Surgical robot and method of controlling a surgical robot

Abstract

The application relates to a surgical robot and a control method of the surgical robot, the surgical robot comprising a robot master system, a robot slave system and a scanning device, the robot master system being in communication connection with the robot slave system and the scanning device respectively; the scanning device acquires a real-time scanning image of a scanning object; the robot master system controls the robot slave system to move according to a motion path according to the real-time scanning image and the motion path, wherein the motion path is obtained after being planned according to the position of a region of interest in the real-time scanning image; the problem that the field of view of a lens of a thoracoscope or a laparoscope used for observation is limited in the related art, resulting in reduced accuracy in a surgical process, is solved; and the application provides a larger surgical field of view through the real-time scanning image, and the safety and accuracy of the surgical process are improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical robot and a method for controlling the surgical robot. Background Technology

[0002] With the development of imaging technology and surgical instruments, thoracoscopic and laparoscopic surgery, performed with video assistance, has become one of the options for the resection of thoracic and abdominal tumors. Thoracoscopic and laparoscopic surgeries involve smaller incisions and faster healing, gradually becoming one of the mainstream surgical procedures. Furthermore, their integration with robotic platforms such as the da Vinci system has improved the stability and accuracy of thoracoscopic and laparoscopic surgeries.

[0003] However, in related technologies, the small size of thoracoscopes or laparoscopes during surgery limits the field of view, making it impossible for the operator to obtain all the effective information about the surgical area. This makes the surgical operation more difficult and reduces the accuracy and efficiency of the operation.

[0004] Currently, no effective solution has been proposed to address the problem of limited field of view of thoracoscopes or laparoscopes used for observation in related technologies, which leads to reduced accuracy during surgery. Summary of the Invention

[0005] This application provides a surgical robot and a control method for the surgical robot, so as to at least solve the problem in the related art that the limited field of view of the thoracoscope or laparoscope leads to reduced accuracy during the operation.

[0006] In a first aspect, embodiments of this application provide a surgical robot, including a robot master system, a robot slave system, and a scanning device, wherein the robot master system is communicatively connected to the robot slave system and the scanning device, respectively.

[0007] The scanning device acquires a real-time scanned image of the object being scanned; the robot main system controls the robot slave system to move according to the motion path based on the real-time scanned image and the motion path, wherein the motion path is planned based on the position of the region of interest in the real-time scanned image.

[0008] In some embodiments, the robot from the system includes a robotic arm and a cutting device;

[0009] The slave system robotic arm is mechanically connected to the cutting device, and the slave system robotic arm guides the cutting device to move according to the motion path.

[0010] In some embodiments, the cutting device includes a cutting instrument and a negative pressure unit, the cutting instrument and the negative pressure unit being in communication.

[0011] In some embodiments, the cutting instrument includes an inner tube and an outer tube forming a chamber between the inner and outer tubes, and the outer tube is movable relative to the inner tube.

[0012] In some embodiments, the inner tube and the outer tube extend or extend spirally or translateably.

[0013] In some embodiments, the cutting instrument includes a guide disposed at one end of the inner tube relatively away from the outer tube and capable of fitting against the outer tube to form a sealed chamber.

[0014] In some embodiments, the cutting instrument includes a seal for forming a sealed chamber when the guide and the outer tube are in contact, the seal being disposed at one end of the guide near the outer tube, or the seal being disposed on the inner wall of the outer tube.

[0015] In some embodiments, the end of the outer tube near the guide is beveled, and the end of the guide near the outer tube is beveled, and the outer tube and the guide cooperate to form a sealed chamber.

[0016] In some embodiments, the cutting instrument includes a control element and / or a connector, the control element controlling the movement of the outer tube relative to the inner tube, the connector being hollow, with one end connected to the negative pressure section and the other end connected to the chamber.

[0017] In some embodiments, the scanning device includes a scanner and a console, the scanner and the console being communicatively connected;

[0018] The scanner is used to acquire the real-time scanned image, and the console is used to control the scanner to scan the object and transmit the real-time scanned image to the robot's main system.

[0019] In some embodiments, the console further includes a display device for displaying the real-time scan image and the motion path.

