 that is roughly "L"-shaped and a first support frame 501 that is arranged at the end of the second support frame 502. Furthermore, for example, a hinge can be provided at the connection between the second support frame 502 and the console table, and a slide rail and other components can be provided on the connection surface between the first support frame 501 and the outer periphery of the main hand operating part 40, so that the entire arm support frame 50 can rotate with an axis formed by the connection between the first support frame 501 and the second support frame 502 as the rotation axis. Preferably, the first support frame 501 is composed of a rod body and a seat body having a groove that is at least partially constructed to be recessed inwardly, and the groove of the seat body can be used to accommodate the operator's arm, and the groove can be designed as an arc groove that adapts to the contour of the operator's arm.

[0073] Optionally, the first bracket 501 and the second bracket 502 may be hinged. The first bracket 501, as an arm support, can rotate the operator's arm around the tabletop within a certain plane range based on the movable connection relationship between the second bracket 502 and the console tabletop after being connected to the second bracket 502. The second bracket 502 is movably connected to the first bracket 501, such as hinged, so that when the operator's arm is placed on the first bracket 501, it can rotate within a certain range with the support point of the second bracket 502 as the center. As a result, the operator's arm can move freely and the space for operation is greatly improved, and with the support of the first bracket 501, the fatigue of the doctor during long-term surgical operations is reduced, especially helping him to relax his arms.

[0074] According to a preferred embodiment, Figure 2 As shown, the brake clutch unit 60 may include a first master hand communication brake pedal 601, a second master hand communication brake pedal 602, a laser cutter brake pedal 603, and an emergency brake pedal 604. The brake pedals are arranged in parallel at the bottom of the console in sequence. Furthermore, the first master hand communication brake pedal 601, the second master hand communication brake pedal 602, the laser cutter brake pedal 603, and the emergency brake pedal 604 are arranged in the direction of the doctor.

[0075] According to a preferred embodiment, the first master hand communication brake pedal 601 can be used to cut off the signal communication between the first master hand arranged at one end of the console table and at least one slave hand coupled thereto. The second master hand communication brake pedal 602 can be used to cut off the signal communication between the second master hand which is symmetrical to the first master hand and arranged at the other end of the console table and at least another slave hand coupled thereto. The laser cutter brake pedal 603 can be used to cut off the signal communication between the femtosecond laser cutter and the first master hand or the second master hand coupled thereto. The emergency brake pedal 604 is used to provide an emergency stop function for the entire system.

[0076] In addition, it is preferred that the first master hand communication brake pedal 601 and the second master hand communication brake pedal 602 are arranged on the same side, while the laser cutter brake pedal 603 and the emergency brake pedal 604 are arranged on the other side. In particular, arranging the laser cutter brake pedal 603 and the emergency brake pedal 604 on the same side can reduce the probability of major accidents, because, for example, when the left and right brains drive the left and right torsos to execute different action commands, there will always be corresponding imitation or irresistible action behaviors. For example, it is generally considered impossible to draw a circle with the left hand and a square with the right hand at the same time, because this does not conform to the logical thinking and control habits of the brain. Therefore, when the doctor is busy, when the right foot frequently switches between the pedals, the left foot may produce unexpected involuntary stepping, or when the left foot wants to execute different commands at the same time, there may be a possibility of imitating the action of the right foot. Furthermore, when the laser cutter brake pedal 603 and the emergency brake pedal 604 are arranged on both sides, either the laser cutter brake pedal 603 or the emergency brake pedal 604 may be accidentally stepped on, which will cause great risks. When they are arranged on the same side, it is usually not easy to make mistakes when the brain drives the unilateral leg to perform the corresponding action, and it is preferred to arrange surgical devices with lower risks such as endoscopes on the same side, and more dangerous surgical devices such as femtosecond laser cutters on the other side.

[0077] In addition, the prior art usually uses a handbrake to stop the equipment urgently, but when the doctor is busy, his hands are usually occupied and he cannot perform additional operations at the same time. Sometimes, individual surgical patients even require the doctor to use both hands for a long time to perform frequent operations. At this time, if an emergency occurs and the doctor needs to suspend the operation, the doctor often cannot operate in time. In the present invention, the handbrake is arranged near the operator's feet in the form of a foot pedal, which can fully release the pressure on the doctor's hands and brain. When an emergency occurs, he only needs to step on the corresponding emergency stop pedal to immediately interrupt the operation of the entire console and the corresponding surgical devices, so that the system's response rate to emergencies is more timely, and the doctor can respond to emergencies simply and quickly. The foot pedal method also avoids the doctor's mistaken pulling of the handbrake or accidentally touching other surgical instruments that are in working state when he is in a hurry, which may cause great danger to both the patient and the doctor himself.

