A main hand control system for a small surgical robot

Abstract

The present invention relates to the field of surgical robot technology, and more specifically, to a master hand control system for a small surgical robot. It includes an infrastructure unit, a motion control unit, a video display unit, a communication connection unit, and a power management unit; the infrastructure unit is used to manage the basic equipment for building the system; the motion control unit is used to control the master hand to control the slave hand movement; the video display unit is used to display the surgical field video; the communication connection unit is used to support the signal connection and data transmission of the system; the power management unit is used to intelligently manage the energy source. The design of the present invention can realize the coordinated movement of the eye and hand under minimally invasive surgery, and improve the quality of the robot's fine operation; it can provide doctors with three-dimensional high-definition images of the patient's abdominal cavity, improve the accuracy of the operation, and improve the safety performance of the surgical robot; 5G technology is used to provide a network environment for remote surgery, so that remote surgery can benefit more areas with limited medical conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a main hand control system of a small surgical robot. Background Art

[0002] Surgical robots refer to minimally invasive surgeries performed by doctors with the assistance of mechanical systems. In such surgeries, the doctor's hands do not touch the patient, and the robot system serves as a platform for assisted surgery. The remote surgical robot system is a complex that integrates multidisciplinary high-tech technical means, and generally has two control modes: local surgery function and remote surgery function. However, in the current surgical robot system, the surgeon needs to control the surgical instruments and a three-dimensional laparoscope by operating two doctor's mechanical arms. However, due to the poor collaboration of communication technology or synchronous controllers, there are inherent defects in the uncoordinated eye-hand movement in traditional minimally invasive surgery, as well as insufficient fine movements, which leads to inflexible surgical operations and difficulty in completing fine movements, thus affecting the effect of the surgery, and may even damage the patient's organ tissue due to the doctor's hand shaking. At the same time, in traditional minimally invasive surgery, there is also the limitation that the doctor's operation field is not clear and intuitive due to network delay. Due to the existing large number of deficiencies, the application and development of remote surgical robots are greatly restricted. However, there is currently no relatively stable and accurate main hand control system for small surgical robots. Summary of the invention

[0003] The purpose of the present invention is to provide a main hand control system of a small surgical robot to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, one of the purposes of the present invention is to provide a main hand control system of a small surgical robot, comprising

[0005] An infrastructure unit, a motion control unit, a video display unit, a communication connection unit and a power management unit; the infrastructure unit, the motion control unit, the video display unit, the communication connection unit and the power management unit are connected in sequence through network communication; the infrastructure unit is used to provide and manage the basic equipment for constructing a master hand control system and control the connection relationship between the various devices; the motion control unit is used to manage and control the movement of the master hand and the process of controlling the movement of the slave hand through the master hand; the video display unit is used to display and manage the surgical field video viewable by the master hand; the communication connection unit is used to provide signal connection and data transmission channels for system operation through a variety of communication means; the power management unit is used to intelligently manage and distribute the energy source that supports the stable operation of the system;

[0006] The infrastructure unit includes a main operating console module, a main control box module, a 3D display module and an auxiliary equipment module;

[0007] The motion control unit includes a synchronous motion module, a scaling module, an energy control module and an instrument switching module;

[0008] The video display unit includes an image transmission module, an image processing module, a three-dimensional display module and a video compression module;

[0009] The communication connection unit includes a real-time communication module, a remote signal module, a dedicated network module and a security mechanism module;

[0010] The power management unit includes a system power module, a backup power module and a power failure processing module.

[0011] As a further improvement of the present technical solution, the main console module, the main control box module, the 3D display module and the auxiliary equipment module are connected in sequence through network communication; the main console module is used to provide and manage the doctor's console as the control center of the surgical robot system. As an interactive platform on the doctor's side, the surgeon can use both hands to operate two doctor's mechanical arms to control surgical instruments and a three-dimensional laparoscope; the main control box module is used to provide a doctor's console remote control box to support non-local remote surgery. The main-end remote control box is connected to the doctor's console at the main operating end of the remote surgery for use, collects various signals from the doctor's console and transmits them to the remote patient end, and receives the transmission signals and three-dimensional images from the remote patient end, and transmits them to the doctor's console; the 3D display module is used to receive the three-dimensional image of the surgical field in the patient's body collected in real time by the three-dimensional endoscope camera system through a 3D display with a three-dimensional display function; the auxiliary equipment module is used to connect, control and manage a variety of auxiliary equipment that can expand system functions and support the smooth operation of the system.

[0012] Among them, the master-end remote controller is mainly composed of an industrial computer, a display, a controller, an image processor, a keyboard, etc.