[0020] Secondly, embodiments of this application provide a control method for any of the surgical robots described in the above embodiments, including:

[0021] Acquire real-time scanned images of the object being scanned using a scanning device;

[0022] The motion path is planned based on the location of the region of interest in the real-time scanned image;

[0023] The surgical robot is controlled to move from the system based on the real-time scan images and the motion path.

[0024] Compared to related technologies, the surgical robot provided in this application includes a main robot system, a slave robot system, and a scanning device. The main robot system is communicatively connected to the slave robot system and the scanning device. The scanning device acquires real-time scan images of the scanned object. The main robot system controls the slave robot system to move according to the motion path based on the real-time scan images and the motion path. The motion path is planned based on the location of the region of interest in the real-time scan images. This solves the problem in related technologies where the field of view of the thoracoscope or laparoscope used for observation is limited, leading to reduced accuracy during surgery. This application provides a larger surgical field of view through real-time scan images, improving the safety and accuracy of the surgical process.

[0025] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0027] Figure 1 This is a structural block diagram of a surgical robot according to an embodiment of this application;

[0028] Figure 2 This is a structural block diagram of another surgical robot according to an embodiment of this application;

[0029] Figure 3 This is a structural block diagram of another surgical robot according to an embodiment of this application;

[0030] Figure 4 This is a schematic diagram of a preferred cutting device according to an embodiment of this application;

[0031] Figure 5 This is a schematic diagram of another cutting device according to an embodiment of this application;

[0032] Figure 6 This is a schematic diagram of a preferred structure of a surgical robot according to an embodiment of this application;

[0033] Figure 7 This is a flowchart of a control method for a surgical robot according to an embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0035] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0036] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first,” “second,” “third,” etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0037] This embodiment provides a surgical robot. Figure 1This is a structural block diagram of a surgical robot according to an embodiment of this application, such as... Figure 1 As shown, the surgical robot 10 includes a main robot system 11, a slave robot system 12, and a scanning device 13. The main robot system 11 is communicatively connected to both the slave robot system 12 and the scanning device 13. Each of the main robot system 11, slave robot system 12, and scanning device 13 has a controller for data processing. Specifically, the main robot system also includes a master system robotic arm. The main robot system 11 and slave robot system 12 are master-slave followers, and the master robot system 11 can transmit motion commands to the slave robot system 12 through the robotic arm corresponding to the master robot system 11, controlling the slave robot system 12 to complete specified actions. The main robot system 11 can also receive feedback signals from the slave system. The scanning device 13 is a medical imaging device capable of acquiring anatomical information of the scanned object, such as a computed tomography (CT) scanner, a positron emission tomography (PET) scanner, or a magnetic resonance imaging (MR) scanner. If an MR scanner is used, the magnetic compatibility between the robot and the MR scanner needs to be considered. The communication connection can be for data transmission via a wireless network, a mobile network or Bluetooth connection, or a dedicated data cable.

[0038] Specifically, the scanning device 13 acquires real-time scan images of the object being scanned. During scanning, the object is located on the scanning bed of the scanning device 13. The scanning device 13 can scan the entire body of the object or scan specific areas. If scanning specific areas, the scan areas can be preset by the operator. Furthermore, the scanning parameters of the scanning device 13 can be set by the scanning device 13 based on the body parameters of the object, or they can be customized by the operator. After real-time scanning of the object, the scanning device 13 acquires real-time scan images. These images include anatomical information of the object, allowing for a relatively clear observation of the region of interest (ROI). The ROI in the scan image corresponds to the target object that the surgical robot 10 needs to manipulate. Therefore, the position of the ROI in the real-time scan image corresponds to the position of the target object in the actual scene. During communication, the real-time scan image can be in Digital Imaging and Communications in Medicine (DICOM) format.

