Master and surgical robot system

Abstract

This invention relates to a protective device, a main control unit, and a surgical robot system. The protective device is used on the main control platform of the surgical robot system. The protective device includes a protective section and a connecting section. The protective section has a first protective boundary surface, which defines at least a portion of the boundary of the operable space of the main control platform. The first protective boundary surface faces the operable space. The connecting section connects to the main control platform, and the protective section is connected to the connecting section for connection with the main control platform. The protective device can create an operable space on the main control platform directly operated by the doctor, changing the main control platform from an open state to a non-open state with reasonable space restrictions. The operable space does not affect the doctor's normal operation, but also reasonably restricts the doctor's operation, preventing the doctor from accidentally colliding with surrounding objects and causing unexpected movement, thus effectively protecting the doctor's operation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a master control terminal and a surgical robot system. Background Technology

[0002] Surgical robot systems are integrated systems combining multiple modern high-tech methods. They have a wide range of applications in clinical surgery. A typical surgical robot system consists of a master control unit and an execution unit. Surgeons can control the master control unit by inputting control commands and remotely controlling the execution unit to perform the actual surgical procedure. Currently, the master control platform used by surgeons is completely open, meaning its surrounding space is unprotected. Therefore, surgeons' actions are unrestricted within the space. However, this unrestricted movement makes it easy for surgeons to collide with surrounding objects, causing unintended movements that negatively impact the surgical procedure. This is especially true when surgeons are focused on the operation and easily overlook obstacles in their surroundings. Summary of the Invention

[0003] Therefore, it is necessary to provide a master control system and a surgical robot system to address the technical problem of surgeons easily colliding with surrounding objects during surgery.

[0004] This invention provides a protective device for the main control platform of a surgical robot system, the protective device comprising:

[0005] The protective part has a first protective boundary surface, which is used to define at least a portion of the boundary of the operable space of the main control platform, and the first protective boundary surface faces the operable space.

[0006] A connecting part is used to connect to the main control platform, and a protective part is connected to the connecting part for connecting to the main control platform through the connecting part.

[0007] In one embodiment, the area of ​​the first protective boundary surface may be changed.

[0008] In one embodiment, the protective part has deformability and can deform under the action of external force to change the area of ​​the first protective boundary surface.

[0009] In one embodiment, the protective element includes:

[0010] At least two unit components are movably connected to each other, and the area of ​​the first protective boundary surface can be changed by mutual movement of the at least two unit components.

[0011] In one embodiment, the connecting portion is movably connected to the protective portion, and the connecting portion and the protective portion have at least one degree of freedom of movement; the connecting portion includes:

[0012] A first connecting component is movably connected to the protective part. The first connecting component has a first telescopic trajectory and is capable of telescopically extending and retracting along the first telescopic trajectory.

[0013] In one embodiment, the connecting portion includes:

[0014] A second connecting component is connected to the first connecting component, and the second connecting component has a second telescopic trajectory;

[0015] The second connecting component is capable of extending and retracting along the second telescopic trajectory, and / or the second connecting component is movably connected to the main control platform along the second telescopic trajectory.

[0016] In one embodiment, the first and second telescopic trajectories are straight lines, and the angle between the first and second telescopic trajectories is between 60° and 120°.

[0017] In one embodiment, the protective device includes a first position sensor and a first signal generator. The first position sensor is disposed on the first protective boundary surface, and the operable space includes at least one first object. The first position sensor is used to detect first position information of the first object. The first signal generator is electrically connected to the first position sensor and is used to generate a first prompt message based on the first position information; and / or,

[0018] The protective device includes a third position sensor and a third signal generator. The protective part has a second protective boundary surface facing the external space of the operable space. The external space of the operable space contains at least one third entity. The third position sensor is disposed on the second protective boundary surface and is used to detect the third position information of the third entity. The third signal generator is electrically connected to the third position sensor and is used to generate a third prompt message based on the third position information.

[0019] In one embodiment, the operable space includes a first non-prompt unit space and a first prompt unit space, and the first location information includes first non-prompt location information and first prompt location information; wherein, the first non-prompt location information indicates that the first entity is located within the first non-prompt unit space, and the first prompt location information indicates that the first entity is located within the first prompt unit space, and the first signal generator is used to generate the first prompt information based on the first prompt location information; and / or,

[0020] The external space of the operable space includes a third non-prompt unit space and a third prompt unit space. The third location information includes third non-prompt location information and third prompt location information. The third non-prompt location information indicates that the third entity is located within the third non-prompt unit space, and the third prompt location information indicates that the third entity is located within the third prompt unit space. The third signal generator is used to generate the third prompt information based on the third prompt location information.

[0021] In one embodiment, the operable space includes at least two first prompting unit spaces, the first location information includes at least two first prompting location information, and the first signal generator is used to generate a unique corresponding first prompting information based on any one of the first prompting location information; and / or,

[0022] The external space of the operable space includes at least two third prompting unit spaces, the third position information includes at least two third prompting position information, and the third signal generator is used to generate a unique corresponding third prompting information based on any one of the third prompting position information.