[0013] Among them, auxiliary equipment includes but is not limited to all electrical components except the patient operating table, three-dimensional endoscopic camera system, and master / slave remote control box, such as walking drive device, industrial computer, electric energy platform, etc.

[0014] As a further improvement of the present technical solution, the synchronous motion module, the scaling module, the energy control module and the instrument switching module are connected in sequence through network communication; the synchronous motion module is used to realize the synchronous movement of the surgical instrument end and the surgeon's hands through a pre-programmed software program, a low-latency network and a synchronous motion controller; the scaling module is used to reduce the movement of the doctor's operating table robot arm by a certain ratio and map it to the movement of the patient's robot arm by adding a motion scaling function in the master hand control system, thereby minimizing the natural shaking or unconscious movement of the doctor's hand and improving the surgical quality of the minimally invasive robot's fine operation; the energy control module is used to connect the electric energy platform through a control interface preset by the remote main operation end to connect the electric knife and ultrasonic knife electric energy equipment, which can integrate the master hand energy control system to the maximum extent, and can convert the machine energy instructions into digital information, and carry a remote surgery module to realize the simultaneous transmission of operation instructions under network support, so as to expand the application scenarios of the surgical robot; the instrument switching module is used to pre-set the motion scaling ratio corresponding to each surgical instrument according to the use requirements of different end surgical instruments, and provide a function of fast mode switching after replacing the surgical instrument.

[0015] As a further improvement of the present technical solution, the design of the synchronous motion module restores the synchronous motion of the doctor's eyes, surgical instruments and hands in open surgery to the greatest extent possible, and realizes intuitive motion mapping of eye-hand coordinated motion in minimally invasive surgery.

[0016] As a further improvement of the present technical solution, the image transmission module, the image processing module, the three-dimensional display module and the video compression module are connected in sequence through network communication; the image transmission module is used to transmit the surgical field image captured by the three-dimensional endoscope shooting system to the main hand control system through high-speed data transmission means; the image processing module is used to perform noise reduction, scaling and other processing on the acquired surgical field image so as to provide the surgeon with a high-definition surgical field image; the three-dimensional display module is used to intuitively display the three-dimensional high-definition image of the patient's abdominal cavity captured by a three-dimensional laparoscope using a high-resolution optical three-dimensional lens through a display with a three-dimensional display function, so that the surgeon has a good perception of depth during the operation, can more clearly identify the anatomical structure, improve the accuracy of the operation, and can also reduce the surgeon's visual fatigue; the video compression module is used to use an external high-speed data acquisition card on the patient side to collect and 3D compress the image to save system processing and transmission time, reduce image transmission delay, and add a breakpoint resume function on this basis, which can resume the image from the breakpoint when it is interrupted and then connected, to ensure the continuity of the intraoperative image.

[0017] As a further improvement of the present technical solution, the real-time communication module, the remote signal module, the dedicated network module and the security mechanism module are connected in sequence through network communication; the real-time communication module is used to provide low-latency, high-quality real-time communication support for remote surgery through a variety of communication means based on 5G mobile communication technology; the remote signal module is used for a two-way transmission mechanism with high real-time performance. In robotic remote surgery, it supports doctors to send operation instructions to control the robotic arm on the patient side to perform surgical operations, and at the same time continuously receives and confirms feedback information from the patient side in real time to ensure the safety of the operation; the dedicated network module is used to set up a dedicated network for supporting remote surgery within the hospital, so as to provide stable and secure communication support for remote surgery; the security mechanism module is used to set a security processing mechanism controlled by communication transmission, so as to ensure the safety of information docking, operation docking, fault handling, etc. between doctors and patients in the physical environment in robotic remote surgery, which is particularly important for ensuring the safety and operability of remote surgery.

[0018] Among them, the current remote communication system transmission hardware is mainly based on the host computer. In order to meet the requirements of higher real-time performance, most transmission mechanisms adopt the UDP-based robot control information transmission protocol.

[0019] As a further improvement of the present technical solution, in the safety mechanism module, the safety processing mechanism of communication transmission is specifically as follows: if an unexpected situation occurs in the communication, such as continuous packet loss in the network, the master / slave remote control boxes at both ends will immediately stop the two-way signal transmission, and the brakes at all joints at both ends of the surgical robot doctor's operating table and the patient's operating table will immediately operate to stop all movements of the robot, and at the same time send out an alarm signal, and the robot enters a standby state to ensure the safety of remote surgery; when the communication is connected again, it establishes a robot master-slave secondary kinematic mapping mechanism to enable the robot to switch from a standby state to a connected state, and the surgical robot arm and instruments can map the control information of the doctor at the main operating end, thereby ensuring the safe and effective connection and mapping of remote control signals during the operation.