[0078] In particular, since femtosecond lasers have extremely high energy, their instantaneous power is as high as one trillion watts, which is several times that of ordinary lasers / rays or other energy bodies. Compared with other devices such as surgical forceps, the damage they cause is often more serious and fatal. Therefore, the use of femtosecond laser cutters should be particularly cautious, especially the need to strictly control their output power and the corresponding output time and / or frequency. The surgical environment of minimally invasive oral surgery is also relatively special, and the internal tissue structure of the oral cavity is also very fragile, containing a large number of extremely important nerves, cells, bones and muscles, etc. Therefore, the control and use of femtosecond laser cutters needs to be given a very high priority. The present invention deliberately controls the communication operation of the femtosecond laser cutter through an independent laser cutter brake pedal 603, thereby increasing the communication cut-off rate of the femtosecond laser cutter to minimize the huge damage that may be caused by the femtosecond laser cutter.

[0079] According to a preferred embodiment, in order to operate the femtosecond laser surgical robot more safely, in the present invention, the brake clutch portion 60 is configured to have an on position, an off position, and at least another intermediate position between or outside the on position and the off position.

[0080] Specifically, the disconnection position is, for example, the spatial position corresponding to the brake pedal being stepped on to the first preset position or producing a preset stroke. In this disconnection state, each master and slave hand is in a non-working state, that is, it is completely separated or disconnected in terms of mechanics and electricity. The connection position is when the corresponding brake pedal is not stepped on, and each master and slave hand is in a normal working state. In particular, the intermediate position is determined by the system according to the actions of each operating part after analysis. For example, the central control unit of the system (embedded in the touch control unit 30 in the form of software and / or hardware) can determine at least one other spatial position between or outside the connection and disconnection positions according to the displacement / stroke of the corresponding brake pedal or the instantaneous acceleration that causes the corresponding brake pedal to produce a certain displacement / stroke. For example, when the signal communication between the master and slave hands is normally cut off or switched, the operator will step on the pedal at a speed close to a gentle and stable speed; and when the operator steps on the pedal suddenly, the stepping action generally represents a higher priority or importance instruction, so it can be used as the intermediate position. For another example, generally when the pedal is stepped on to a certain depth, the signal communication between the master and slave hands is released, and continuing to step on it will touch a deeper component such as a safety fuse, and this position can also be used as an intermediate position.

[0081] Furthermore, at least one intermediate position of the brake clutch portion 60 corresponds to a first activation state, a second activation state, and a third activation state that are different from each other. For example, the "first activation state" is a "state to be activated", the "second activation state" is a "standby activation state", and the "third activation state" is an "immediate activation state". Each activation state is mainly reflected in the difference in mechanical and / or electrical connection. For example, the state to be activated is mechanically ready for connection, but electrically in a standby state. The standby activation state is electrically ready, but mechanically in a standby parking state. The immediate activation state is that both the mechanical and electrical standby preparations have been completed and are in an activation state at any time.

[0082] According to a preferred embodiment, the brake clutch unit 60 includes an intrinsically safe brake unit for executing a cutoff involving an intrinsically safe operation and a safety brake unit for executing a cutoff involving a dangerous operation. Specifically, the intrinsically safe brake unit, for example, includes the first master hand communication brake pedal 601 and the second master hand communication brake pedal 602 of the present invention, which are mainly used for signal cutting or switching between any master and slave hands. The safety brake unit, for example, includes a laser cutter brake pedal 603 and an emergency stop brake pedal 604, which are mainly related to the communication cutting of high-risk surgical devices such as femtosecond laser cutters, and the emergency stop of the entire control system. For ease of understanding and explanation, the operation involving intrinsically safe operations is defined as the first operation, and the operation involving dangerous operations is defined as the second operation. Specifically, intrinsically safe operations include switching and cutting between master and slave hands, and dangerous operations include controlling the emergency stop of the femtosecond laser cutter and / or the system.

[0083] According to a preferred embodiment, in the present invention, when one of the main hand operating parts 40 performs a first operation not involving femtosecond laser operation, the neutral positions of the intrinsically safe braking part and the safety braking part of the braking clutch part 60 are not activated.

[0084] According to a preferred embodiment, when one of the master hand operating parts 40 performs the second operation involving the laser operation, the neutral position of the intrinsically safe brake part of the brake clutch part 60 is in the first activation state, that is, the intrinsically safe brake part is in the "to-be-activated state" at this time; and the neutral position of the safety brake part of the brake clutch part 60 is in the second activation state, that is, the safety brake part is in the "standby activation state" at this time. That is, the central control unit of the system can switch the corresponding intrinsically safe brake part of the brake clutch part 60 to the neutral position of the intrinsically safe brake part in the first activation state in response to at least one master hand operating part 40 switching from performing the first operation not involving the laser operation to the second operation involving the laser operation or in response to at least one master hand operating part 40 performing the second operation involving the laser operation, wherein when in the neutral position of the first activation state, the corresponding intrinsically safe brake part is in the to-be-activated state.

[0085] And the central control unit of the system can switch the corresponding safety brake part of the brake clutch part 60 to the neutral position of the safety brake part in the second activation state in response to at least one main hand operating part 40 switching from performing a first operation not involving laser operation to a second operation involving laser operation, or in response to at least one main hand operating part 40 performing the second operation involving laser operation, wherein when the corresponding safety brake part is in the neutral position of the second activation state, the corresponding safety brake part is in a standby activation state.