[0023] In one embodiment, the protective device includes a first information processor electrically connected to the first signal generator, configured to generate first control information based on the first prompt information, the first control information being used to control the main control platform to stop or run; and / or,

[0024] The protective device includes a third information processor, which is electrically connected to the third signal generator and is used to generate third control information based on the third prompt information. The third control information is used to control the main control platform to stop or run.

[0025] In one embodiment, the protective device includes:

[0026] A second position sensor is disposed on the first protective boundary surface. The operable space contains at least one second entity. The second position sensor is used to detect the second position information of the second entity.

[0027] The second information processor, electrically connected to the second position sensor, is used to generate end-effector control information based on the second position information. The end-effector control information is used to control the movement of the actuator of the surgical robot system.

[0028] In one embodiment, the protective device includes:

[0029] A second signal generator, electrically connected to the second position sensor, is used to generate a second prompt message based on the second position information.

[0030] In one embodiment, the operable space includes a second non-prompt unit space and a second prompt unit space, and the second location information includes second non-prompt location information and second prompt location information; wherein, the second non-prompt location information indicates that the second entity is located in the second non-prompt unit space, the second prompt location information indicates that the second entity is located in the second prompt unit space, and the second signal generator is used to generate the second prompt information based on the second prompt location information.

[0031] The present invention also provides a master control terminal, the master control terminal comprising:

[0032] Main control platform;

[0033] At least one of the protective devices is disposed on the main control platform and is used to define at least one boundary of the operable space of the main control platform.

[0034] The present invention also provides a surgical robot system, the surgical robot system including the protective device; or, the surgical robot system includes an execution end and a main control end, the main control end being controlled and connected to the execution end.

[0035] The aforementioned main control unit and surgical robot system, along with the protective device, can create an operable space on the main control platform directly operated by the doctor. This transforms the main control platform from an open state to a closed state with reasonable space restrictions. The operable space does not affect the doctor's normal operation, but also reasonably restricts the doctor's operation, preventing the doctor from accidentally colliding with surrounding objects and causing unexpected movements, thus effectively protecting the doctor's operation. Attached Figure Description

[0036] Figure 1This is a schematic diagram of the structure of a protective device provided in one embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the protective part provided in one embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram showing the change in the area of ​​the first protective boundary surface of the protective part provided in one embodiment of the present invention;

[0039] Figure 4 This is a perspective sectional view of the protective part provided in one embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the first angle structure of the main control terminal provided in one embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the second angle structure of the main control terminal provided in one embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the assembly structure of a single-sided protective device in the main control terminal provided in one embodiment of the present invention;

[0043] Figure 8 This is a schematic diagram of the assembly structure of the dual-sided protective device in the main control terminal provided in one embodiment of the present invention;

[0044] Figure 9 This is a schematic diagram of the electrical connections of a first position sensor, a first signal generator, and a first information processor provided in one embodiment of the present invention;

[0045] Figure 10 This is a schematic diagram of the electrical connections of the second position sensor, the second information processor, and the second signal generator provided in one embodiment of the present invention;

[0046] Figure 11 This is a schematic diagram of the usage state of the motion-sensing remote control provided in one embodiment of the present invention;

[0047] Figure 12 This is a schematic diagram of the electrical connections of a third position sensor, a third signal generator, and a third information processor provided in one embodiment of the present invention;

[0048] Figure 13 This is a schematic diagram of the structure of a surgical robot system provided in one embodiment of the present invention. Detailed Implementation

[0049] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0055] See Figures 1 to 13 As shown, an embodiment of the present invention provides a protective device 1000, which is applicable to a surgical robot system and serves as protection for the surgeon's manipulation actions during surgery. The surgical robot system may include a main control terminal 0001, an execution terminal 0002, a display terminal 0003, an instrument terminal 0004, and an anesthesia terminal 0005, etc. Theoretically, the protective device 1000 can be installed on at least one of the main control terminal 0001, the execution terminal 0002, the display terminal 0003, the instrument terminal 0004, and the anesthesia terminal 0005 as needed. The protective device 1000 forms protection in the space where the surgeon is located. For example, the main control terminal 0001 includes a main control platform 2000 for the surgeon to control. When the surgeon uses the main control platform 2000 to control the execution terminal 0002 to perform surgical operations, the protective device 1000 can provide protection for the manipulation actions. Therefore, the protective device 1000 is particularly suitable for the main control platform 2000 of the main control terminal 0001 in the surgical robot system. That is, an operable space is constructed on the main control platform 2000, so that the main control platform 2000 changes from an open state to a non-open state with reasonable space restrictions. The non-open state is mainly achieved by limiting the operable space. The purpose of constructing the operable space is to not affect the doctor's normal operation, but to reasonably restrict the doctor's operation during the operation, thus forming effective protection.

[0056] See Figure 1 As shown, the protective device 1000 includes a protective part 1100 and a connecting part 1200. The connecting part 1200 is used to connect to the main control platform 2000. The protective part 1100 is connected to the connecting part 1200, so the protective part 1100 can be connected to the main control platform 2000 through the connecting part 1200. Moreover, the protective part 1100 has a first protective boundary surface 1130. When the protective part 1100 is connected to the main control platform 2000, the first protective boundary surface 1130 can be used to define at least a portion of the boundary of the operable space of the main control platform 2000, and the first protective boundary surface 1130 is oriented towards the operable space, thereby constructing an operable space.