[0020] As a further improvement of the present technical solution, the system power module, the backup power module and the power outage processing module are connected in sequence through network communication; the system power module is used to respectively connect the power supplies to all the electrical devices added to the master hand control system, and to manage and distribute the power usage of each electrical device through a centralized power manager; the backup power module is used to respectively set backup power supplies for each major electrical device of the master hand control system to cope with emergency power outages, so as to support the smooth progress of the operation or ensure the safety of the patient; the power outage processing module is used to set a safety processing mechanism that is mainly controlled by power support, so as to cope with the safe actions of the doctor's operating table, three-dimensional endoscopic camera system and patient operating table in the event of a power outage during robotic remote surgery.

[0021] Among them, in the system power management, the three major parts of the patient console (including the patient console remote controller), the doctor console (including the doctor console controller) and the three-dimensional endoscopic camera system all require separate power sockets for power supply and cannot be plugged into the same power strip to ensure the stable power supply and power safety of the system.

[0022] Among them, when the backup power supply cannot support all the usage needs of the surgical robot system, it will be supplied to the patient operating table first. At the same time, in addition to the backup battery, the patient operating table should always be plugged in to the power supply and turn on the power switch to ensure that the battery is always fully charged. The backup battery is for emergency evacuation in case of emergencies.

[0023] As a further improvement of the present technical solution, in the power-off processing module, the safety processing mechanism of the electric energy support is specifically as follows: when the system power is interrupted, it automatically switches to the backup power supply, and at the same time stops the operation of non-main power-consuming equipment and performs a structural reset, and displays the remaining backup power supply and the support time obtained through intelligent calculations in real time. In this case, the surgeon can choose to continue or suspend the operation according to the situation; when the system power is interrupted and automatically switches to the backup power supply, if the backup power supply cannot support the continuation of the operation, the patient operating table is powered first, and at the same time, the patient-end operating table can remove the terminal surgical instruments from the patient's body according to the preset procedure to ensure the patient's safety; the patient operating table must be equipped with a backup power supply that is independent of the system. When the system power supply and the system backup power supply are both interrupted or exhausted, the backup power supply can support the emergency evacuation of the patient operating table.

[0024] A second object of the present invention is to provide an operating method of a master hand control system of a small surgical robot, comprising:

[0025] First, during the operation, the surgeon sits in front of the doctor's operating table and watches the three-dimensional image of the surgical field inside the patient's abdominal cavity collected and transmitted by the three-dimensional endoscopic camera system through a 3D display. At the same time, he holds the handles with both hands to operate the doctor's robotic arm. With the support of real-time high-speed communication technology, the hand movements are synchronized to the surgical instruments on the patient's robotic arm through proportional scaling and energy control platforms to perform various surgical actions, and the signals fed back by the patient are confirmed in real time through remote signals. In addition, during the entire operation, the doctor is required to perform auxiliary operations such as instrument installation and replacement at the patient's operating table. When communication or power is interrupted, the system executes the safety processing mechanism according to the preset procedure to ensure the safety of the operation.

[0026] The third object of the present invention is to provide an operating device for a main hand control system of a small surgical robot, comprising a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor is used to implement the above-mentioned main hand control system of the small surgical robot when executing the computer program.

[0027] A fourth object of the present invention is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the main hand control system of the above-mentioned small surgical robot is implemented.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The main hand control system of this small surgical robot solves the inherent defect of uncoordinated eye-hand movement in traditional minimally invasive surgery through real-time synchronous movement, and restores the situation of synchronized movement of the doctor's eyes, surgical instruments and hands in open surgery to the greatest extent, realizing intuitive movement mapping of eye-hand coordinated movement in minimally invasive surgery, and adding a movement scaling function, which maps the movement of the doctor's robotic arm to the movement of the patient's robotic arm after reducing it by a certain proportion, minimizing the natural shaking or unconscious movement of the doctor's hand, and improving the quality of the delicate operation of the minimally invasive robot;

[0030] 2. The main hand control system of this small surgical robot can provide the surgeon with a three-dimensional high-definition image of the patient's abdominal cavity through a high-resolution three-dimensional laparoscope based on high-speed transmission technology, so that the surgeon can have a good sense of depth during the operation, can more clearly identify the anatomical structure, improve the accuracy of the operation, and can also reduce the surgeon's visual fatigue. The safety performance of the surgical robot is improved by setting up a complete system energy supply management and a safe handling mechanism for the backup power supply;

[0031] 3. The main hand control system of this small surgical robot uses 5G technology to provide a high-speed, multi-connection, large bandwidth and low-latency network environment for remote surgery, meeting the real-time, high-efficiency and stability requirements of remote surgery, so that remote surgery can benefit more areas with limited medical conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a block diagram of the overall product architecture of the present invention;