[0039] After acquiring the real-time scanned image, the robot main system 11 controls the robot slave system 12 to move along the motion path based on the real-time scanned image and the motion path to complete the puncture or cut. The scanning device and the robot main system 11 transmit data through a communication interface. The motion path is the path taken by the robot slave system 12 to cut the target object corresponding to the region of interest in the real-time scanned image. It can be planned based on the position of the region of interest in the real-time scanned image. Specifically, based on the position of the region of interest in the scanned image, the position of the corresponding target object in the actual scene can be obtained, and then the motion path is planned based on the position of the target object in the actual scene. In this embodiment, the motion path can be planned by the robot main system 11 after acquiring the real-time scanned image. Specifically, the motion path planning process involves using the initial position of the robot slave arm in the robot slave system 12 as the starting point of the motion path and the position of the target object corresponding to the region of interest as the ending point of the motion path. A motion path is planned between the starting point and the ending point, and this motion path needs to meet the obstacle avoidance conditions of the robot arm, specifically, it needs to avoid important parts such as bones and human tissue. If the planned motion path needs to be adjusted, the operator can make minor adjustments to the motion path, or the robot's main system 11 can make gradual adjustments based on the obstacle avoidance conditions of the robotic arm.

[0040] Furthermore, in this embodiment, the robot master system 11 controls the robot slave system 12 to move in two ways: a fully automatic movement mode and a semi-automatic movement mode. Specifically, in the fully automatic movement mode, after the robot master system 11 plans the movement path, it transmits the movement path to the robot slave system 12, and the robot slave system 12 automatically moves according to the movement path. During this process, the robotic arm of the robot master system 11 can only perform fine-tuning and protection functions to avoid movement deviations of the robotic arm in the robot slave system 12. In the semi-automatic movement mode, after the robot slave system 12 obtains the planned path, it only performs coarse positioning for the piercing or cutting process, and the robotic arm of the robot master system 11 controls the robotic arm of the robot slave system 12 to complete the specific and detailed piercing or cutting actions.

[0041] In this embodiment, the real-time intraoperative scanning images acquired by the scanning device 13 can provide a wider surgical field of view and clearer anatomical information. Therefore, during the operation, the surgical field of view is no longer limited by the thoracoscope or laparoscopy lens, solving the problem in related technologies where the limited field of view of the thoracoscope or laparoscopy lens used for observation leads to reduced accuracy during the operation. While obtaining a wider surgical field of view, the safety and accuracy of the surgical procedure are improved. On the other hand, under the field of view of the thoracoscope or laparoscopy, it is impossible to obtain the anatomical information of the scanned object, so the cutting operation is more difficult and the requirements for the operator are also higher. In this embodiment, the real-time intraoperative scanning images can display anatomical information, which can reduce the difficulty of the operation and thus improve the safety of the operation.

[0042] In some of these embodiments, Figure 2 This is a structural block diagram of another surgical robot according to an embodiment of this application, such as... Figure 2 As shown, the robot system 12 in this embodiment includes a robotic arm 22 and a cutting device 21. The robotic arm 22 is mechanically connected to the cutting device 21. The robotic arm 22 guides the cutting device 21 to move along a motion path. When the cutting device 21 moves along the motion path, it can cut at least a portion of the target object corresponding to the region of interest in the real-time scanned image, and can cut the target object multiple times. In this embodiment, the robotic arm 22 guides the cutting device 21 to cut the target object according to the motion path. During cutting, all target objects can be cut and sent out of the scanned object directly, or a portion of the target objects can be cut, sent out of the scanned object first, and then the cutting can continue. The cutting process can be manually completed by the operator or automatically controlled by a pre-set program. In this embodiment, the cutting of the target object by guiding the cutting device 21 through the robotic arm 22 can further improve the safety of the surgical process. Partially cutting and sending out the target object, and repeating this cycle until all target objects are cut, can reduce the incision required for the surgical process, reduce the trauma to the scanned object, and improve the healing speed.

[0043] In some of these embodiments, Figure 3 This is a structural block diagram of another surgical robot according to an embodiment of this application, such as... Figure 3As shown, the cutting device 21 includes a cutting instrument 31 and a negative pressure unit 32, which are connected. The cutting instrument 31, guided by the system robotic arm 22, cuts a target object corresponding to the region of interest in the real-time scanned image. The negative pressure unit 32 draws out at least a portion of the target object from the cutting instrument 31. The cutting instrument 31 is the component that directly acts on the target object. The negative pressure unit 32 provides a gas pressure state below atmospheric pressure for the cutting instrument 31. Based on this, the cut target object can be directly delivered outside the scanned object through the negative pressure unit 32. Therefore, the cutting instrument 31 can continuously cut the target object multiple times, improving surgical efficiency.

