Endoscope control method, minimally invasive surgery robot and readable storage medium

Abstract

The application discloses an endoscope control method, a minimally invasive surgery robot and a readable storage medium, wherein the endoscope control method comprises the following steps: generating a control instruction based on a control instruction; and performing a driving action of the endoscope based on the control instruction; wherein the control instruction comprises position information and / or speed information of an input end, and the driving action of the endoscope is matched with the position information and / or speed information of the input end; in the embodiment of the application, the position information of the input end is mapped to the driving action of the endoscope by using the endoscope control method, so that the accurate control of the endoscope by an operator is realized; meanwhile, the translation driving and the rotation action of the endoscope are respectively performed through the direction and the number of the position information of the input end, so that the translation driving control and the axial rotation control of the endoscope can be synchronously performed without interference, and the driving control efficiency of the endoscope is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an endoscope control method, a minimally invasive surgery robot and a readable storage medium. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical method of performing surgery inside the body cavity by using modern medical instruments such as laparoscopes and thoracoscopes and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain, and fast recovery. However, in minimally invasive surgery, the minimally invasive instruments are greatly difficult to operate due to the size limitation of the incision, and the actions such as fatigue and tremor of the doctor during a long time of surgery are magnified, which becomes a key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the field of minimally invasive medical treatment that can overcome the shortcomings and inherit the advantages, i.e. minimally invasive surgery robot technology, emerges as the times require.

[0003] A common minimally invasive surgery robot is composed of a doctor console, a patient-side cart and a display device. A surgeon operates an input device at the doctor console and transmits the input to a patient-side cart connected with a remotely operated surgical instrument. The doctor console is also called master hand, which usually has two mechanical arms on the left and right sides to meet the motion freedom requirements of the input device. The patient-side cart is also called slave hand, which usually has multiple instrument holding arms and a mirror holding arm, and is controlled by the input device to achieve specific movements. Based on the input of the surgeon at the doctor console, the remotely operated surgical instrument at the patient-side cart is actuated to operate on the patient, thereby generating a master-slave control relationship between the doctor console and the surgical instrument at the patient-side cart.

[0004] Before and during the surgery, the doctor or nurse usually needs to adjust the position and posture of the 3D endoscope on the mirror holding arm to achieve the required surgical field of view. Generally, the 3D endoscope has six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom). Chinese invention patent application CN101340853A discloses a hinged and adjustable endoscope for a surgical robot, which discloses a method of operating the endoscope in a similar manner to a bicycle handlebar: "The active input devices can be manipulated using at least six degrees of freedom, as described in U.S. Patent No. 6,714,839, which is incorporated herein by reference in its entirety. If the user's left and right hands use independent active input devices, then in total at least twelve degrees of freedom are available because the two active input devices are actually combined to control the position and orientation of the endoscope camera as well as the focus, aperture, etc. functions. The two active input devices are actually combined to operate in a similar manner to a bicycle handlebar. Since the camera can be moved along the X, Y and Z axes and rotated thereabout, six degrees of freedom provided by the active input devices that are actually combined are needed to use speed (also referred to as velocity) or position control to command these six positions and orientations".

[0005] In the above patent solutions, since the endoscope is operated in a similar way to the handlebar of a bicycle, six combinations of movements (three for moving and three for rotating) in three directions (forward and backward, left and right, and up and down) are required for the operation input device, which results in complicated movement combinations, a large operation space, a high time cost for the operator to master the operation, a high failure rate in actual operation, and certain safety hazards in work scenes requiring high stability such as surgical operations. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application provides an endoscope control method which is convenient to operate and occupies a small space, a minimally invasive surgical robot, and a readable storage medium.

[0007] To achieve the above object, the present application is implemented by the following technical solutions.

[0008] The present application provides an endoscope control method, comprising:

[0009] generating a control instruction based on the operation instruction;

[0010] performing a driving action of the endoscope based on the control instruction;

[0011] wherein the operation instruction comprises position information and / or speed information of an input end, and the driving action of the endoscope matches the position information and / or speed information of the input end.

[0012] Further limitation, the above endoscope control method, wherein the position information of a single direction of the input end controls the translation driving of the corresponding direction of the endoscope;

[0013] The position information of two same or opposite directions of the input end controls the rotation driving of the endoscope.