[0033] Figure 2 It is the overall system device structure diagram of the present invention;

[0034] Figure 3 This is one of the local system device structure diagrams of the present invention;

[0035] Figure 4 This is the second structural diagram of the local system device of the present invention;

[0036] Figure 5 This is the third structural diagram of the local system device of the present invention;

[0037] Figure 6 This is the fourth structural diagram of the local system device of the present invention;

[0038] Figure 7 This is the fifth structural diagram of the local system device of the present invention;

[0039] Figure 8 It is a schematic diagram of the structure of an exemplary electronic computer platform device of the present invention.

[0040] The meaning of each number in the figure is:

[0041] 100. Infrastructure unit; 101. Main console module; 102. Main control box module; 103. 3D display module; 104. Auxiliary equipment module;

[0042] 200, motion control unit; 201, synchronous motion module; 202, scaling module; 203, energy control module; 204, device switching module;

[0043] 300, video display unit; 301, image transmission module; 302, image processing module; 303, three-dimensional display module; 304, video compression module;

[0044] 400, communication connection unit; 401, real-time communication module; 402, remote signal module; 403, dedicated network module; 404, security mechanism module;

[0045] 500, power management unit; 501, system power module; 502, backup power module; 503, power failure processing module. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Example 1

[0048] like Figure 1-Figure 8 As shown, this embodiment provides a main hand control system of a small surgical robot, including

[0049] Infrastructure unit 100, motion control unit 200, video display unit 300, communication connection unit 400 and power management unit 500; infrastructure unit 100, motion control unit 200, video display unit 300, communication connection unit 400 and power management unit 500 are connected in sequence through network communication; infrastructure unit 100 is used to provide and manage basic equipment for building a master hand control system and control the connection relationship between various devices; motion control unit 200 is used to manage and control the movement of the master hand and the process of controlling the movement of the slave hand through the master hand; video display unit 300 is used to display and manage the surgical field video viewable by the master hand; communication connection unit 400 is used to provide signal connection and data transmission channels for system operation through various communication means; power management unit 500 is used to intelligently manage and distribute energy sources that support the stable operation of the system;

[0050] The infrastructure unit 100 includes a main console module 101, a main control box module 102, a 3D display module 103 and an auxiliary equipment module 104;

[0051] The motion control unit 200 includes a synchronous motion module 201, a scaling module 202, an energy control module 203 and an instrument switching module 204;

[0052] The video display unit 300 includes an image transmission module 301, an image processing module 302, a three-dimensional display module 303 and a video compression module 304;

[0053] The communication connection unit 400 includes a real-time communication module 401, a remote signal module 402, a dedicated network module 403 and a security mechanism module 404;

[0054] The power management unit 500 includes a system power module 501 , a backup power module 502 and a power failure processing module 503 .

[0055] In this embodiment, the main console module 101, the main control box module 102, the 3D display module 103 and the auxiliary equipment module 104 are connected in sequence through network communication; the main console module 101 is used to provide and manage the doctor's console as the control center of the surgical robot system. As an interactive platform on the doctor's side, the surgeon can use both hands to operate two doctor's mechanical arms to control surgical instruments and a three-dimensional laparoscope; the main control box module 102 is used to provide a doctor's console remote control box to support non-local remote surgery. The main-end remote control box is connected to the doctor's console at the main operating end of the remote surgery, collects various signals from the doctor's console and transmits them to the remote patient end, and receives the transmission signals and three-dimensional images from the remote patient end, and transmits them to the doctor's console; the 3D display module 103 is used to receive the three-dimensional image of the surgical field in the patient's body collected in real time by the three-dimensional endoscope camera system through a 3D display with a three-dimensional display function; the auxiliary equipment module 104 is used to connect, control and manage a variety of auxiliary equipment that can expand system functions and support the smooth operation of the system.

[0056] Among them, the master-end remote controller is mainly composed of an industrial computer, a display, a controller, an image processor, a keyboard, etc.

[0057] Among them, auxiliary equipment includes but is not limited to all electrical components except the patient operating table, three-dimensional endoscopic camera system, and master / slave remote control box, such as walking drive device, industrial computer, electric energy platform, etc.