[0057] It should be noted that the number of protective units 1100 can be one or more. Therefore, one or more boundaries of the operable space are constructed on the main control platform 2000 according to the needs. Thus, the construction of the operable space does not mean a completely closed construction, that is, it is not a completely closed operable space constructed by boundaries at all angles and directions. The completion of the construction of the operable space is indicated by one or more boundaries being able to reasonably restrict the doctor's manipulation actions and avoid accidental collisions.

[0058] Therefore, refer to Figure 5 and Figure 6 As shown, the boundary constructed by one or more first protective boundary surfaces 1130 can be located at different angles or directions such as the left, right, top, front, and rear sides of the operable space, or it can be constructed at other angles or directions as needed. Different boundaries will provide protection for the doctor's manipulation actions at different angles or directions, for example... Figure 7 As shown, the protective unit 1100 is one in number and located on one side of the main control platform 2000. The first protective boundary surface 1130 of the protective unit 1100 constructs a boundary of the operable space on one side of the main control platform 2000, for example... Figure 8 As shown, when there are two protective units 1100 located on the left and right sides of the main control platform 2000, the first protective boundary surface 1130 of the two protective units 1100 can construct the left and right boundaries of the operable space on the left and right sides of the main control platform 2000.

[0059] The protective section 1100 can adopt various structural forms, such as plate-like, sheet-like, or block-like structures, and can be in regular shapes such as circles, ellipses, rectangles, and squares, or other irregular shapes. Therefore, depending on the different structural forms of the protective section 1100, the first protective boundary surface 1130 formed on the protective section 1100 can also be in regular shapes such as circles, ellipses, rectangles, and squares, or other irregular shapes. Moreover, the first protective boundary surface 1130 can represent a complete surface, a mesh surface with holes, or a contour surface formed by other surface forms, as long as the surface constructed by this first protective boundary surface 1130 can protect the doctor's manipulation actions, that is, it can block the doctor's manipulation actions and prevent the doctor's manipulation actions from colliding with surrounding objects. The specific surface form of the first protective boundary surface 1130 is not limited.

[0060] The structure of the first protective boundary surface 1130 can be arbitrary, and its area can also be changed. Changing the area of ​​the first protective boundary surface 1130 can expand or shrink its actual protective area, thus making it suitable for different usage scenarios and allowing adjustments based on the actual needs of different doctors. The method of changing the area of ​​the first protective boundary surface 1130 can take various forms.

[0061] For example, in one embodiment, at least a portion of the structure of the protective part 1100 itself can be defined as having deformability, allowing the protective part 1100 to deform under external force, thereby changing the area of ​​the first protective boundary surface 1130 through the deformation of the protective part 1100. The deformability of the protective part 1100 can be achieved by selecting deformable metal or non-metal, which can be selected according to the needs of those skilled in the art, and is not limited here. The deformability of the protective part 1100 is mainly reflected in the fact that the protective part 1100 can cause its own shape to change under external force. For example, the shape change of the protective part 1100 can be manifested as elongation or shortening under external force, or as changes in structural shape, thickness, etc. under external force. As for how the shape change of the protective part 1100 is specifically, it depends on the specific external force actually applied to the protective part 1100. Therefore, doctors can apply external force to the protective part 1100 as needed to change the area of ​​the first protective boundary surface 1130.

[0062] Alternatively, in one embodiment, the protective part 1100 includes at least two unit components 1110, which are movably connected to each other. The at least two unit components 1110 can change the area of ​​the first protective boundary surface 1130 by moving relative to each other. For example, the number of unit components 1110 can be two or more. Only two unit components 1110 can be movably connected, or multiple unit components 1110 can be movably connected. Therefore, by the relative movement between two unit components 1110 or the relative movement between multiple unit components 1110, the effect of expansion or contraction can be achieved, thereby expanding or reducing the area that the two or more unit components 1110 can cover, thus changing the area of ​​the first protective boundary surface 1130.

[0063] When there are two unit components 1110, each unit component 1110 can have an independent unit protection surface. The two unit components 1110 are movably connected, and the movable connection of the two unit components 1110 can make the two unit protection surfaces have at least a part of overlapping area. By changing the size of the overlapping area between the two unit protection surfaces through the relative movement of the two unit components 1110, the area of ​​the first protection boundary surface 1130 formed as a whole can be changed.

[0064] See Figures 2 to 4 As shown, the two unit components 1110 have a linear motion trajectory 1120. This linear motion trajectory 1120 can be a straight line or a curve, which is not limited here. The two unit components 1110 can move relative to each other along the linear motion trajectory 1120, thereby changing the size of the overlapping area between the two unit protective surfaces. By adjusting the overlapping area, the area of ​​the first protective boundary surface 1130 can be changed. The linear motion trajectory 1120 can be constructed in the form of guide rails, guide grooves, guide protrusions, etc. Moreover, the relative movement between the two unit components 1110 can be manually controlled or electrically controlled. Those skilled in the art can choose a suitable sliding engagement method according to their needs, which is not limited here.