[0086] According to a preferred embodiment, when one of the main hand operating parts 40 performs a second operation involving laser operation and the other main hand operating part 40 performs a first operation not involving laser operation, the neutral position of the intrinsically safe braking part and the safety braking part of the brake clutch part 60 is in a second activation state, that is, at this time both the intrinsically safe braking part and the safety braking part are in a "standby activation state".

[0087] According to a preferred embodiment, when the master hand operating unit 40 performs a second operation involving laser operation and another master hand operating unit 40 performs a second operation involving laser operation, the neutral position of the brake clutch unit 60 is in a third activation state, that is, both the intrinsically safe brake unit and the safety brake unit are in an "immediate activation state", that is, the operation of the master hand operating unit 40 is rejected by the system.

[0088] According to a preferred embodiment, the central control unit of the system can switch the on / off position of at least one of the brake clutch parts 60 according to the state of at least one brake pedal constituting the brake clutch part 60 and / or the state of at least one of the master hand operating parts 40. In the present invention, the safety brake part in the brake clutch part 60 has at least one neutral position in addition to the on position and the off position, and the safety brake part is switched between the on position, the off position and at least one neutral position based on the corresponding state determined by the central control unit, so that the safety brake part in at least one neutral position can perform a cut-off operation involving a dangerous operation different from the off position.

[0089] On the other hand, the intrinsically safe braking part in the brake clutch part 60 also has at least one neutral position in addition to the on position and the off position, and the intrinsically safe braking part can be switched between the on position, the off position and at least one neutral position based on an external force operation, wherein the intrinsically safe braking part is switched to at least one neutral position based on an external force operation different from switching to the off position, so that the intrinsically safe braking part performs a cut-off operation involving an intrinsically safe operation different from the off position.

[0090] According to a preferred embodiment, the activation mode of the intrinsically safe brake unit includes: a mechanical activation mode in the neutral position: when the pedal is stepped on more deeply to the point of stepping on the safety switch under the pedal, the intrinsically safe brake unit performs a cut-off operation involving intrinsically safe operation different from the disconnected position. And an electronic activation mode in the neutral position: when the pedal is stepped on at a significantly higher acceleration, the intrinsically safe brake unit performs a cut-off operation involving intrinsically safe operation different from the disconnected position.

[0091] According to a preferred embodiment, during the use of the femtosecond laser device, both the intrinsically safe brake unit and the safety brake unit can cut off the electrical and mechanical connections through an emergency stop operation, so that the system can immediately end the application of the high-energy laser beam, thereby avoiding accidents, such as irreversible damage to human body parts caused by improper operation. However, the emergency stop means that the main hand operating unit 40 is mechanically separated from the slave hand, and the motor stroke position corresponding to this separation may be lost due to the asynchronous time of the emergency stop, and the position and operation recorded by the central control unit of the system become unreliable. Therefore, each equipment reset after an emergency stop is a very time-consuming and laborious precision work. If the patient is under anesthesia at this time, this means that the risk of surgery increases sharply. In actual use, doctors usually dare not take emergency stop operations, which also means that the operation will be completed with more conservative operations, and the optimal surgical position is difficult to achieve, which also results in obvious differences in the final effect of each operation.

[0092] In this regard, the present invention creatively divides the brake clutch part 60 into an intrinsically safe brake part and a safety brake part, wherein the intrinsically safe brake part that can be used to perform a cut-off involving an intrinsically safe operation and the safety brake part that is used to perform a cut-off involving a dangerous operation respectively have at least one neutral position. In this neutral position, the central control unit of the system will record the position, stroke and posture of each moving part with a higher frequency and accuracy, so that when the operator steps on the corresponding pedal with a significantly higher acceleration or a significantly deeper stepping depth in this neutral position, the intrinsically safe brake part can brake the master hand operating part 40 coupled to the slave hand (such as a grasping robot) while recording the current stroke position and / or posture, thereby significantly reducing the restart time after stopping, so as to reduce or avoid ineffective waiting of patients on the operating table.

[0093] In addition, especially when the safety brake is in the neutral position, the central control unit of the system will be fully prepared for the emergency stop of the femtosecond laser in terms of electricity, such as disconnecting electrical components that are not related to the current surgical operation in the circuit to avoid the current shock caused by the emergency stop. This is because the femtosecond laser cutter is a component with extremely high instantaneous power. If the discharge bypass (such as a pressure relief channel with a tail diode) is not pre-connected during the instantaneous emergency stop, there will be a risk of instantaneous breakdown of certain electrical components. For example, replacing a fuse requires a ten-minute surgical pause, which introduces unnecessary surgical risks and infection risks (such as caused by the entry of equipment maintenance personnel). In addition, the central control unit of the system will pre-disconnect electrical components that are not related to the current surgical operation, which also helps to reduce circuit inertia and shorten the circuit-breaking time to a minimum. For high-risk operations such as femtosecond laser surgery, its safety is greatly improved.