[0044] Furthermore, since the target object can be cut multiple times continuously based on the cutting instrument 31 in this embodiment until all target objects are cut, the radial dimension of the cutting instrument 31 in this embodiment can be between 1 and 5 mm, and the axial dimension is not required. Correspondingly, the size of the incision formed during the cutting process is also between 1 and 5 mm. In actual scenarios, the incision size is slightly larger than the radial dimension of the cutting instrument 31. Compared with related technologies, which require an incision of about 1 cm to complete the excision, the size of the cutting instrument 1 is reduced in this embodiment, and the incision size is also reduced accordingly, which can speed up the incision healing speed and reduce the trauma to the scanned object.

[0045] In other embodiments, the radial dimension of the cutting instrument 31 can also be adjusted as needed, for example, increased to 6mm or even 7mm, to improve scene adaptability.

[0046] Furthermore, the cutting instrument 31 in this application includes an inner tube 41 and an outer tube 42. A certain space exists between the inner tube 41 and the outer tube 42 to store the tissue of the target object after cutting, thus forming a chamber that accommodates at least a portion of the target object. The outer tube 42 can move relative to the inner tube 41 and cut the target object. In this embodiment, the inner tube 41 and the outer tube 42 are coaxial. Furthermore, the radial cross-section of the inner tube 41 and / or the outer tube 42 can be square, circular, or elliptical. The radial cross-sectional shapes of the outer tube 42 and the inner tube 41 can be different, as long as a chamber can be formed between the outer tube 42 and the inner tube 41. A circular cross-sectional shape is preferred to reduce friction between the cross-section and the tissue of the scanned object during guidance and cutting. In this embodiment, the outer tube 42 moves relative to the inner tube 41 to cut the target object, which is convenient and quick and improves surgical efficiency. Moreover, through the cooperation of the cutting instrument 31 and the negative pressure part 32, the target object can be removed step by step, that is, a small piece is removed and then sucked out by vacuum. This process is repeated to complete the removal of the entire target object, which can further reduce the incision size of the scanned object during the operation.

[0047] Specifically, the inner tube 41 and the outer tube 42 can extend or translate between each other. For the same tissue being scanned, the force required for cutting with spiral extension is less than the force required for cutting with translation extension. Furthermore, the structure required for translation extension is simpler and the cost is lower.

[0048] In some embodiments, the cutting instrument 31 includes a guide 45, which is disposed at the end of the inner tube 41 relatively away from the outer tube 42 and can fit against the outer tube 42 to form a sealed chamber. In this embodiment, the shape of the guide 45 can be set according to needs; preferably, the guide 45 is tapered. When cutting begins, the lower surface of the outer tube 42 fits against the upper surface of the guide 45, and the entire cutting instrument 31 is in a closed state. The cutting instrument 31 moves under the action of the robot main system 11. After reaching the target object, the guide 45 punctures the target object, the outer tube 42 moves relative to the inner tube 41 to cut the target object, and the negative pressure part 32 starts working simultaneously. The target object being cut enters the chamber formed between the outer tube 42 and the inner tube 41 under the action of negative pressure, and then the outer tube 42 moves downward to complete the cutting, while the instrument closes, so that the target object being cut is sent out of the cutting instrument 31 under the action of negative pressure. After repeating multiple times, all target objects can be removed. In this application, the guide 45 is used to locate and puncture the target object, making it easier and faster for the outer tube 42 to cut the target object.

[0049] In some embodiments, the cutting instrument 31 includes a seal for forming a sealed chamber when the guide 45 and the outer tube 42 are in contact. The seal is disposed at one end of the guide 45 near the outer tube 42, or on the inner wall of the outer tube 42. The seal may be made of an elastic material, such as rubber. This application uses the seal to create a vacuum environment between the inner tube 41 and the outer tube 42, which facilitates the negative pressure section 32 in extracting at least a portion of the target object from the cavity.