[0014] Further limitation, the above endoscope control method, wherein the position information of two same directions of the input end controls the translation driving of the corresponding direction of the endoscope;

[0015] The position information of a single direction or two opposite directions of the input end controls the rotation driving of the endoscope.

[0016] Further limitation, the above endoscope control method, wherein the difference between the position information of two opposite directions of the input end is associated with the driving action of the endoscope.

[0017] Further limitation, the above endoscope control method, wherein the speed information of the input end controls the driving speed of the endoscope.

[0018] Further, the endoscope control method, wherein the speed information of the initial section of the input end is used to control the translational driving or rotational driving of the endoscope in the corresponding direction.

[0019] Further, the endoscope control method, wherein the position information of the other direction of the input end is error-corrected when the position information of the single direction of the input end is acquired.

[0020] Wherein, if the position information of the other direction of the input end is within the error judgment threshold, the position information is ignored, and the driving action of the endoscope is executed based on the position information of the single direction of the input end.

[0021] Further, the endoscope control method, wherein a trigger instruction is acquired, and the driving action of the endoscope is executed only when the trigger instruction is received.

[0022] The application also provides a minimally invasive surgery robot, comprising a master hand, a slave hand, the master hand comprising a master hand mechanical arm, the slave hand comprising a slave hand mechanical arm and an endoscope, the endoscope adopting any of the endoscope control methods described above.

[0023] Wherein, the master hand mechanical arm is used to control the position of the endoscope in the X or Z direction in the independent coordinate system of the master hand, and the slave hand mechanical arm is used to control the position of the endoscope in the Y direction in the independent coordinate system of the slave hand.

[0024] The application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement any of the endoscope control methods described above.

[0025] The application has at least the following advantages:

[0026] 1. The position information of the input end is mapped to the driving action of the endoscope, so that the operator can accurately control the endoscope.

[0027] 2. The direction and number of the position information of the input end are used to execute the translational driving and rotational action of the endoscope respectively, so that the translational driving control and axial rotational control of the endoscope can be performed synchronously and without interference, and the driving control efficiency of the endoscope is improved.

[0028] 3. The error correction and error judgment threshold are set to eliminate the irregular shaking and other errors of the hand movement, so that the movement of the endoscope is more linear, and the control precision is higher.

[0029] 4. The X / Z direction movement, rotation of the endoscope is controlled by the master hand, and the Y direction movement of the endoscope is adjusted manually, so that the operation space (especially the Y direction space) required by the master hand is greatly reduced, thereby reducing the occupied space of the minimally invasive surgery robot. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 FIG. 1 is a schematic diagram of an endoscope control system according to an embodiment of the present application;

[0031] Figure 2 FIG. 2 is an operation schematic diagram of the endoscope control system method according to an embodiment of the present application when the endoscope 500 is at zero position;

[0032] Figure 3 FIG. 3 is an operation schematic diagram of the endoscope control system method according to an embodiment of the present application when the endoscope 500 is at non-zero position;

[0033] Figure 4 FIG. 4 is a structural schematic diagram of a minimally invasive surgery robot according to an embodiment of the present application.

[0034] REFERENCE NUMERALS

[0035] Master hand control unit 100, Y direction sensing unit 110, X / Z and axial direction sensing unit 120, control unit 200, trigger unit 300, driving feedback unit 400, X direction driving unit 410, Z direction driving unit 420, Y direction driving unit 430, axial direction driving unit 440, endoscope 500, master hand robot arm 600, display 700, base 800. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0037] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and are not limited in number, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0038] The endoscope control method, minimally invasive surgical robot and readable storage medium provided by the embodiments of the present application will be described in detail below with reference to specific examples and application scenarios in combination with the drawings.

[0039] As shown in Figure 1 The embodiments of the present application provide an endoscope control system, which comprises a control unit 100, a control unit 200, a trigger unit 300, a driving feedback unit 400, wherein the control unit 100 is used for sensing the operation instruction of the operator and generating a first control signal output, the trigger unit 300 is used for sensing the trigger instruction of the operator and generating a trigger signal output, the control unit 200 is used for receiving the first control signal and the trigger signal and processing to generate a second control signal output, and the driving feedback unit 400 is used for receiving the second control signal and feeding it back as the instruction action of the endoscope.