[0058] In this embodiment, the synchronous motion module 201, the scaling module 202, the energy control module 203 and the instrument switching module 204 are connected in sequence through network communication; the synchronous motion module 201 is used to realize the synchronous movement of the end of the surgical instrument and the surgeon's hands through a pre-programmed software program, a low-latency network and a synchronous motion controller; the scaling module 202 is used to reduce the movement of the doctor's operating table robot arm by a certain ratio and map it to the movement of the patient's robot arm by adding a motion scaling function in the master hand control system, thereby minimizing the natural shaking or unconscious movement of the doctor's hand and improving the surgical quality of the minimally invasive robot's fine operation; the energy control module 203 is used to connect the electric energy platform through a preset control interface of the remote main operation end to connect the electric knife and ultrasonic knife electric energy equipment, which can integrate the master hand energy control system to the maximum extent, and can convert the machine energy command into digital information, and carry a remote surgery module to realize the simultaneous transmission of operation commands under network support, so as to expand the application scenarios of the surgical robot; the instrument switching module 204 is used to pre-set the motion scaling ratio corresponding to each surgical instrument according to the use requirements of different end surgical instruments, and provide a function of fast mode switching after replacing the surgical instrument.

[0059] Specifically, the design of the synchronous motion module 201 restores the synchronous motion of the doctor's eyes, surgical instruments and hands in open surgery to the greatest extent possible, and realizes the intuitive motion mapping of eye-hand coordinated motion in minimally invasive surgery.

[0060] In this embodiment, the image transmission module 301, the image processing module 302, the three-dimensional display module 303 and the video compression module 304 are connected in sequence through network communication; the image transmission module 301 is used to transmit the surgical field image captured by the three-dimensional endoscope shooting system to the main hand control system through high-speed data transmission means; the image processing module 302 is used to perform noise reduction, scaling and other processing on the acquired surgical field image, so as to provide the surgeon with a high-definition surgical field image; the three-dimensional display module 303 is used to intuitively display the three-dimensional high-definition image of the patient's abdominal cavity captured by a three-dimensional laparoscope using a high-resolution optical three-dimensional lens through a display with a three-dimensional display function, so that the surgeon has a good perception of depth during the operation, can more clearly identify the anatomical structure, improve the accuracy of the operation, and can also reduce the surgeon's visual fatigue; the video compression module 304 is used to use an external high-speed data acquisition card at the patient end to collect and 3D compress the image, so as to save system processing and transmission time, reduce image transmission delay, and add a breakpoint resume function on this basis, which can resume the transmission from the breakpoint when the image is interrupted and then connected, to ensure the continuity of the intraoperative image.

[0061] In this embodiment, the real-time communication module 401, the remote signal module 402, the dedicated network module 403 and the security mechanism module 404 are connected in sequence through network communication; the real-time communication module 401 is used to provide low-latency, high-quality real-time communication support for remote surgery through a variety of communication means based on 5G mobile communication technology; the remote signal module 402 is used for a two-way transmission mechanism with high real-time performance. In robotic remote surgery, it supports doctors to send operation instructions to control the robotic arm on the patient side to perform surgical operations, and at the same time continuously receives and confirms feedback information from the patient side in real time to ensure the safety of the operation; the dedicated network module 403 is used to set up a dedicated network for supporting remote surgery within the hospital, so as to provide stable and secure communication support for remote surgery; the security mechanism module 404 is used to set a security processing mechanism controlled by communication transmission, so as to ensure the safety of information docking, operation docking, fault handling, etc. between doctors and patients in the physical environment in robotic remote surgery, which is particularly important for ensuring the safety and operability of remote surgery.

[0062] Among them, the reason for choosing 5G mobile communication technology is that one of the important factors affecting remote surgery, especially its control effect, is the effect of data transmission, including the very high requirements for the quality and delay of transmission technology, specifically: ultra-low latency - because the remote end requires control instructions and feedback signals to be transmitted in real time between the doctor and the patient, and at the same time, 3D video information is transmitted from the patient to the doctor in real time to ensure the safety of the entire surgical operation; ultra-high speed - because the surgical process requires the transmission of on-site ultra-high-definition video, the amount of data is extremely large, and the high-speed and low-latency characteristics of 5G technology can break through the obstacles of 4G networks that are difficult to carry out high-precision remote control, and lay a technical foundation for the application of remote surgery.

[0063] Among them, the current remote communication system transmission hardware is mainly based on the host computer. In order to meet the requirements of higher real-time performance, most transmission mechanisms adopt the UDP-based robot control information transmission protocol.

[0064] Specifically, in the safety mechanism module 404, the safety processing mechanism of communication transmission is as follows: if an unexpected situation occurs in the communication, such as continuous packet loss in the network, the master / slave remote control boxes at both ends will immediately stop the two-way signal transmission, and the brakes at all joints at both ends of the surgical robot doctor's operating table and the patient's operating table will immediately operate to stop all movements of the robot, and an alarm signal will be issued at the same time, and the robot will enter the standby state to ensure the safety of remote surgery; when the communication is connected again, it establishes a robot master-slave secondary kinematic mapping mechanism to realize the robot switching from the standby state to the connected state, and the surgical robot arm and instruments can map the control information of the doctor at the main operating end, thereby ensuring the safe and effective connection and mapping of remote control signals during the operation.