[0050] In some embodiments, the cutting instrument 31 includes a control element 43 and / or a connector 44. The control element 43 controls the movement of the outer tube 42 relative to the inner tube 41. The control element 43 may be located at the end of the outer tube 42 that is relatively far from the guide element 45. The control element 43 includes electronic devices and mechanical structures for controlling the movement of the outer tube 42, as well as a communication interface for communicating with the processor of the robot slave system 12. The robot slave system 12 can command the outer tube 42 to move through this communication interface to cut the target object. When the cutting instrument 31 has a connector 44, the control element 43 also includes an interface for connecting to the connector 44. In this application, the connector 44 is hollow, with one end connected to the negative pressure part 32 and the other end connected to the chamber. In this embodiment, the control element 43 enables real-time control of the movement of the outer tube 42, and the connector 44 connects the chamber in the cutting instrument 31 to the negative pressure part 32, resulting in a more airtight chamber during the cutting process, which is beneficial for the extraction of the target object.

[0051] Figure 4 This is a schematic diagram of a preferred cutting device according to an embodiment of this application, as shown below. Figure 4 As shown, the cutting instrument 31 includes an inner tube 41, an outer tube 42, a control component 43, a connector 44, and a conical guide 45. The outer tube 42 is connected to the control component 43 via a motor. Under the control of the motor, the outer tube 42 moves up and down to cut the target object. The inner tube 41, outer tube 42, control component 43, connector 44, and guide 45 are all preferably made of metal to facilitate development by the scanning device 13 and to allow the operator to easily observe the position of the target object. In this embodiment, the conical guide 45 reduces puncture resistance, making it easier for the cutting instrument 31 to intervene in the scanned object. Furthermore, the upper surface of the guide 45 can also be used to form a sealed cavity.

[0052] In some of these embodiments, Figure 5 This is a schematic diagram of another cutting instrument according to an embodiment of this application, such as... Figure 5 As shown, the end of the outer tube 42 near the guide 45 is beveled, and the end of the guide 45 near the outer tube 42 is also beveled. The outer tube 42 and the guide 45 cooperate to form a sealed chamber. In this embodiment, the contact surface between the outer tube 42 and the guide 45 of the cutting instrument 31 is set as beveled, which can make the cutting process more labor-saving.

[0053] In some embodiments, the scanning device 13 includes a scanner and a console, which are communicatively connected. The scanner is used to acquire real-time scan images, and the console is used to control the scanner to scan the object and transmit the real-time scan images to the robot main system 11.

[0054] In some embodiments, the console further includes a display device for displaying real-time scanned images and motion paths. The display device can further show the current operating status and steps, prompt the operator for the next steps, and display real-time scanned images of the target object's position during the cutting process to guide the operator through the entire process. During the cutting process of the target object by the cutting device 21, the display device can show the cutting process in real time. The operator can re-plan the robot's motion path from system 12 based on the current cutting status. The console or the robot's main system 11 can also automatically plan the motion path.

[0055] Figure 6 This is a schematic diagram of a preferred structure of the surgical robot according to an embodiment of this application, such as... Figure 6 As shown, in this embodiment, the surgical robot 10 is distributed between the operating room and the scanning room. Specifically, the operating room includes a control console for the robot master system 11 and the scanning device 13. The robot master system 11 includes a master system robotic arm and a controller for data processing. The scanning room includes a robot slave system 12 and a scanner. The control console sends control signals to the scanner. The robot slave system 12 includes a slave system robotic arm 22, a cutting device 21, and a robot slave system controller for communication and data processing. Further, the cutting device 21 includes a cutting instrument 31 and a negative pressure unit 32. The robot master system 11 can remotely control the movement of the end effector of the slave system robotic arm 22. The force experienced by the end effector of the slave system robotic arm 22 during puncture is also fed back to the robot master system 11 in the operating room via force feedback. The robot slave system controller sends control signals to the cutting device 21 and the robotic arm. The robot slave system controller coordinates and controls the slave system robotic arm 22 and the cutting instrument 31 by exchanging signals with the robot master system 11 in the operating room.

[0056] Preferably, in this embodiment, the scanning device 13 is a CT scanner, and the scanner includes the scanning bed and gantry of the CT scanner. The scanning device 13 transmits real-time scanning images to the robot main system 11 in DICOM format via a control console. The real-time scanning images are CT images. Specifically, the host computer of the robot main system 11 receives the CT images.