[0040] It can be understood that the control logic of the control unit 200 to the trigger signal and the first control signal can be set to only receive the first control signal and generate the second control signal in the case of receiving the trigger signal, or can be set to only generate the second control signal output when the first control signal and the trigger signal are received at the same time, the trigger signal of the former is single trigger, and the trigger signal of the latter is continuous trigger. The actual processing method can be formulated according to the actual situation.

[0041] In a preferred embodiment, the control unit 100 comprises a Y-direction sensing unit 110 and an X / Z and axial sensing unit 120, the first control signal comprises an X-sensing signal, a Y-sensing signal and a rotation-sensing signal output by the Y-direction sensing unit 110 and a Y-sensing signal output by the X / Z and axial sensing unit 120, the driving feedback unit 400 comprises an X-direction driving unit 410 for controlling the X-direction movement of the endoscope, a Z-direction driving unit 420 for controlling the Z-direction movement of the endoscope, a Y-direction driving unit 430 for controlling the Y-direction movement of the endoscope, and an axial driving unit 440 for controlling the axial rotation of the endoscope, the control unit 200 generates a second control signal output according to the X-sensing signal, the Y-sensing signal, the rotation-sensing signal or the Y-sensing signal, and the driving feedback unit 400 controls the X-direction driving unit 410, the Z-direction driving unit 420 and the Y-direction driving unit 430 to perform corresponding control actions based on the second control signal.

[0042] It can be understood that the direction coordinates of the control unit 100 and the driving feedback unit 400 are independent coordinate systems and are mapped to each other, that is, the direction coordinates of the control unit 100 and the driving feedback unit 400 can be different reference systems, and the sensing signal in the X-direction in the control unit 100 corresponds to the X-direction driving unit 410, the sensing signal in the Z-direction corresponds to the Z-direction driving unit 420, and the sensing signal in the Y-direction corresponds to the Y-direction driving unit 430.

[0043] In this embodiment, the above-mentioned endoscope control system is used. The control unit 100 senses the operator's commands and actions, and the drive feedback unit 400 drives the endoscope based on the commands and actions. The control unit 200 processes the first control signal only when it receives a trigger signal, thereby realizing the switching of endoscope control and improving the stability of endoscope drive control.

[0044] like Figure 4 As shown in the figure, this application provides a minimally invasive surgical robot, including a master hand and a slave hand. The master hand includes a base 800, a master hand robotic arm 600 and a display 700. The slave hand includes a slave hand robotic arm with an endoscope. The endoscope is driven and controlled by the endoscope control system described above.

[0045] The main robotic arm 600 has two arms, each corresponding to the operator's hands. It is used by the doctor to provide sensor input. Generally, the doctor operates the main control input device on the main robotic arm 600, and the instruments or endoscopes on the robotic arm provide corresponding actions according to the movement of the main control input device, thereby completing the positioning, adjusting the viewing angle, and surgical operation. It can be understood that the endoscope has four degrees of freedom of motion: translation in the X, Y, and Z directions and rotation around its own axis. The display 700 is used to provide the doctor with the surgical field of view inside the patient's body, and its image comes from the endoscope on the robotic arm.

[0046] The two master robotic arms 600 are specifically configured as the Y-axis sensing unit 110 of the aforementioned endoscope control system. Each master robotic arm 600 can move along the X or Z direction within its own reference coordinate system, thereby sensing and outputting X and Z sensing signals from the Y-axis sensing unit 110. The coordinated movement of the two master robotic arms 600 enables the sensing and output of rotational sensing signals from the Y-axis sensing unit 110. The slave robotic arms are equipped with a reverse drive button and a position sensor. These are specifically configured as the X / Z and axial sensing units 120 of the aforementioned endoscope control system. The position sensors enable X / Z and axial sensing. Unit 120 senses and outputs the Y-sensing signal. The reverse drive button mainly functions as a switch. When pressed, the system knows that reverse drive is to be performed. Reverse drive means that when a person pushes the slave robotic arm, the drive motor of the slave robotic arm will start to give the slave robotic arm a certain compensating force to compensate for the influence of friction and gravity, making the slave robotic arm easier to push, thus facilitating the manual adjustment of the slave robotic arm's Y-axis position. The drive feedback unit 400 is set on the slave robotic arm and coupled to the endoscope. The drive feedback unit 400 can move along the X or Z direction in its own reference coordinate system when it receives the second control signal, thereby realizing the multi-degree-of-freedom adjustment of the endoscope.