[0065] When there are multiple unit components 1110, the multiple unit components 1110 can form diverse and complex movement modes to achieve relative movement, such as overall aggregation or overall separation, so that the area of ​​the first protective boundary surface 1130 constructed by the multiple unit components 1110 changes. In particular, when the number of unit components 1110 is large, the large number of unit components 1110 can also construct a mesh structure. Due to the characteristics of gaps or pores in the structure, the mesh structure can undergo shape changes after being subjected to external forces. Specifically, the changes are manifested in the microscopic changes in the size and shape of the gaps or pores in the mesh structure. By utilizing the changes in the gaps or pores of the mesh structure, the overall shape of the mesh structure can be changed macroscopically, thereby changing the area of ​​the first protective boundary surface 1130.

[0066] Continue reading Figure 1As shown, in one embodiment, the connecting part 1200 is movably connected to the protective part 1100, and the connecting part 1200 and the protective part 1100 have at least one degree of freedom of movement. For example, the connecting part 1200 and the protective part 1100 can rotate along one or more axes. Or, the connecting part 1200 and the protective part 1100 can be connected by a universal joint or by a hinge, so that the connecting part 1200 and the protective part 1100 can perform rotation, yaw, pitch and other movements in multiple directions and angles to adjust the direction or angle of the protective part 1100. Those skilled in the art can choose a suitable movable connection method according to their needs, which is not limited here.

[0067] Continue reading Figure 1 As shown, in one embodiment, the connecting part 1200 includes a first connecting member 1210. Therefore, the first connecting member 1210 can be used to movably connect with the protective part 1100. The protective part 1100 is connected to the main control platform 2000 using the first connecting member 1210. The first connecting member 1210 may have a telescopic function. For example, the first connecting part 1200 may be in the form of a telescopic rod, so that the first connecting member 1210 is defined with a first telescopic trajectory 1210a. The first connecting member 1210 can extend and retract along the first telescopic trajectory 1210a. The spatial position of the protective part 1100 can be adjusted by the extension or shortening of the first connecting member 1210.

[0068] Continue reading Figure 1 As shown, in one embodiment, the connecting part 1200 includes a second connecting component 1220, which is connected to the first connecting component 1210. Therefore, the protective part 1100 can be indirectly connected to the main control platform 2000 using the first connecting component 1210 and the second connecting component 1220. The second connecting component 1220 may have a telescopic function; for example, the second connecting part 1200 may be in the form of a telescopic rod, defining a second telescopic trajectory 1220a on the second connecting component 1220. Based on this second telescopic trajectory 1220a, not only can the second connecting component 1220 itself be limited to telescopic movement along the second telescopic trajectory 1220a, but the second connecting component 1220 can also be limited to being movably connected to the main control platform 2000 along the second telescopic trajectory 1220a. This allows the first connecting component 1210 and the protective part 1100 to move spatially along the second telescopic trajectory 1220a in at least two ways.

[0069] In one embodiment, the first telescopic trajectory 1210a and the second telescopic trajectory 1220a are straight lines, and the included angle between the first telescopic trajectory 1210a and the second telescopic trajectory 1220a is between 60° and 120°. For example, the included angle between the first telescopic trajectory 1210a and the second telescopic trajectory 1220a can be 60°, 65°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, 115°, and 120°, etc. Those skilled in the art can define the first telescopic trajectory 1210a according to their needs. The angle between the first telescopic trajectory 1210a and the second telescopic trajectory 1220a allows the first connecting component 1210 and the second connecting component 1220 to adjust the spatial position of the protective part 1100 in different directions. For example, when the angle between the first telescopic trajectory 1210a and the second telescopic trajectory 1220a is 90°, the first connecting component 1210 can be used to adjust the spatial position of the protective part 1100 in the left-right direction of the main control platform 2000, and the second connecting component 1220 can be used to adjust the spatial position of the protective part 1100 in the up-down direction of the main control platform 2000.

[0070] See Figure 9 As shown, in one embodiment, the protective device 1000 includes a first position sensor 1300a and a first signal generator 1400a. The first position sensor 1300a is disposed on the first protective boundary surface 1130. The operable space contains at least one first object. The first position sensor 1300a is used to detect the first position information of the first object. The first signal generator 1400a is electrically connected to the first position sensor 1300a and is used to generate a first prompt message based on the first position information.

[0071] The first position sensor 1300a can be a photosensitive element such as a common camera, a structured light camera, or an infrared camera, or a magnetic field detection sensor. The first physical objects included in the operable space include the doctor's hand and the main operating part 2100 in the main control platform 2000 for the doctor to operate. Since the purpose of the protective device 1000 is to prevent the doctor's operating actions from accidentally touching the surrounding objects, all physical structures in the operable space, including the doctor's hand, can be included within the scope of the first physical objects. Those skilled in the art can choose to include or exclude specific objects according to the protection requirements, which is not limited here.

[0072] For example, the first position sensor 1300a can detect the specific position of the doctor's hand or part or all of the main operating part 2100 within the operable space. Once the hand or main operating part 2100 is close to the first protective boundary surface 1130, the first signal generator 1400a can generate a first prompt message based on the first position information collected by the first position sensor 1300a, and use the first prompt message to make a reminder. The first prompt message can be given in various ways, including sound, light, vibration, etc.