[0057] Before the cutting operation, a CT scan is performed on the target object to obtain CT images. Regions of interest (ROIs) are identified based on these CT images, leading to the corresponding target object, such as a tumor. The movement path of the robotic arm 22 is then planned based on the location of the ROI. During the cutting operation, the robotic arm 22 guides the cutting instrument 31 to the intervention point of the target object corresponding to the ROI in the real-time scan image. Under the control of the robot's main system 11, the cutting instrument 31 punctures the target object. Guided by the real-time CT images, the operator manually controls the cutting process via the robot's main system 11, or the robot automatically controls the cutting process. The negative pressure unit 32 expels the cut tissue from the cutting instrument 31. The cutting process is repeated until all tissue in the target object has been removed. After confirming the removal of the target object using real-time CT images, the cutting instrument 31 exits the scanned object and is reset under the guidance of the robotic arm 22, thus completing the entire surgical procedure.

[0058] In related technologies, the incision for laparoscopic or thoracoscopic surgery is approximately 1 cm. However, in this application, due to the use of real-time scanning images and cyclic resection of the target object, the incision caused by surgical instruments is less than 5 mm, resulting in less trauma to the scanned object and faster healing. Furthermore, real-time scanning images provide a wider intraoperative field of view, offering the operator more comprehensive information about the lesion and its anatomical structure. This makes the surgical procedure safer, the resection more accurate, and the surgical outcome better, while also reducing the demands on the operator.

[0059] Specifically, in related technologies, firstly, laparoscopic or thoracoscopic surgery requires imaging equipment such as cameras to enter the body to provide a field of view, so the size of the camera limits the incision size. Real-time scanning images, however, are external imaging, eliminating the dependence on imaging equipment for incision size. Secondly, laparoscopic or thoracoscopic surgery requires cutting the entire target object in one go, so the incision size needs to be large enough to insert the appropriate instruments and remove the entire target object. In this application, the target object is gradually removed through the cooperation of the cutting instrument 31 and the negative pressure unit 32; that is, a small piece is removed and then suctioned out by vacuum, and this process is repeated to complete the removal of the entire target object. Therefore, the incision size in this application is much smaller than the incision size in the prior art.

[0060] Furthermore, when performing surgery using a laparoscope, two incisions are usually required to achieve the resection: one incision for placing the imaging device and the other for the resection itself. However, in this embodiment, a scanning device is used to achieve in vitro imaging, so only one incision is needed to complete the resection process, and the number of incisions is greatly reduced.

[0061] This embodiment also provides a control method for a surgical robot. Figure 7 This is a flowchart of a control method for a surgical robot according to an embodiment of this application, such as... Figure 7 As shown, the method includes the following steps:

[0062] Step S710: Acquire a real-time scanned image of the object being scanned using a scanning device;

[0063] Step S720: Plan the motion path based on the position of the target object corresponding to the region of interest in the real-time scanned image;

[0064] Step S730: The surgical robot is controlled to move from the system based on the real-time scan images and motion path.

[0065] Through steps S710 to S730, the real-time intraoperative scanning images acquired by the scanning device provide a wider surgical field of view and clearer anatomical information. Therefore, during the surgery, the surgical field of view is no longer limited by the thoracoscope or laparoscopy lens, solving the problem in related technologies where the limited field of view of the thoracoscope or laparoscopy lens leads to reduced accuracy during surgery. While obtaining a wider surgical field of view, the safety and accuracy of the surgical procedure are improved. On the other hand, the anatomical information of the scanned object cannot be obtained under the view of a thoracoscope or laparoscopy, making the cutting operation more difficult and demanding on the operator. The real-time intraoperative scanning images in this embodiment can display anatomical information, reducing the difficulty of the operation and thus improving the safety of the surgery.

[0066] The control method for the surgical robot provided in this embodiment is applied to the surgical robot 10 in any of the above embodiments.

[0067] Specifically, the surgical robot 10 may include a robot master system 11, a robot slave system 12, and a scanning device 13. The robot master system 11 is communicatively connected to the robot slave system 12 and the scanning device 13, respectively. The scanning device 13 acquires real-time scan images of the scanned object. The robot master system 11 controls the robot slave system 12 to move according to the motion path based on the real-time scan images and the motion path. The motion path is obtained by planning based on the position of the region of interest in the real-time scan images.