[0094] According to a preferred embodiment, the intrinsically safe braking part and the safety braking part both have different "first activation state", "second activation state" and "third activation state", and the activation states corresponding to the intrinsically safe braking part and the safety braking part are related to the first operation involving the intrinsically safe operation and the second operation involving the dangerous operation performed by the main hand operating part 40.

[0095] In particular, when one of the master hand operating parts 40 performs a first operation not involving femtosecond laser operation, the neutral positions of the intrinsically safe brake part and the safety brake part are not activated. At this time, since no high-risk devices such as femtosecond laser cutters are used, and only a single master hand operating part 40 is performing the corresponding operation, the risk level of the current operation is relatively low, so the neutral positions corresponding to the intrinsically safe brake part and the safety brake part are not activated. The neutral position is not activated, which means that the central control unit of the system does not have to make full preparations in advance for the subsequent mechanical and / or electrical disconnection between the current master and slave hands, because the advance mechanical and / or electrical preparations require the relevant components to be in a standby start-up state, and continuous standby preparations require a steady stream of power consumption. Since the risk brought by the situation that "one of the master hand operating parts 40 performs a first operation that does not involve femtosecond laser operation" is almost minimal, excessive advance preparations are unnecessary. On the one hand, it not only reduces the continuous consumption of the system during the standby preparation period, but also reduces unnecessary data statistics and calculations. For example, in the neutral position, the central control unit of the system will record the position, stroke and posture of each moving part with a higher frequency and accuracy, so that the disconnected surgical device can resume communication based on the pre-recorded position, stroke and posture during the subsequent restart. During this period, a large amount of information about the position, stroke and posture of lower-risk surgical devices such as surgical forceps is stored, which has a low impact on the progress and safety of the entire surgical process. Even if it is restarted from a completely disconnected state, data distortion or loss caused by the current shock generated by the restart is acceptable for such surgical devices.

[0096] Furthermore, when one of the main hand operating parts 40 performs the second operation involving the femtosecond laser operation, the neutral position of the intrinsically safe brake part is in the first activation state, that is, the intrinsically safe brake part is in the "to be activated state" at this time; and the neutral position of the safety brake part is in the second activation state, that is, the safety brake part is in the "standby activation state" at this time. In particular, since it involves the use of high-risk devices such as femtosecond laser cutters, and only a single main hand operating part 40 is performing the corresponding operation, the current operation has a certain degree of safety risk, and it mainly comes from the femtosecond laser cutter. At this time, the intrinsically safe brake part is in the "to be activated state", and the safety brake part is in the "standby activation state". Due to the operations related to the femtosecond laser cutter, the safety brake unit is in a higher priority "standby activation state", so that it can cut off the communication between the femtosecond laser cutter and the corresponding main hand operating unit 40 at a faster response rate, while the intrinsically safe brake unit is in a lower priority "pending activation state". This is because in the case where it is preferred not to directly cut off the femtosecond laser cutter (for example, the direct impact is not caused by the femtosecond laser cutter itself, but is indirectly caused by other slave hand devices or reflected on the femtosecond laser cutter), the intrinsically safe brake unit can be used to more conservatively cut off and control other slave hands to reduce possible dangers and interference reflected on the femtosecond laser cutter. Regardless of the "pending activation state" or the "standby activation state", compared with the existing on and off states, the communication and resection response rate between the master and slave hands is significantly improved due to the corresponding resection preparations made in advance in mechanical and / or electrical aspects, so as to ensure the accuracy and timeliness of the entire surgical device motion control process. For example, large time control delays and physical inertia cause the actual docking position of the surgical device to deviate from the predetermined point. Such deviations have a huge impact on the extremely small surgical operation environment inside the patient's mouth.

[0097] According to a preferred embodiment, when at least two master-hand operating parts 40 are performing corresponding slave-hand operations, and one of the master-hand operating parts 40 is performing a second operation involving femtosecond laser operation, both the intrinsically safe brake part and the safety brake part are in a "standby activation state" with a higher priority. Furthermore, when at least two master-hand operating parts 40 are about to perform the corresponding second operation involving femtosecond laser operation, the neutral position of the brake clutch part 60 is in a third activation state, that is, both the intrinsically safe brake part and the safety brake part are in an "immediate activation state", at which time the operation of the master-hand operating part 40 is rejected by the system. That is, as the number and / or type of slave hands to be driven increases, and the risk level that may be generated by the corresponding operation accumulates, the activation state corresponding to the neutral position of the intrinsically safe brake part and / or the safety brake part changes accordingly, and it is manifested that as the difficulty and risk level of the operation increase, the cut-off response rate corresponding to each activation state increases accordingly.

[0098] According to a preferred embodiment, the touch control unit 30 can be used to control the start and stop of the entire surgical console and the movement of related instrument components. For operators who use the console of the present invention for the first time, it is necessary to first create a personal information account through the touch control unit 30, and during the operator's use of the console, the touch control unit 30 can store the operator's various operation information in a manner associated with the operator's personal information account. In particular, when the operator uses the surgical console next time, he can first log in to the personal information account, and the system will automatically synchronize the various operation information under the personal information account, such as synchronizing the initialization position information of each surgical device, to facilitate the initialization configuration of the surgical device before the operation.