[0065] In this embodiment, the system power module 501, the backup power module 502 and the power outage processing module 503 are connected in sequence through network communication; the system power module 501 is used to connect the power supplies to all the electrical devices added to the main hand control system respectively, and to manage and distribute the power usage of each electrical device through a centralized power manager; the backup power module 502 is used to set backup power supplies for each major electrical device of the main hand control system to cope with emergency power outages, so as to support the smooth progress of the operation or ensure the safety of the patient; the power outage processing module 503 is used to set a safety processing mechanism that is mainly controlled by power support, so as to cope with the safety actions of the doctor's operating table, three-dimensional endoscopic camera system and patient operating table in the event of a power outage during robotic remote surgery.

[0066] Among them, in the system power management, the three major parts of the patient console (including the patient console remote controller), the doctor console (including the doctor console controller) and the three-dimensional endoscopic camera system all require separate power sockets for power supply and cannot be plugged into the same power strip to ensure the stable power supply and power safety of the system.

[0067] Among them, when the backup power supply cannot support all the usage needs of the surgical robot system, it will be supplied to the patient operating table first. At the same time, in addition to the backup battery, the patient operating table should always be plugged in to the power supply and turn on the power switch to ensure that the battery is always fully charged. The backup battery is for emergency evacuation in case of emergencies.

[0068] Specifically, in the power-off processing module 503, the safety processing mechanism of electric energy support is as follows: when the system power is interrupted, it automatically switches to the backup power supply, and at the same time stops the operation of non-main power-consuming equipment and performs a structural reset, and displays the remaining backup power supply and the support time obtained through intelligent calculations in real time. In this case, the surgeon can choose to continue or suspend the operation according to the situation; when the system power is interrupted and automatically switches to the backup power supply, if the backup power supply cannot support the continuation of the operation, the patient's operating table will be powered first, and at the same time, the patient-end operating table can remove the terminal surgical instruments from the patient's body according to the preset procedure to ensure the patient's safety; the patient's operating table must be equipped with a backup power supply that is independent of the system. When the system power supply and the system backup power supply are both interrupted or exhausted, the backup power supply can support the emergency evacuation of the patient's operating table.

[0069] This embodiment also provides an operation method of a main hand control system of a small surgical robot, including:

[0070] First, during the operation, the surgeon sits in front of the doctor's operating table and watches the three-dimensional image of the surgical field inside the patient's abdominal cavity collected and transmitted by the three-dimensional endoscopic camera system through a 3D display. At the same time, he holds the handles with both hands to operate the doctor's robotic arm. With the support of real-time high-speed communication technology, the hand movements are synchronized to the surgical instruments on the patient's robotic arm through proportional scaling and energy control platforms to perform various surgical actions, and the signals fed back by the patient are confirmed in real time through remote signals. In addition, during the entire operation, the doctor is required to perform auxiliary operations such as instrument installation and replacement at the patient's operating table. When communication or power is interrupted, the system executes the safety processing mechanism according to the preset procedure to ensure the safety of the operation.

[0071] like Figure 1 As shown, this embodiment also provides an exemplary product architecture block diagram of a main hand control system of a small surgical robot, which mainly includes a doctor's operating table, a master-end remote control box, an imaging trolley / three-dimensional endoscope camera system, a patient operating table, a slave-end remote control box, etc.

[0072] It is worth mentioning that when performing local surgery, the master-end remote control box and the slave-end remote control box may not be configured.

[0073] Specifically, the master / slave remote controller is mainly composed of an industrial computer, a display, an image processor, a keyboard, etc.

[0074] Furthermore, the three-dimensional endoscope camera system is integrated on a movable imaging trolley, and is mainly composed of an image processor, a host, a 3D image display, and the like.

[0075] like Figure 8 As shown, this embodiment also provides an operating device for a main hand control system of a small surgical robot, the device comprising a processor, a memory, and a computer program stored in the memory and running on the processor.

[0076] The processor includes one or more processing cores. The processor is connected to the memory through a bus. The memory is used to store program instructions. When the processor executes the program instructions in the memory, the main hand control system of the above-mentioned small surgical robot is realized.

[0077] Optionally, the memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0078] In addition, the present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the main hand control system of the above-mentioned small surgical robot is implemented.

[0079] Optionally, the present invention also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the main hand control system of the small surgical robot according to the above aspects.