[0073] The first position information includes the specific spatial position of the first entity within the operable space. When the specific spatial position of the first entity within the operable space is far from the first protective boundary surface 1130, the first signal generator 1400a will not generate the first prompt information. For example, if part or all of the hand or main operating part 2100 is far from the first protective boundary surface 1130, the doctor can perform normal operation. However, when the specific spatial position of the first entity within the operable space is close to the first protective boundary surface 1130, the first signal generator 1400a will generate the first prompt information. For example, if part or all of the hand or main operating part 2100 is close to the first protective boundary surface 1130, the first prompt information will provide a reminder.

[0074] Therefore, in one embodiment, the operable space can be divided into a first non-prompt unit space and a first prompt unit space. Both the first non-prompt unit space and the first prompt unit space can be one or more, and both can have regular or irregular spatial shapes. The number and shape of the first non-prompt unit space and the first prompt unit space depend on the specific protective requirements of the doctor's manipulation actions. Those skilled in the art can divide the operable space according to requirements, without limitation. For example, the first non-prompt unit space can be the central space of the operable space away from the first protective boundary surface 1130, and the first prompt unit space can be the edge space of the operable space close to the first protective boundary surface 1130. Furthermore, the first prompt unit space can be subdivided into multiple different first prompt unit spaces based on its distance from the first protective boundary surface 1130.

[0075] Meanwhile, based on the division of the first non-prompt unit space and the first prompt unit space, the first location information can also be divided into one or more first non-prompt location information and first prompt location information. The first non-prompt location information indicates that the first entity is located in the first non-prompt unit space, and the first prompt location information indicates that the first entity is located in the first prompt unit space. Therefore, when the hand or main operating unit 2100 is in the first non-prompt unit space that is far from the first protective boundary surface 1130, the first signal generator 1400a will not generate the first prompt information based on the first non-prompt location information. However, when the hand or main operating unit 2100 is in the first prompt unit space that is close to the first protective boundary surface 1130, the first signal generator 1400a can generate the first prompt information based on the first prompt location information and use the first prompt information to make a reminder.

[0076] In one embodiment, the operable space includes at least two first prompting unit spaces, the first location information includes at least two first prompting location information, and the first signal generator 1400a is used to generate a unique first prompting information based on any one of the first prompting location information. For example, the operable space is divided into a first non-prompting unit space and two first prompting unit spaces. The two first prompting unit spaces are at different distances from the first protective boundary surface 1130. Therefore, the one closer to the first protective boundary surface 1130 among the two first prompting unit spaces can be called a mild prompting space, and the one farther from the first protective boundary surface 1130 among the two first prompting unit spaces can be called a severe warning space. The first signal generator 1400a generates a unique first prompting information based on the first prompting location information of the first entity being in the mild prompting space or the severe warning space, and issues reminders of different warning levels. By analogy, the operable space can be divided into multiple different first prompting unit spaces, realizing the subdivision of multiple different first prompting unit spaces according to the distance from the first protective boundary surface 1130.

[0077] In one embodiment, the protective device 1000 includes a first information processor 1500a, which is electrically connected to the first signal generator 1400a. The first information processor 1500a is used to generate first control information based on the first prompt information. The first control information can be used as an instruction to control the main control platform 2000 to stop or run, thereby controlling the main control platform 2000 to stop or run from the instruction level.

[0078] For example, if the first warning message indicates that the first physical object is too close to the first protective boundary 1130 and may interfere with the doctor's actions, the first control information can issue a command to stop the main control platform 2000 from the command level to avoid affecting the doctor's normal operation. This stop is achieved through the control mechanism of the main control platform 2000. Conversely, it can release the stop on the main control platform 2000, allowing it to continue operating. In particular, when the first physical object is in a critical situation within a severely warned space, the first control information can issue a command to stop the main control platform 2000 from the command level, achieving this stop through the control mechanism of the main control platform 2000.

[0079] See Figure 10 and Figure 11 As shown, in one embodiment, the protective device 1000 includes a second position sensor 1300b and a second information processor 1400b. The second position sensor 1300b is disposed on the first protective boundary surface 1130. The operable space contains at least one second entity. The second position sensor 1300b is used to detect the second position information of the second entity. The second information processor 1400b is electrically connected to the second position sensor 1300b and is used to generate end-effector control information based on the second position information. The end-effector control information is used to control the movement of the actuator 0002 of the surgical robot system.

[0080] The second position sensor 1300b can be a photosensitive element such as a regular camera, a structured light camera, or an infrared camera, or a magnetic field detection sensor. Since the first position sensor 1300a and the second position sensor 1300b have the same or similar form and assembly position, they can be shared. The second entity included in the operable space can include the doctor's hand, a motion controller, or other types of wireless controllers. Therefore, when the doctor's hand performs manipulation actions within the operable space using the motion controller, the second position sensor 1300b can collect the motion signals from the motion controller or other types of wireless controllers. The second information processor 1400b generates end-effector control information based on the second position information. This end-effector control information can serve as an instruction to control the execution end 0002, thereby controlling the movement of the execution end 0002 of the surgical robot system from the instruction level. After receiving the end-effector control information, the execution end 0002 can perform specific surgical operations based on its own robotic arm, surgical instruments, and other mechanisms. Therefore, the cooperation between the second position sensor 1300b and the second information processor 1400b can realize master-slave remote control of the doctor's manipulation actions and the surgical operations of the execution end 0002.