[0099] According to a preferred embodiment, the present invention relates to a control method for controlling the implementation of a surgery by a touch control unit 30, the method comprising:

[0100] The operator logs into the personal information account through the operation control interface;

[0101] Verify the personal identification information of the current operator;

[0102] Deploy the spatial position relationship of each surgical control or execution element according to the determined personal identification information of the operator;

[0103] Confirm the communication status between the master and slave hands;

[0104] The operator drives the master and slave hands to perform the surgery through the operation control interface;

[0105] The operation is completed when the corresponding brake pedal is depressed.

[0106] According to a preferred embodiment, during the operation, considering that each master hand operating unit 40 can only control one slave hand at a time, the present invention realizes the switching control of the master and slave hands by setting a brake clutch unit 60 at the bottom of the console. Specifically, the first master hand communication brake pedal 601 is mainly used to interrupt the signal communication between the first master hand and the currently controlled slave hand; the second master hand communication brake pedal 602 is mainly used to interrupt the signal communication between the second master hand and the currently controlled slave hand; the laser cutter brake pedal 603 is mainly used to control the switch of the femtosecond laser cutter; the emergency brake pedal 604 is used to control the emergency stop of the movement of the surgical device during the operation to provide protection for the safety during the operation.

[0107] According to a preferred embodiment, during the operation, when the corresponding foot pedal for interrupting the signal communication between the master and slave hands is stepped on, the communication signal of the corresponding master and slave hands is interrupted, and the movement of the current slave hand cannot be controlled when the corresponding master hand is moved. Then the touch control unit 30 will respond to the corresponding cut-off event, that is, the control interface of the corresponding master and slave hands is displayed on the touch screen 301, and the operator can further select the slave hand to be switched by displaying the operation control interface of the touch screen 301. At this time, the master hand operation unit 40 restores the signal communication with the switched slave hand, that is, the switching between the master and slave hands is successful. In particular, when the first master hand communication brake pedal 601 and / or the second master hand communication brake pedal 602 are both stepped on, the two master hand handles will interrupt the signal communication with at least one slave hand coupled to each other, which means that the operation is over.

[0108] According to a preferred embodiment, Figure 3 The following is a working principle diagram of a femtosecond laser surgical robot control system of the present invention. Specifically:

[0109] 100: Before the operation begins, the operator first enters the corresponding operation control interface by touching the control unit 30, and logs into the personal information account on the operation control interface.

[0110] 101: The system will determine whether the current operator is a first-time user based on the data information in the database, and control the initialization operation of the master and slave hands in response to the determined operator identity information, wherein:

[0111] 102: If the current operator is not a first-time user, the system will initialize the relative spatial positions of the master and slave hands (104) by automatically calling the corresponding historical configuration scheme according to the operator's historical operation information, so that operators with corresponding usage history do not need to repeat the preoperative setup preparation work every time;

[0112] If the current operator is a first-time user, the system will enter the identity information of the current operator into the database for storage, and the current operator will adjust the relative spatial position relationship between the display unit 10 and itself (103) and initialize the spatial position relationship between the master and slave hands (104) through the touch control unit 30. During this period, the system will record the various operations of the current operator to form a configuration scheme that is associated with the identity information of the current operator, so that when the user logs in again to use the console of the present invention, when the system obtains his identity information, the system can automatically match and call the corresponding configuration scheme for him, thereby eliminating additional setup preparation work.

[0113] Furthermore, after the initialization preparation of the master and slave hands is completed, the operator can drive or control the operation of the master and slave hands by touching the control unit 30 to perform oral surgery.

[0114] During this period, when the operator needs to switch between master and slave,

[0115] 105: The system will interrupt or confirm the communication status between the first master hand communication brake pedal 601 and at least one slave hand coupled thereto according to the braking status of the first master hand communication brake pedal 601.

[0116] And 106: interrupting and determining the communication status between the second master hand communication brake pedal 602 and at least one slave hand coupled thereto according to the braking status of the second master hand communication brake pedal 602, wherein the laser cutter brake pedal 603 can be used to directly cut off the communication between the femtosecond laser cutter and its corresponding master hand operating unit 40, and the emergency brake pedal 604 is used for emergency braking of the entire console and related surgical devices during surgery.

[0117] Furthermore, after the original communication between the master and slave hands is cut off, the operator can establish the signal communication between the switched master and slave hands by touching the control unit 30, wherein:

[0118] 107: The operator can switch the slave hand through the operation control interface of the first master hand; and

[0119] 108: Switching from the slave hand through the operation control interface of the second master hand;

[0120] 109: After the communication switching between the first master hand and the second master hand and their corresponding slave hands is completed, the operator can continue to perform the surgery.

[0121] In particular, 110: when the first master hand communication brake pedal 601 and the second master hand communication brake pedal 602 are pressed simultaneously, 111: the system determines that the operation is over. At this time, the communication between each master hand handle and at least one slave hand coupled thereto is cut off, and the current spatial position is kept unchanged, so that the console can be started again when a subsequent instruction is issued.