[0047] In a preferred embodiment, a switching pedal is further arranged on the master hand, and the switching pedal is specifically arranged as the trigger unit 300. The doctor can switch the control mode to the endoscope control through the switching pedal, that is, the sensing and output of the trigger signal in the trigger unit 300 are realized through the switching pedal, and the control unit 200 realizes the output of the second control signal after receiving the trigger signal.

[0048] In the embodiment of the application, the above-mentioned minimally invasive surgical robot is adopted, the sensing and output of the X sensing signal, the Y sensing signal and the rotation sensing signal in the control unit 100 are realized through the two master mechanical arms 600, and the sensing and output of the Y sensing signal in the X / Z and axial sensing unit 120 are realized through the position sensor arranged on the slave mechanical arm. The X / Z direction movement and rotation of the endoscope are controlled through the master hand, and the Y direction movement of the endoscope is adjusted manually, so that the operation space (especially the space in the Y direction) required by the master hand can be reduced, and the occupied space of the surgical robot can be reduced.

[0049] As shown in Figures 2-3 The embodiment of the application provides an endoscope control method, which is suitable for the above-mentioned endoscope control system and the minimally invasive surgical robot, and the specific steps include:

[0050] S1, switching the control mode to the endoscope 500 control through the switching pedal;

[0051] S2, outputting the X sensing signal, the Z sensing signal and the rotation sensing signal through the control of the two master mechanical arms 600, and outputting the Y sensing signal through the manual control of the slave mechanical arm;

[0052] S3, the control unit 200 outputs the second control signal to the driving feedback unit 400 based on the first control signal, and the driving feedback unit 400 controls the instruction operation of the endoscope 500 based on the second control signal.

[0053] The X, Y and Z direction movement and the rotation movement of the endoscope 500 can be performed independently or in combination. For example, the doctor controls the master mechanical arm 600 to output the X sensing signal, and simultaneously controls the master mechanical arm 600 to output the Z sensing signal, and at this time, the endoscope 500 only needs to be combined based on the instructions in two directions.

[0054] In a preferred embodiment, the reference coordinate system of the master mechanical arm 600 and the endoscope 500 is determined, as Figure 2As shown, when the endoscope 500 is in zero position, i.e. taking the endoscope 500 tip as the coordinate origin, taking the endoscope 500 axial direction as the coordinate Z axis, and taking the plane where the X and Y axes are located as the horizontal plane, at this time, the reference coordinate origin of the master manipulator arm 600 is the initial position of the master manipulator arm 600 operation input device, and the X, Y and Z axes thereof completely correspond to the reference coordinate of the endoscope 500. When the master manipulator arm 600 operation input device is moved horizontally (along the master hand X direction), the horizontal movement of the endoscope 500 in the X direction can be realized, and when the master manipulator arm 600 operation input device is moved up and down (along the master hand Z direction), the up and down movement of the endoscope 500 in the Z direction can be realized, and the reverse driving operation of pressing the reverse driving button on the slave manipulator arm can realize the movement of the endoscope 500 along the Y direction.

[0055] It can be understood that when the endoscope 500 is in a non-zero position state, i.e. the plane where the X and Y axes of the endoscope 500 reference coordinate system are located is not the horizontal plane, since the endoscope 500 and the master manipulator arm 600 are independent coordinate systems, the action input of the master manipulator arm 600 in its own coordinate system will be synchronized as the instruction action of the endoscope 500 own coordinate system.