[0068] Furthermore, the robot system 12 includes a robotic arm 22 and a cutting device 21. The robotic arm 22 is mechanically connected to the cutting device 21, and the robotic arm 22 guides the cutting device 21 to move along a motion path.

[0069] Furthermore, the cutting device 21 includes a cutting instrument 31 and a negative pressure section 32, which are connected.

[0070] Furthermore, the cutting instrument 31 includes an inner tube 41 and an outer tube 42, with a chamber formed between the inner tube 41 and the outer tube 42, and the outer tube 42 is movable relative to the inner tube 41.

[0071] Furthermore, the cutting instrument 31 includes a guide 45, which is disposed at the end of the inner tube 41 that is relatively far from the outer tube 42, and can fit into the outer tube 42 to form a sealed chamber.

[0072] Furthermore, the end of the outer tube 42 near the guide 45 is a slope, and the end of the guide 45 near the outer tube 42 is a slope. The outer tube 42 and the guide 45 can cooperate to form a sealed chamber.

[0073] Furthermore, the cutting instrument 31 includes a control element 43 and / or a connector 44. The control element 43 controls the movement of the outer tube 42 relative to the inner tube 41. The connector 44 is hollow, and one end of the connector 44 is connected to the negative pressure part 32, while the other end of the connector 44 is connected to the chamber.

[0074] Furthermore, the scanning device 13 includes a scanner and a control console, which are connected in communication. The scanner is used to acquire real-time scan images, and the control console is used to control the scanner to scan the object and transmit the real-time scan images to the robot main system 11.

[0075] Furthermore, the console also includes a display device for displaying real-time scan images and motion paths.

[0076] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0077] 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.

[0078] The embodiments described above are merely illustrative of several implementation methods of this application, 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 this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical robot, characterized by, It includes a robot master system, a robot slave system, and a scanning device, wherein the robot master system is communicatively connected to the robot slave system and the scanning device, respectively; The scanning device acquires a real-time scanned image of the object being scanned; the robot main system controls the robot slave system to move according to the motion path based on the real-time scanned image and the motion path, wherein the motion path is obtained by planning based on the position of the region of interest in the real-time scanned image; The robot master system controls the robot slave system to move in a semi-automatic mode; the semi-automatic mode includes: after the robot slave system obtains the planned path, it performs coarse positioning for the piercing or cutting process, and the robotic arm of the robot master system controls the robotic arm of the robot slave system to complete the specific piercing or cutting action; The scanning device includes a scanner and a console, and the scanner and the console are communicatively connected. The console also includes a display device for displaying the real-time scanned image and the motion path; the display device is also used to display the current operation status and operation steps, and prompt the operator for the next operation.

2. The surgical robot of claim 1, wherein, The robot system includes a robotic arm and a cutting device. The slave system robotic arm is mechanically connected to the cutting device, and the slave system robotic arm guides the cutting device to move according to the motion path.

3. The surgical robot according to claim 2, characterized in that, The cutting device includes a cutting instrument and a negative pressure unit, and the cutting instrument and the negative pressure unit are connected.

4. The surgical robot according to claim 3, characterized in that, The cutting instrument includes an inner tube and an outer tube, with a cavity formed between the inner and outer tubes, and the outer tube is movable relative to the inner tube.

5. The surgical robot according to claim 4, characterized in that, The cutting instrument includes a guide, which is disposed at the end of the inner tube that is relatively far from the outer tube and can fit against the outer tube to form a sealed chamber.

6. The surgical robot according to claim 5, characterized in that, The outer tube has a beveled end near the guide, and the guide has a beveled end near the outer tube. The outer tube and the guide can cooperate to form a sealed chamber.

7. The surgical robot according to claim 4, characterized in that, The cutting instrument includes a control component and / or a connector. The control component controls the movement of the outer tube relative to the inner tube. The connector is hollow, with one end connected to the negative pressure section and the other end connected to the chamber.

8. The surgical robot according to claim 1, characterized in that, The scanner is used to acquire the real-time scanned image, and the console is used to control the scanner to scan the object and transmit the real-time scanned image to the robot's main system.

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