[0122] According to a preferred embodiment, during the operation, when the operator wants to use the two master hand operating parts 40 arranged at both ends of the console table to perform the operation simultaneously or alternately, considering the safety of the operation and the specifications of use, when the operator drives at least one slave hand coupled to the first master hand, such as surgical forceps, to operate, if the operator needs to use at least another slave hand coupled to the second master hand, such as a femtosecond laser cutter to perform related surgical operations, the movement pattern between the multiple slave hands coupled to two different master hand operating parts 40 varies according to the distance between the slave hands and / or the specific type of slave hands.

[0123] Specifically, due to the special environment of minimally invasive oral surgery, the area that the surgical device needs to operate or cover is very small, so extremely small jitter or deviation has a huge impact on the safety of the patient's oral cavity. During the operation, it is inevitable to simultaneously or frequently operate different main-hand operating parts 40 to utilize multiple surgical devices. For example, in some cases, surgical forceps and femtosecond laser cutters need to be used in coordination to complete oral surgery. In this process, when the operator simultaneously operates two different main-hand operating parts 40 to control, for example, surgical forceps and femtosecond laser cutters to operate together, there may be two slave-hand instruments in the body. Therefore, preferably, when the slave hands controlled by two different master-hand operating parts 40 move simultaneously or alternately, when the operator adjusts the position of any one of the master-hand operating parts 40 and its corresponding slave hand, the system will limit the movement path or activity range of the slave hand according to the distance between the slave hand and the slave hand corresponding to the other master-hand operating part 40, as well as the specific instrument types of the two slave hands, and the limiting of the movement path or activity range of the slave hand is based on the surgical device information pre-stored in the system database, as well as the range threshold pre-set according to the operator's personal usage habits or surgical regulations.

[0124] According to a preferred embodiment, for example, when the two slave hands manipulated by different master hand operating parts 40 are surgical forceps and a femtosecond laser cutter, it is generally believed that this type of surgical device has the greatest impact on surgical safety. Therefore, when the operator controls the surgical forceps and the femtosecond laser cutter through two master hand handles respectively, the activity range of the two surgical devices is always maintained within a first preset interval (for example, a numerical interval in centimeters), and when the two surgical devices tend to approach each other, as the operator drives them to reduce the distance between them, the system will linearly / nonlinearly reduce the movement rate of any of the moving surgical devices to reduce the probability of physical or functional interference between the two surgical devices, thereby preventing them from causing physical collision or functional interference to the patient's oral safety and personal safety, especially for minimally invasive surgery, which has extremely strict requirements on surgical accuracy in an operating environment. When moving to a certain distance range, it cannot continue to move to prevent physical collision or interference between the two surgical instruments.

[0125] According to a preferred embodiment, when the two slave hands manipulated by different master hand operating parts 40 are, for example, surgical forceps and an endoscope, the activity range of the two current surgical devices can be maintained within a second preset interval (for example, a numerical interval in millimeters). In other words, based on the specific device types of the multiple slave hands manipulated by different master hand operating parts 40, the activity space or movement path of the two different slave hands that can be controlled by the operator or allowed by the system is within the preset interval, and the movement rate of any slave hand changes continuously based on the distance between it and the other slave hand.

[0126] According to a preferred embodiment, based on the device types of any two slave hands coupled to two different master hands, the range of motion or movement path when the operator controls the operation of the surgical device through any master hand and the corresponding slave hand, and its movement rate are determined according to the similarities and differences of any two slave hand types. In the present invention, according to the risk level of the surgical device, the slave hands (surgical devices) used for femtosecond laser minimally invasive oral surgery are divided into type one slave hands, type two slave hands, and type three slave hands. For example, an endoscope is a type one slave hand, surgical forceps are a type two slave hands, and a femtosecond laser cutter is a type three slave hand. In particular, the risk levels corresponding to type one slave hands, type two slave hands, and type three slave hands increase in sequence.

[0127] According to a preferred embodiment, if the types of any two slave hands currently controlled and coupled to two different master hands are respectively a type one slave hand and a type two slave hand, the range of movement of the two slave hands currently controlled by the operator or allowed by the system is within the first range of movement, or the spatial positions of the two slave hands currently are always in a state of not less than the first spacing. Further, if the types of the two slave hands currently controlled are respectively a type one slave hand and a type three slave hand, the range of movement of the two slave hands currently controlled by the operator or allowed by the system is within the second range of movement, or the spatial positions of the two slave hands currently are always in a state of not less than the second spacing. And if the types of the two slave hands currently controlled are respectively a type two slave hand and a type three slave hand, the range of movement of the two slave hands currently controlled by the operator or allowed by the system is within the third range of movement, or the spatial positions of the two slave hands currently are always in a state of not less than the third spacing.

[0128] Preferably, the hands are divided according to risk levels, which helps the operator or doctor to configure the corresponding surgical plan in advance and plan and control the movement of the corresponding hands, so as to strictly control the operation of each surgical device during minimally invasive oral surgery and control the spatial position of each other, thereby reducing damage to devices, equipment and systems, while reducing the probability of surgical accidents and improving the efficiency and effectiveness of the operation.