[0081] In one embodiment, the protective device 1000 includes a second signal generator 1500b, which is electrically connected to the second position sensor 1300b. The second signal generator 1500b is capable of generating a second prompt message based on the second position information. The functions of the second signal generator 1500b and the second position sensor 1300b cooperate with those of the first signal generator 1400a and the first position sensor 1300a; therefore, the first signal generator 1400a and the second signal generator 1500b can also be shared.

[0082] For example, the second position sensor 1300b can detect the specific position of the doctor's hand, motion controller or other type of wireless controller in the operable space. Once the hand, motion controller or other type of wireless controller is close to the first protective boundary surface 1130, the second signal generator 1500b can generate a second prompt message based on the second position information collected by the second position sensor 1300b, and use the second prompt message to remind the user. The second prompt message can be reminded in various ways, including sound, light, vibration and so on.

[0083] The second location information includes the specific spatial location of the second entity within the operable space. When the specific spatial location of the second entity within the operable space is far from the first protective boundary 1130, the second signal generator 1500b will not generate the second prompt information. For example, if the hand, motion controller, or other type of wireless controller is far from the first protective boundary 1130, the doctor can still perform normal manipulation actions. However, when the specific spatial location of the second entity within the operable space is close to the first protective boundary 1130, the second signal generator 1500b will generate the second prompt information. For example, if the hand, motion controller, or other type of wireless controller is close to the first protective boundary 1130, the second prompt information will provide a reminder.

[0084] Therefore, in one embodiment, the operable space can be divided into a second non-prompt unit space and a second prompt unit space. Each of the second non-prompt unit space and the second prompt unit space can be one or more, and both can have regular or irregular spatial shapes. The number and shape of the second non-prompt unit space and the second prompt unit space depend on the specific protective requirements of the doctor's manipulation actions. Those skilled in the art can divide the operable space according to requirements, without limitation. For example, the second non-prompt unit space can be the central space of the operable space away from the second protective boundary surface 1140, and the second prompt unit space can be the edge space of the operable space close to the second protective boundary surface 1140. Furthermore, the second prompt unit space can be subdivided into multiple different second prompt unit spaces based on its distance from the second protective boundary surface 1140.

[0085] Meanwhile, based on the division of the second non-prompt unit space and the second prompt unit space, the second location information can also be divided into one or more second non-prompt location information and second prompt location information. The second non-prompt location information indicates that the second entity is located within the second non-prompt unit space, and the second prompt location information indicates that the second entity is located within the second prompt unit space. Therefore, when the hand, motion controller, or other type of wireless controller is located in the second non-prompt unit space, which is far from the first protective boundary surface 1130, the second signal generator 1500b will not generate the second prompt information based on the second non-prompt location information. However, when the hand, motion controller, or other type of wireless controller is located in the second prompt unit space, which is close to the first protective boundary surface 1130, the second signal generator 1500b can generate the second prompt information based on the second prompt location information and use the second prompt information to provide a reminder.

[0086] See Figure 12As shown, in one embodiment, the protective device 1000 includes a third position sensor 1300c and a third signal generator 1400c. The protective part 1100 has a second protective boundary surface 1140 facing the external space of the operable space. The external space of the operable space contains at least one third entity. The third position sensor 1300c is disposed on the second protective boundary surface 1140 and is used to detect the third position information of the third entity. The third signal generator 1400c is electrically connected to the third position sensor 1300c and is used to generate a third prompt message based on the third position information.

[0087] The third position sensor 1300c can be a photosensitive element such as a common camera, a structured light camera, or an infrared camera, or a magnetic field detection sensor. The external space of the operable space refers to the environmental space other than the operable space (hereinafter referred to as the environmental space). The third entity included in the environmental space includes surrounding physical objects or other personnel, that is, any external physical structure that can collide with the protective unit 1100 and affect the doctor's operation can be included within the scope of the third entity. Those skilled in the art can select the specific objects to be included or excluded according to the protection requirements, which is not limited here.

[0088] For example, the third position sensor 1300c can detect the specific position of surrounding physical objects or other personnel within the operable space. Once the surrounding physical objects or other personnel are close to the second protective boundary surface 1140, the third signal generator 1400c can generate a third prompt message based on the third position information collected by the third position sensor 1300c, and use the third prompt message to make a reminder. The third prompt message reminder can be given in various ways, including sound, light, vibration, etc.

[0089] The third location information includes the specific spatial location of the third entity within the environmental space. When the specific spatial location of the third entity within the environmental space is far from the second protective boundary 1140, the third signal generator 1400c will not generate the third prompt information. For example, if surrounding objects or other personnel are far from the second protective boundary 1140, the doctor can perform normal manipulation actions. However, when the specific spatial location of the third entity within the environmental space is close to the second protective boundary 1140, the third signal generator 1400c will generate the third prompt information. For example, if surrounding objects or other personnel are close to the second protective boundary 1140, the third prompt information will provide a reminder.