[0056] It can be understood that the endoscope 500 can also be placed in the reference coordinate system of the master manipulator arm 600, and when the master manipulator arm 600 is controlled, the movement of the endoscope 500 is a compound movement, as shown in Figure 3 As shown, the endoscope 500 rotates a certain angle around the X axis of the reference coordinate system of the master manipulator arm 600, and when the master manipulator arm 600 operation input device is moved in the Z direction, the endoscope 500 will produce a compound movement in the Z and Y directions in the reference coordinate system of the master manipulator arm 600, wherein the position change amount corresponding to the Z and Y directions can be calculated respectively through the rotation angle of the endoscope 500, and the calculation method of other direction movements is the same, therefore, the mapping relationship between the position change amount of the master manipulator arm 600 operation input device and the position change amount of the endoscope 500 can be deduced, so as to preset the variable mapping relationship between the master and slave hands based on the rotation angle θ change to the endoscope control system.

[0057] Of course, in addition to the above control mode of placing the endoscope 500 in the reference coordinate system of the master manipulator arm 600, the master manipulator arm 600 can also be placed in the reference coordinate system of the endoscope 500 based on the position mapping relationship between the master manipulator arm 600 and the endoscope 500, but the control logic is relatively complex and is suitable for the case where the position mapping data is perfect.

[0058] In a preferred embodiment, in S2, the rotation sensing signal is output by operating the two master manipulator arms 600, specifically: operating the input devices of the two master manipulator arms 600 to move up and down (move along the Z direction) respectively, so as to realize the sensing and output of the rotation sensing signal. If the input devices of the master manipulator arms 600 are operated to move up-left and down-right, the endoscope 500 can be rotated clockwise around its own axis, and vice versa, the endoscope 500 can be rotated counterclockwise around its own axis. It can be understood that the axial clockwise and counterclockwise rotation of the endoscope 500 only needs the two master manipulator arms 600 to meet the up-down instruction action, and the turning relationship can be set according to the operation habit.

[0059] In a preferred embodiment, in S2 and S3, when the endoscope 500 is in the zero position, moving one of the master manipulator arms 600 (which can be the left one or the right one, depending on the definition of the system) horizontally (along the X direction of the master hand) can realize the horizontal movement of the endoscope 500 in the X direction, and moving one of the master manipulator arms 600 up and down (along the Z direction of the master hand) can realize the up-down movement of the endoscope 500 in the Z direction.

[0060] In the embodiments of the present application, the above-mentioned endoscope control method is adopted, and the displacement of the endoscope 500 in the X and Z directions can be realized by controlling the input devices of one of the master manipulator arms 600, which has a lower requirement for the coordination and consistency of the left and right hands of the operator and is relatively simple to operate. At this time, the rotation movement of the endoscope 500 can be set to control the input devices of the two master manipulator arms 600 simultaneously, that is, to control the input devices of the two master manipulator arms 600 to move along the Z axis in the positive direction to realize the axial clockwise rotation of the endoscope 500, and to move along the Z axis in the reverse direction to realize the axial counterclockwise rotation of the endoscope 500. Of course, the turning relationship can be set according to the operation habit.

[0061] In a preferred embodiment, in S2 and S3, when the endoscope 500 is in the zero position, moving the input devices of the two master manipulator arms 600 horizontally (along the X direction of the master hand) simultaneously and in the same direction can realize the horizontal movement of the endoscope 500 in the X direction, and moving the input devices of the two master manipulator arms 600 up and down (along the Z direction of the master hand) simultaneously and in the same direction can realize the up-down movement of the endoscope 500 in the Z direction.

[0062] In the embodiment of the present application, the endoscope control method is adopted, and the displacement of the endoscope 500 in the X and Z directions can be realized by simultaneously controlling the two master manipulator arms 600 to operate the input devices. At this time, the rotating movement of the endoscope 500 can be set to control one of the master manipulator arms 600 to operate the input device, that is, to control one of the master manipulator arms 600 to move along the Z axis in the positive direction to realize the clockwise rotation of the endoscope 500 in the axial direction, or to move along the Z axis in the reverse direction to realize the counterclockwise rotation of the endoscope 500 in the axial direction. Of course, the turning relationship can be set according to the operation habit.

[0063] Of course, at this time, the rotating movement of the endoscope 500 is also set to the above-mentioned operation mode of controlling the two master manipulator arms 600 to operate the input devices up and down, as long as no control interference is generated with the Z direction movement of the endoscope 500.