[0129] In other words, based on the specific instrument types of any two slave hands coupled to two different master hands, when the operator alternately or simultaneously controls the movement of any slave hand, the range of activity of the current slave hand allowed by the system is different according to the change of the slave hand type. And preferably, based on the risk levels corresponding to different types of slave hands, the above-mentioned activity interval and / or spacing can present a linear / non-linear trend according to the degree of accumulation of risk levels. For example, the first spacing between the first type of slave hand and the second type of slave hand is greater than the second spacing between the first type of slave hand and the third type of slave hand. In particular, the activity interval and / or spacing related to the specific instrument type of the slave hand can be pre-stored in the system database, and a corresponding data table can be established synchronously. After the operator starts the control system of the present invention and establishes signal communication between the relevant master and slave hands through the touch control unit 30, the system will plan the movement path of any of the slave hands according to the specific instrument types of any two slave hands currently coupled to two different master hands, and limit the activity interval and / or spacing of the current two slave hands by calling the movement scheme contained in the data table corresponding to the current two slave hand types in the database. Furthermore, in the process in which the operator subsequently controls the corresponding slave hand to perform minimally invasive oral surgery, the movement path of any slave hand always follows the corresponding activity interval and / or spacing.

[0130] Preferably, the slave hands of different risk types are associated with the corresponding activity intervals and / or spacings and relevant data tables or databases are pre-established. When the operator starts the system and wants to control the operation through the slave hands, the system can pre-define or plan the relevant motion paths for the operation of any slave hand in advance to ensure that the independent or synchronous movement between the slave hands is always within a certain safety threshold space. And the pre-define or plan the relevant motion paths can prevent the operator from not strictly complying with the use specifications of the surgical device and the surgical regulations during use, thereby avoiding physical or functional conflicts or interferences between the slave hands, resulting in surgical accidents and damage to the instruments and equipment, so as to reduce some high-risk operations that may occur under the subjective circumstances of the operator, such as some operators may over-trust their personal surgical experience or behavioral habits. In some specific surgical occasions, forcibly controlling the two slave hands to be too close or too far away is very likely to cause surgical accidents and damage to the instruments and equipment. Secondly, for some operators who are not proficient in the operation of instruments and equipment, it can objectively and passively limit their control range or space of the surgical devices of the slave hands. On the one hand, it can not only reduce the probability of surgical accidents, but also help them learn or supplement their knowledge of surgical operation specifications and equipment use specifications based on the performance status of the activity space and / or spacing presented by each other during the movement of the slave hands. Especially for some practitioners who lack experience in large-scale operations, it can help or guide them to perform safe operations in a reasonable operating space. In addition, when operators who lack experience or are unskilled in the operation of instruments and equipment need to use the oral surgery robot to perform corresponding surgical simulations or experiments, they can also call the configuration schemes of other operators through the console of the present invention to learn or draw lessons from the movement of the corresponding type of slave hands during the surgical operation.

[0131] In addition, the movable space or moving path of the slave hand can be determined based on the different distances between slave hands and / or the specific instrument type, and can also be planned and limited according to the specific specifications or working parameters of the surgical instrument, such as the size of the surgical forceps, the real-time output power of the femtosecond laser cutter, etc. Specifically, surgical forceps of different models have different specifications and sizes. Even if the original range of activity in the oral cavity is fixed, the effective range of activity of surgical forceps of different sizes is different. Therefore, for different types of surgical forceps, different activity intervals can be set according to their sizes. The larger the size of the surgical forceps, the greater the probability of causing danger. Therefore, under the same moving speed, the separation gap between it and the other slave hand is larger than that of the small-sized surgical forceps. When moving with each other within the allowed moving distance, the moving speed of the large-sized surgical forceps per unit time will decrease linearly / nonlinearly as the distance between them gradually decreases, and the reduction amplitude or acceleration is faster than that of the small-sized surgical forceps. For a femtosecond laser cutter, its path and range of movement can be planned or limited based on its real-time power. For example, as the real-time power of the femtosecond laser cutter increases, the system will linearly / nonlinearly increase its moving rate per unit time to reduce its output time per unit area. Because the instantaneous energy of the femtosecond laser is relatively high, the output time of each oral part needs to be strictly controlled. And preferably, the activity interval and / or spacing related to the specific specifications and dimensions of the slave hand can be pre-stored in the system database by the operator, and a corresponding data table is established synchronously. After the operator starts the control system of the present invention and establishes signal communication between the relevant master and slave hands through the touch control unit 30, the system will plan the movement path of any of the slave hands according to the specific specifications and dimensions of any two slave hands currently coupled to two different master hands, and limit the activity interval and / or spacing of the current two slave hands by calling the motion scheme contained in the data table corresponding to the specifications and dimensions of the current two slave hands in the database.