[0090] Therefore, in one embodiment, the external space of the operable space can be divided into a third non-prompt unit space and a third prompt unit space. Both the third non-prompt unit space and the third prompt unit space can be one or more, and both can have regular or irregular spatial shapes. The number and shape of the third non-prompt unit space and the third prompt unit space depend on the specific protection requirements for surrounding physical objects. Those skilled in the art can divide the operable space according to requirements, without limitation. For example, the third non-prompt unit space can be a distant space in the environment far from the second protective boundary surface 1140, and the third prompt unit space can be a close space in the environment close to the second protective boundary surface 1140. Furthermore, the third prompt unit space can be subdivided into multiple different third prompt unit spaces based on its distance from the second protective boundary surface 1140.

[0091] Meanwhile, based on the division of the third non-prompt unit space and the third prompt unit space, the third location information can also be divided into one or more third non-prompt location information and third prompt location information. The third non-prompt location information indicates that the third entity is located within the third non-prompt unit space, and the third prompt location information indicates that the third entity is located within the third prompt unit space. Therefore, when surrounding physical objects or other personnel are located in the third non-prompt unit space, which is far from the second protective boundary surface 1140, the third signal generator 1400c will not generate the third prompt information based on the third non-prompt location information. However, when surrounding physical objects or other personnel are located in the third prompt unit space, which is close to the second protective boundary surface 1140, the third signal generator 1400c can generate the third prompt information based on the third prompt location information and use the third prompt information to provide a reminder.

[0092] In one embodiment, the external space of the operable space includes at least two third prompting unit spaces, and the third location information includes at least two third prompting location information. The third signal generator 1400c is used to generate a unique corresponding third prompting information based on any one of the third prompting location information. For example, the environmental space is divided into a third non-prompting unit space and two third prompting unit spaces. The two third prompting unit spaces are at different distances from the second protective boundary surface 1140. Therefore, the third prompting unit space that is closer to the second protective boundary surface 1140 can be called a mild prompting space, and the third prompting unit space that is farther from the second protective boundary surface 1140 can be called a severe warning space. The third signal generator 1400c generates a unique corresponding third prompting information based on the third prompting location information of the third entity being in the mild prompting space or the severe warning space, and issues reminders of different warning levels. By analogy, the environmental space can be divided into multiple different third prompting unit spaces, realizing the subdivision of multiple different third prompting unit spaces according to their distance from the second protective boundary surface 1140.

[0093] In one embodiment, the protective device 1000 includes a third information processor 1500c, which is electrically connected to the third signal generator 1400c. The third information processor 1500c is used to generate third control information based on the third prompt information. The third control information can be used as an instruction to control the main control platform 2000 to stop or run, thereby controlling the main control platform 2000 to stop or run from the instruction level.

[0094] For example, if the third notification message indicates that a third entity is too close to the second protective boundary 1140 and could interfere with the doctor's actions, the third control information can issue a command to stop the main control platform 2000 from the command level to avoid affecting the doctor's normal operation. This stoppage is achieved through the main control platform 2000's control mechanisms. Conversely, it can release the stoppage and allow the main control platform 2000 to continue operating. In particular, when the third entity is in a critical situation within the environmental space, the third control information can issue a command to stop the main control platform 2000 from the command level, achieving this stoppage through the main control platform 2000's control mechanisms.

[0095] Continue reading Figures 1 to 8As shown, the present invention also provides a main control terminal 0001, which includes a main control platform 2000 and at least one of the aforementioned protective devices 1000. The protective device 1000 is disposed on the main control platform 2000 and is used to define at least one boundary of the operable space of the main control platform 2000. Since the specific structure, functional principle, and technical effects of the protective device 1000 have been described in detail above, they will not be repeated here. Any technical content related to the protective device 1000 can be found in the foregoing description.

[0096] See Figure 13 As shown, the present invention also provides a surgical robot system, the surgical robot system including the protective device 1000; or, the surgical robot system includes an execution end 0002 and a main control end 0001 as shown, the main control end 0001 being controlled and connected to the execution end 0002.

[0097] In addition, the surgical robot system may also include a display unit 0003, an instrument unit 0004, and an anesthesia unit 0005. Theoretically, the protective device 1000 can be installed in at least one of the main control unit 0001, the execution unit 0002, the display unit 0003, the instrument unit 0004, and the anesthesia unit 0005 as needed, forming a protective barrier in the space where the doctor is located. The main control unit 0001 provides the doctor with control over the main control platform 2000. The main control platform 2000 includes a main operating unit 2100, a support and adjustment unit 2200, and a stereoscopic observation unit 2300. The main operating unit 2100 detects the doctor's manipulation actions and generates commands or instructions for the execution unit 0002 to execute specific surgical operations based on these actions. The support and adjustment unit 2200 adjusts the height, position, and other structural states of the main operating unit 2100 and the stereoscopic observation unit 2300 to adapt to different doctors' body parameters. The stereoscopic observation unit 2300 primarily provides the doctor with a stereoscopic imaging field of view. The function of the execution terminal 0002 is to perform specific surgical operations according to the doctor's control on the main control terminal 0001. The function of the display terminal 0003 is to acquire image information of lesions inside the patient's body for the doctor's reference.