[0064] In a preferred embodiment, in S2 and S3, when the displacement of the endoscope 500 in the X and Z directions is realized by controlling one of the master manipulator arms 600 to operate the input device, the rotating movement of the endoscope 500 is set to simultaneously control the two master manipulator arms 600 to operate the input devices, that is, when one of the master manipulator arms 600 is used to control the Z direction movement of the endoscope 500, the Z direction movement of the other master manipulator arm 600 is used to control the axial rotation of the endoscope 500, for example, the axial clockwise rotation of the endoscope 500 is controlled when the master manipulator arm 600 moves along the Z axis in the positive direction, and the axial counterclockwise rotation of the endoscope 500 is controlled when the master manipulator arm 600 moves along the Z axis in the reverse direction. Of course, the turning relationship can be set according to the operation habit.

[0065] In the embodiment of the present application, the endoscope control method is adopted, and the displacement of the endoscope 500 in the X and Z directions can be realized by simultaneously controlling the two master manipulator arms 600 to operate the input devices. At this time, the rotating movement of the endoscope 500 can be set to control one of the master manipulator arms 600 to operate the input device, that is, to control one of the master manipulator arms 600 to move along the Z axis in the positive direction to realize the clockwise rotation of the endoscope 500 in the axial direction, or to move along the Z axis in the reverse direction to realize the counterclockwise rotation of the endoscope 500 in the axial direction. Of course, the turning relationship can be set according to the operation habit.

[0066] In a preferred embodiment, in S2, automatic correction of the X sensing signal, the Z sensing signal, the Y sensing signal, and the rotation sensing signal is further included. Since the hand movement of the master manipulator 600 operating the input device or the hand movement of the slave manipulator is not completely along a straight line, a movement tolerance value is set in each direction. Specifically, when the master manipulator 600 operating the input device moves horizontally as a whole, the position change in the Z direction is also detected. However, as long as the position change is within a set threshold range, the position change amount is ignored, and only the X sensing signal is sensed and output. Similarly, the Z direction and Y direction movement control and rotation control of the endoscope 500 are also the same.

[0067] In the embodiments of the present application, the endoscope control method described above is adopted, the movement tolerance value is set, the irregular shaking and other errors of the hand movement are eliminated, and the movement of the endoscope 500 is more linear.

[0068] In a preferred embodiment, in S2 and S3, when the X sensing signal and the Z sensing signal are output by operating the two master manipulators 600, the movement distance of the endoscope 500 is associated with the average value of the movement distances of the two master manipulators 600 operating the input device. Since the movement of the hand control is difficult to ensure that the two master manipulators 600 operating the input device move completely synchronously, the above-mentioned method can ensure the operation accuracy to a certain extent.

[0069] It can be understood that the difference between the movement distances of the two master manipulators 600 operating the input device can set an error threshold value, that is, when the difference between the movement distances of the two master manipulators 600 operating the input device is within the threshold value, the average sampling is performed, otherwise it is judged as a misoperation, and the control instruction of the endoscope 500 is not executed.

[0070] Of course, the value of the movement distance of the master manipulator 600 operating the input device that is larger or smaller can also be set as the sampling value, but an error threshold value needs to be introduced to prevent control abnormalities caused by misoperation.

[0071] In a preferred embodiment, in S2 and S3, when the rotation sensing signal is output by operating the two master manipulators 600, the rotation angle of the endoscope 500 is associated with the movement distances of the two master manipulators 600 operating the input device. It can be understood that if the two master manipulators 600 operating the input device control the rotation of the endoscope 500 synchronously and in the same direction, the average value of the distances of the two master manipulators 600 operating the input device is used to control the rotation angle of the endoscope 500. If the two master manipulators 600 operating the input device control the rotation of the endoscope 500 in opposite directions, the distances of the two master manipulators 600 operating the input device are used to control the rotation angle of the endoscope 500.

[0072] It can be understood that when the two master mechanical arms 600 operating input devices are synchronously and directionally controlled to rotate the endoscope 500, the difference between the moving distances of the two master mechanical arms 600 operating input devices introduces an error threshold, that is, when the difference between the moving distances of the two master mechanical arms 600 operating input devices is within the threshold range, the average sampling is performed, otherwise, it is judged as a misoperation, and the control instruction for the endoscope 500 is not executed.