[0132] In particular, the activity range and / or spacing between any two slave hands are configured or divided according to specific specifications and dimensions, so that the path of movement of any slave hand can be more accurately defined based on the inherent activity space of each slave hand, and the function of each slave hand can be fully exerted on the basis of determining the specifications and dimensions and inherent activity space of each slave hand, while avoiding unexpected contact or physical and functional interference with other surgical devices and / or oral tissue parts, ensuring the precise operation and control of each slave hand device during minimally invasive oral surgery, and reducing the probability of surgical accidents and damage to instruments and equipment.

[0133] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", all of which indicate that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept.

Claims

1. A femtosecond laser surgical robot control system, characterized in that: At least: A touch control unit (30) is used for operator account login and identity verification, and controls the communication state and operation between the master handle and any slave handle coupled thereto; A master hand operating unit (40) for manipulating or controlling at least one slave hand coupled thereto based on instruction driving; A brake clutch (60) which can be used as an intrinsically safe brake for executing a cutoff involving intrinsically safe operations and as a safety brake for executing a cutoff involving dangerous operations. a central control unit, which is capable of switching the on / off position of at least one of the brake clutch parts (60) according to the state of at least one of the brake clutch parts (60) and / or the state of at least one of the master hand operating parts (40), When the operator controls the master hand operating unit (40) and at least one slave hand coupled thereto to move through the touch control unit (30), the activity space and / or spacing between any two slave hands coupled to different master hands is determined at least according to the tool type of the slave hand; At least the safety brake part in the brake clutch part (60) is configured to have at least one neutral position in addition to an on position and an off position, wherein the safety brake part is switched between the on position, the off position and at least one neutral position based on a corresponding state determined by the central control unit, wherein the safety brake part in at least one neutral position performs a cut-off operation involving a dangerous operation different from that in the off position, When one of the master hand operating parts (40) performs a first operation not involving femtosecond laser operation, the neutral positions of the intrinsically safe braking part and the safety braking part of the braking clutch part (60) are not activated; At least the intrinsically safe braking part in the braking clutch part (60) is configured to have at least one neutral position in addition to an on position and an off position, wherein the intrinsically safe braking part can be switched between the on position, the off position and at least one neutral position based on an external force operation, wherein the intrinsically safe braking part is switched to at least one neutral position based on an external force operation different from switching to the off position, so that the intrinsically safe braking part performs a disconnection operation involving an intrinsically safe operation different from the off position; The central control unit is capable of switching the corresponding intrinsically safe braking part of the braking clutch part (60) to a neutral position in which the intrinsically safe braking part is in a first activated state, and / or switching the corresponding safety braking part of the braking clutch part (60) to a neutral position in which the safety braking part is in a second activated state, in response to at least one of the master hand operating parts (40) switching from a first operation not involving laser operation to a second operation involving laser operation, or in response to at least one of the master hand operating parts (40) performing a second operation involving laser operation.

2. The control system according to claim 1, characterized in that: When the operator controls the movement of any two slave hands respectively communicatively coupled to different master hand operating parts (40) through the touch control part (30), the movement rate of at least one of the slave hands allowed by the system changes in view of the reduction or increase of the distance between the slave hand and the other slave hand.

3. The control system according to claim 1, characterized in that: The activity space and / or distance between any two slave hands coupled to different master hands is determined at least according to the type of the device of the slave hands, including: Any of the slave hands has a risk level corresponding to its own instrument type, and the activity space and / or distance between any two slave hands changes linearly / non-linearly based on the cumulative degree of the risk levels corresponding to the any two slave hands.

4. The control system according to claim 1, characterized in that: Also includes: An arm support frame (50) is movably coupled to the main hand operating portion (40) and is used to support the operator's arm; An image display unit (10) is used to display an image of the surgical area inside the patient's oral cavity in real time; A mechanical drive arm (20), the end of which is coupled to an image display unit (10), and the mechanical drive arm (20) is composed of a plurality of independently drivable mechanical shafts coupled together, so that the mechanical drive arm (20) can at least drive the image display unit (10) to complete movement in at least three degrees of freedom according to a drive instruction of the touch control unit (30).

5. The control system according to claim 4, characterized in that: The touch control unit (30) comprises: A first movable rod (302) and a second movable rod (303) coupled to each other and movable; and a display touch screen (301) for providing a process control function, wherein the display touch screen (301) is coupled to the second moving rod (303) and is coupled to the console via the first moving rod (302).

6. The control system according to claim 4, characterized in that: The arm support frame (50) is coupled to the main hand operating portion (40) and the console table in a manner that allows it to rotate within a console plane, wherein the arm support frame (50) comprises: A first bracket (501) and a second bracket (502) are coupled to each other, and ends of the first bracket (501) and the second bracket (502) facing away from each other are respectively coupled to the main hand operating part (40) and the console tabletop, in, The second bracket (502) is at least partially configured as a groove for accommodating and supporting an operator's arm.

7. The control system according to claim 1, characterized in that: When the corresponding intrinsically safe brake component is in the neutral position of the first activation state, the intrinsically safe brake component is in a state to be activated, When the corresponding safety brake component is in the neutral position of the second activation state, the safety brake component is in the standby activation state.

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