[0098] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A master control terminal, characterized in that, The main control terminal includes: Main control platform; A protective device is disposed on the main control platform to define at least one boundary of the operable space of the main control platform. The protective device includes a protective part and a connecting part. The protective part has a first protective boundary surface, which defines at least a portion of the boundary of the operable space of the main control platform and faces the operable space. The connecting part is used to connect to the main control platform, and the protective part is connected to the connecting part for connection with the main control platform via the connecting part. Furthermore, the protective device includes a first position sensor and a first signal generator. The first position sensor is disposed on the first protective boundary surface, and the operable space contains at least one first object. The first position sensor is used to detect the first position information of the first object. The first signal generator is electrically connected to the first position sensor and is used to generate a first prompt message based on the first position information. Alternatively, the protective device includes a third position sensor and a third signal generator. The protective part has a second protective boundary surface facing the external space of the operable space. The external space of the operable space contains at least one third object. The third position sensor is disposed on the second protective boundary surface and is used to detect the third position information of the third object. The third signal generator is electrically connected to the third position sensor and is used to generate a third prompt message based on the third position information.

2. The main control terminal according to claim 1, characterized in that, The area of ​​the first protective boundary surface can be changed.

3. The main control terminal according to claim 2, characterized in that, The protective part has deformation capability and can deform under the action of external force to change the area of ​​the first protective boundary surface.

4. The main control terminal according to claim 2, characterized in that, The protective part includes: At least two unit components are movably connected to each other, and the area of ​​the first protective boundary surface can be changed by mutual movement of the at least two unit components.

5. The main control terminal according to claim 1, characterized in that, The connecting part is movably connected to the protective part, and there is at least one degree of freedom of movement between the connecting part and the protective part; the connecting part includes: A first connecting component is movably connected to the protective part. The first connecting component has a first telescopic trajectory and is capable of telescopically extending and retracting along the first telescopic trajectory.

6. The main control terminal according to claim 5, characterized in that, The connecting part includes: A second connecting component is connected to the first connecting component, and the second connecting component has a second telescopic trajectory; The second connecting component is capable of extending and retracting along the second telescopic trajectory, and / or the second connecting component is movably connected to the main control platform along the second telescopic trajectory.

7. The main control terminal according to claim 6, characterized in that, Both the first and second telescopic trajectories are straight lines, and the angle between the first and second telescopic trajectories is between 60° and 120°.

8. The main control terminal according to claim 1, characterized in that, The operable space includes a first non-prompt unit space and a first prompt unit space, and the first location information includes first non-prompt location information and first prompt location information; wherein, the first non-prompt location information indicates that the first entity is located within the first non-prompt unit space, and the first prompt location information indicates that the first entity is located within the first prompt unit space, and the first signal generator is used to generate the first prompt information based on the first prompt location information; and / or, The external space of the operable space includes a third non-prompt unit space and a third prompt unit space. The third location information includes third non-prompt location information and third prompt location information. The third non-prompt location information indicates that the third entity is located within the third non-prompt unit space, and the third prompt location information indicates that the third entity is located within the third prompt unit space. The third signal generator is used to generate the third prompt information based on the third prompt location information.

9. The main control terminal according to claim 8, characterized in that, The operable space includes at least two first prompting unit spaces, the first location information includes at least two first prompting location information, and the first signal generator is used to generate a unique corresponding first prompting information based on any one of the first prompting location information. And / or, The external space of the operable space includes at least two third prompting unit spaces, the third position information includes at least two third prompting position information, and the third signal generator is used to generate a unique corresponding third prompting information based on any one of the third prompting position information.

10. The main control terminal according to any one of claims 1-9, characterized in that, The protective device includes a first information processor electrically connected to the first signal generator, used to generate first control information based on the first prompt information, the first control information being used to control the main control platform to stop or run; and / or The protective device includes a third information processor, which is electrically connected to the third signal generator and is used to generate third control information based on the third prompt information. The third control information is used to control the main control platform to stop or run.

11. The main control terminal according to claim 1, characterized in that, The protective device includes: A second position sensor is disposed on the first protective boundary surface. The operable space contains at least one second entity. The second position sensor is used to detect the second position information of the second entity. The second information processor, electrically connected to the second position sensor, is used to generate end-effector control information based on the second position information. The end-effector control information is used to control the movement of the actuator of the surgical robot system.

12. The main control terminal according to claim 11, characterized in that, The protective device includes: A second signal generator, electrically connected to the second position sensor, is used to generate a second prompt message based on the second position information.

13. The main control terminal according to claim 12, characterized in that, The operable space includes a second non-prompt unit space and a second prompt unit space. The second location information includes second non-prompt location information and second prompt location information. The second non-prompt location information indicates that the second entity is located in the second non-prompt unit space, and the second prompt location information indicates that the second entity is located in the second prompt unit space. The second signal generator is used to generate the second prompt information based on the second prompt location information.

14. A surgical robot system, characterized in that, The surgical robot system includes an execution end and a master control end as described in any one of claims 1-13, wherein the master control end is controlled to the execution end.

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