[0080] A person skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0081] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A main hand control system of a small surgical robot, characterized in that: include An infrastructure unit (100), a motion control unit (200), a video display unit (300), a communication connection unit (400) and a power management unit (500); the infrastructure unit (100), the motion control unit (200), the video display unit (300), the communication connection unit (400) and the power management unit (500) are sequentially connected via network communication; the infrastructure unit (100) is used to provide and manage basic equipment for constructing a master hand control system and control the connection relationship between the various equipment; the motion control unit (200) is used to manage and control the movement of the master hand and the process of controlling the movement of the slave hand by the master hand; the video display unit (300) is used to display and manage the surgical field video viewable at the master hand end; the communication connection unit (400) is used to provide a signal connection and a data transmission channel for the system operation through a variety of communication means; the power management unit (500) is used to intelligently manage and distribute the energy source that supports the stable operation of the system; The infrastructure unit (100) comprises a main operating console module (101), a main control box module (102), a 3D display module (103) and an auxiliary equipment module (104); The motion control unit (200) comprises a synchronous motion module (201), a scaling module (202), an energy control module (203) and an instrument switching module (204); The video display unit (300) comprises an image transmission module (301), an image processing module (302), a three-dimensional display module (303) and a video compression module (304); The communication connection unit (400) comprises a real-time communication module (401), a remote signal module (402), a dedicated network module (403) and a safety mechanism module (404); The power management unit (500) comprises a system power module (501), a backup power module (502) and a power failure processing module (503); When the main hand control system of the small surgical robot is in operation, first, during the operation, the surgeon sits in front of the doctor's operating table and watches the three-dimensional image of the surgical field inside the patient's abdominal cavity collected and transmitted by the three-dimensional endoscopic camera system through a 3D display. At the same time, he holds the handle with both hands to operate the doctor's mechanical arm. With the support of real-time high-speed communication technology, the hand movements are synchronized to the surgical instruments on the patient's mechanical arm through proportional scaling and energy control platform to perform various surgical actions, and the signals fed back by the patient are confirmed in real time through remote signals. In addition, during the entire operation, the doctor needs to perform auxiliary operations such as instrument installation and replacement at the patient's operating table. When communication interruption or power interruption occurs, the system executes the safety processing mechanism according to the preset program to ensure the safety of the operation. The main console module (101), the main control box module (102), the 3D display module (103) and the auxiliary equipment module (104) are connected in sequence via network communication; the main console module (101) is used to provide and manage a doctor's console as the control center of the surgical robot system. As an interactive platform on the doctor's side, the main surgeon can use both hands to operate two doctor's mechanical arms to control surgical instruments and a three-dimensional laparoscope; the main control box module (102) is used to provide a doctor's console remote control box to support non-local remote surgery. The main remote control box is connected to the doctor's console at the main operation end of the remote surgery for use, collects various signals from the doctor's console and transmits them to the remote patient end, and receives transmission signals and three-dimensional images from the remote patient end and transmits them to the doctor's console; the 3D display module (103) is used to receive a three-dimensional image of the surgical field in the patient's body collected in real time by a three-dimensional endoscope camera system through a 3D display with a three-dimensional display function; the auxiliary equipment module (104) is used to connect, control and manage a variety of auxiliary equipment that can expand system functions and support the smooth operation of the system; The synchronous motion module (201), the scaling module (202), the energy control module (203) and the instrument switching module (204) are connected in sequence via network communication; the synchronous motion module (201) is used to achieve synchronous movement of the end of the surgical instrument and the surgeon's hands through a pre-programmed software program, a low-latency network and a synchronous motion controller; the scaling module (202) is used to reduce the movement of the doctor's operating table robot arm by a certain ratio and map it to the movement of the patient's robot arm by adding a motion scaling function to the master hand control system, thereby minimizing the natural shaking or unconscious movement of the doctor's hand and improving the patient's operating efficiency. Improve the surgical quality of the minimally invasive robot's delicate operation; the energy control module (203) is used to connect the electric energy platform through a control interface preset by the remote main operation terminal to connect the electric knife and the ultrasonic knife electric energy equipment, which can integrate the main hand energy control system to the maximum extent, and can convert the machine energy command into digital information, and carry a remote surgery module to achieve simultaneous transmission of operation commands under network support, so as to expand the application scenarios of the surgical robot; the instrument switching module (204) is used to pre-set the corresponding movement scaling ratio of each surgical instrument according to the use requirements of different terminal surgical instruments, and provide a function of fast mode switching after replacing the surgical instrument; The image transmission module (301), the image processing module (302), the three-dimensional display module (303) and the video compression module (304) are connected in sequence via network communication; the image transmission module (301) is used to transmit the surgical field image captured by the three-dimensional endoscope shooting system to the main hand control system through high-speed data transmission means; the image processing module (302) is used to perform noise reduction, scaling and other processing on the acquired surgical field image so as to provide the surgeon with a high-definition surgical field image; the three-dimensional display module (303) is used to intuitively display the surgical field image through a display with a three-dimensional display function. Displaying a three-dimensional high-definition image of the patient's abdominal cavity taken by a three-dimensional laparoscope using a high-resolution optical three-dimensional lens, so that the surgeon has a good sense of depth during the operation, can more clearly identify the anatomical structure, improve the accuracy of the operation, and can also reduce the surgeon's visual fatigue; the video compression module (304) is used to use an external high-speed data acquisition card on the patient side to collect and 3D compress the image, so as to save system processing and transmission time, reduce image transmission delay, and add a breakpoint resume function on this basis, which can resume the image from the breakpoint when it is reconnected after being interrupted, so as to ensure the continuity of the image during the operation; The real-time communication module (401), the remote signal module (402), the dedicated network module (403) and the security mechanism module (404) are connected in sequence through network communication; the real-time communication module (401) is used to provide low-latency, high-quality real-time communication support for remote surgery through a variety of communication means mainly based on 5G mobile communication technology; the remote signal module (402) is used for a two-way transmission mechanism with high real-time performance, which supports doctors to send operation instructions to control the robot arm on the patient side to perform surgery in robot remote surgery, and continuously receives and confirms feedback information from the patient side in real time to ensure the safety of the surgery; the dedicated network module (403) is used to set up a dedicated network for supporting remote surgery within the hospital, so as to provide stable and secure communication support for remote surgery; the security mechanism module (404) is used to set a security processing mechanism controlled by communication transmission, so as to ensure the safety of information docking, operation docking, fault handling, etc. between doctors and patients in the physical environment in robot remote surgery, which is particularly important for ensuring the safety and operability of remote surgery; The system power module (501), the backup power module (502) and the power failure processing module (503) are connected in sequence via network communication; the system power module (501) is used to respectively connect the power supplies of all power-consuming devices added to the master hand control system, and to control and distribute the power usage of each power-consuming device through a centralized power manager; the backup power module (502) is used to respectively set backup power supplies for each main power-consuming device of the master hand control system to cope with emergency power failures, so as to support the smooth progress of the operation or ensure the safety of the patient; the power failure processing module (503) is used to set a safety processing mechanism that is mainly controlled by power support, so as to cope with the safety actions of the doctor's operating table, the three-dimensional endoscopic camera system and the patient's operating table in the event of a power failure during robotic remote surgery.