[0073] In the embodiment of the application, the endoscope control method is used to

[0074] In a preferred embodiment, the endoscope control system predefines the mapping relationship between the X, Z direction position changes of the master mechanical arm 600 operating input device and the X, Z direction position changes and the rotation angle of the endoscope 500, and the reverse driving button also predefines the mapping relationship corresponding to the Y direction position change of the endoscope 500.

[0075] In a preferred embodiment, the endoscope control system predefines the mapping relationship between the X, Z direction displacement speed of the master mechanical arm 600 operating input device and the X, Z direction position change and the rotation angle change speed of the endoscope 500, and the reverse driving button also predefines the mapping relationship corresponding to the Y direction position change speed of the endoscope 500, that is, the control speed parameters of the master mechanical arm 600 operating input device and the reverse driving button are written into the first control signal and the second control signal, so as to realize the control of the displacement speed of the endoscope 500 by the driving feedback unit 400.

[0076] It can be understood that the speed information of the master mechanical arm 600 operating input device can be associated with the driving type of the endoscope 500 in addition to being mapped to the driving speed of the endoscope 500, for example, the initial segment speed information of the master mechanical arm 600 operating input device is recorded, and if the trigger threshold range of different driving types of the endoscope 500 is set, when the initial segment speed information of the master mechanical arm 600 operating input device reaches the trigger threshold range, the corresponding driving type of the endoscope 500 is executed, of course, the specific matching relationship between the initial segment speed information of the master mechanical arm 600 operating input device and the driving type of the endoscope 500 has multiple forms, which is not described in detail here.

[0077] The embodiment of the application provides a readable storage medium, and the readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the endoscope control method.

[0078] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element. Furthermore, it is to be understood that the method and apparatus of the present application can be carried out by someone other than the person named in the independent claims, and that the scope of the independent claims is not limited to the person named in the independent claims. In addition, it should be noted that the scope of the method and apparatus of the present application is not limited to performing the functions in the order discussed or illustrated, but can also include performing the functions in a substantially simultaneous manner or in a reverse order, for example, the described method can be performed in an order different from that described, and various steps can be added, omitted, or combined, in addition, features described with reference to certain examples can be combined in other examples.

[0079] The embodiments of the present application described above are merely illustrative, and are not intended to limit the present application, and the specific embodiments described above are merely illustrative, and are not intended to limit the present application, and the person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and all forms belong to the protection of the present application.

Claims

1. A minimally invasive surgical robot, comprising a master hand and a slave hand, characterized in that, The master hand includes a master robotic arm, and the slave hand includes a slave robotic arm and an endoscope. The endoscope is controlled using the following methods: Generate a control command based on the manipulation command; The endoscope is driven based on the control commands. The control command includes position and speed information of the input terminal, and the driving action of the endoscope is matched with the position and speed information of the input terminal; The position information includes the direction and number of input terminals: the endoscope is controlled by position information in a single direction to drive translation in the corresponding direction, and the endoscope is controlled by position information in two identical or opposite directions; or, the endoscope is controlled by position information in two identical directions at the input terminals to drive translation in the corresponding direction, and the endoscope is controlled by position information in a single direction at the input terminals. The speed information is used to control the driving speed of the endoscope, and the speed information of the initial segment of the input terminal is used to trigger the start of the translational or rotational drive of the endoscope in the corresponding direction.

2. The minimally invasive surgical robot according to claim 1, characterized in that, The difference between the two opposite position information at the input terminal is associated with the driving action of the endoscope.

3. The minimally invasive surgical robot according to claim 1, characterized in that, When acquiring the position information of the input terminal in a single direction, error correction is performed on the position information of the input terminal in other directions; If the position information of the input terminal in other directions is within the error judgment threshold, the position information is ignored, and the endoscope is driven only based on the position information of the input terminal in a single direction.

4. The minimally invasive surgical robot according to claim 1, characterized in that, It also includes acquiring a trigger command, and executing the endoscope's driving action only upon receiving the trigger command.

5. The minimally invasive surgical robot according to claim 1, characterized in that, The master robotic arm is used to control the position of the endoscope in the X or Z direction within its own independent coordinate system, and the slave robotic arm is used to control the position of the endoscope in the Y direction within its own independent coordinate system.

6. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the minimally invasive surgical robot according to any one of claims 1 to 4.

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