2. The main hand control system of the small surgical robot according to claim 1, characterized in that: The design of the synchronous motion module (201) restores the synchronous motion of the doctor's eyes, surgical instruments and hands in open surgery to the greatest extent possible, and realizes intuitive motion mapping of eye-hand coordinated motion in minimally invasive surgery.

3. The main hand control system of the small surgical robot according to claim 1, characterized in that: In the safety mechanism module (404), the safety processing mechanism of communication transmission is specifically as follows: if an unexpected situation occurs in the communication and continuous packet loss occurs in the network, the master / slave remote control boxes at both ends will immediately stop the two-way signal transmission, and the brakes at all joints at both ends of the surgical robot doctor's operating table and the patient's operating table will immediately operate to stop all movements of the robot, and at the same time send out an alarm signal, and the robot enters the standby state to ensure the safety of remote surgery; when the communication is connected again, it establishes a robot master-slave secondary kinematic mapping mechanism to achieve the robot switching from the standby state to the connected state, and the surgical robot arm and instruments can map the control information of the doctor at the master operating end, thereby ensuring the safe and effective connection and mapping of remote control signals during the operation.

4. The main hand control system of the small surgical robot according to claim 1, characterized in that: In the power-off processing module (503), the safety processing mechanism of electric energy support is specifically as follows: when the system power is interrupted, it automatically switches to the backup power supply, and at the same time stops the operation of non-main power-consuming equipment and performs a structural reset, and displays the remaining backup power supply and the support time obtained through intelligent calculation in real time. In this case, the surgeon can choose to continue or suspend the operation according to the situation; when the system power is interrupted and automatically switches to the backup power supply, if the backup power supply cannot support the continuation of the operation, the patient operation table is powered first, and at the same time, the patient-side operation table can remove the terminal surgical instruments from the patient's body according to the preset procedure to ensure the safety of the patient; the patient operation table must be equipped with a backup power supply that is independent of the system. When the system power supply and the system backup power supply are both interrupted or exhausted, the backup power supply can support the emergency evacuation of the patient operation table.

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