Surgical robot and positioning control method thereof

Abstract

The present application relates to a kind of surgical robot and its control method.The surgical robot includes: operating trolley;Positioning device, is arranged in the operating trolley;Environment perception device, is arranged in the positioning device;Operating mechanical arm, is connected with the positioning device;Navigation device, for controlling the end of the operating mechanical arm of the surgical robot Docking patient surface's poke card.Environment perception device can control surgical robot to move to surgical operation area, also control positioning device to drive operating mechanical arm movement, realize the automatic positioning of operating mechanical arm, so that the end of operating mechanical arm can be aligned with poke card, and, the positioning process of surgical robot is realized by environment perception device, simplify preoperative artificial accurate step, shorten the positioning time, to reduce preoperative preparation time, and, in intraoperative, environment perception device can be positioned again operating mechanical arm, improve intraoperative adjustment efficiency.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, and in particular to a surgical robot and its positioning control method. Background Technology

[0002] Minimally invasive surgery is increasingly widely used in clinical surgery due to its advantages such as less trauma, less bleeding, and faster recovery. Surgical robots, as the core equipment of minimally invasive surgical systems, have also seen rapid technological advancements, such as master-slave and force control, and the provision of high-definition surgical fields. These advancements have greatly reduced surgical fatigue, improved surgical efficiency, and enhanced surgical outcomes.

[0003] The current positioning process for minimally invasive surgical robots is quite complex. After the sterile hood is installed preoperatively, the robotic carriage needs to be slowly pushed manually to the surgical area. This process requires two people: one to operate and the other to assist and guide the direction. Then, the operator drags and adjusts the robotic arm until its end is near the trocar, then drags it to align with the trocar, and finally evenly separates the adjustment arm. The entire preoperative preparation process involves many manual steps and is time-consuming, affecting the overall efficiency of the surgery. Summary of the Invention

[0004] Therefore, it is necessary to provide a surgical robot and its positioning control method that can achieve automatic movement and positioning, addressing the problems of low efficiency caused by the current manual operation of surgical robot positioning and movement.

[0005] A surgical robot, comprising:

[0006] Operating table cart;

[0007] Positioning device, installed on the operating table cart;

[0008] An environmental sensing device is installed in the placement device;

[0009] Operate the robotic arm and connect it to the positioning device;

[0010] A navigation device is used to control the end effector of the surgical robot's operating arm to dock with a puncture card on the patient's body surface.

[0011] In one embodiment, the positioning device includes a first positioning structure and a second positioning structure, the first positioning structure being disposed on the surgical trolley, and the second positioning structure being connected to the first positioning structure via a suspension link.

[0012] In one embodiment, the first positioning structure includes a lifting member, a first rotating member, a moving member, and a second rotating member. The first rotating member is disposed between the lifting member and the moving member to realize a rotational connection between the moving member and the lifting member. The second rotating member is used to realize a rotational connection between the suspension link and the moving member.

[0013] In one embodiment, the second positioning structure includes a plurality of positioning robotic arms, one end of each of the plurality of positioning robotic arms being rotatably connected to the suspension link, and the other end of each of the plurality of positioning robotic arms being equipped with an operating robotic arm.

[0014] In one embodiment, the environmental sensing device is rotatably mounted on the suspension link for acquiring environmental information.

[0015] In one embodiment, the environmental sensing device may include one or more of a visual camera, a laser rangefinder, a laser scanner, or an NDI optical positioning system.

[0016] In one embodiment, the suspension link is also provided with a signal indicator device for indicating the position of the surgical trolley relative to the surgical operating area.

[0017] In one embodiment, the positioning device further includes a pushing device disposed on the lifting member, the pushing device including a mounting assembly and a pushing handle, and the navigation device being detachably mounted on the mounting assembly.

[0018] In one embodiment, the pushing device further includes an enable switch disposed inside the pushing handle, the enable switch being used to assist in pushing and turning the surgical robot.

[0019] A positioning control method for a surgical robot as described in any of the above-mentioned technical features, the method comprising:

[0020] Environmental sensing devices acquire environmental information;

[0021] The navigation device controls the surgical cart to move to the surgical operation area based on the acquired environmental information;

[0022] The navigation device controls the positioning device of the surgical robot to drive the end of the operating robotic arm to dock with the stamping card;

[0023] The navigation device adjusts the position of the positioning device and the operating robotic arm to maintain a preset distance between them.

[0024] In one embodiment, the navigation device controls the surgical cart to move to the surgical operation area based on acquired environmental information, and further includes:

[0025] Enter the location parameters of the surgical area;

[0026] The navigation device plans a navigation path to the surgical area;

[0027] The navigation device controls the surgical cart to move to the surgical operation area according to the navigation path, or the user pushes the surgical robot to the surgical operation area according to the navigation path planned by the navigation device.

[0028] In one embodiment, the navigation device controls the positioning device of the surgical robot to drive the end effector of the robotic arm to dock with the tamper, including:

[0029] Identify the stamp card corresponding to the operating robotic arm;

[0030] Obtain the location information of the stamp card and plan the docking path with the robotic arm;

[0031] Control the robotic arm to dock with the corresponding stamp card.

[0032] By adopting the above technical solution, the present invention has at least the following technical effects:

[0033] The surgical robot and its positioning control method of the present invention include a positioning device mounted on a surgical cart and capable of moving with the cart. A robotic arm operating on the surgical cart is mounted at the end of the positioning device. An environmental sensing device is located on the positioning device to acquire environmental information. A navigation device is located on the positioning device and can control the movement of the surgical cart to the surgical operating area. The navigation device can also guide a swinging device to move the robotic arm, aligning the end of the robotic arm with a puncture card on the patient's body surface, thus achieving automatic positioning of the robotic arm. The positioning process of the surgical robot on the surgical cart is achieved through the environmental sensing device and the navigation device, simplifying preoperative manual steps, shortening positioning time, reducing preoperative preparation time, and allowing for automatic repositioning of the robotic arm during surgery, thereby improving surgical efficiency. Attached Figure Description

[0034] Figure 1 This is a perspective view of a surgical robot according to an embodiment of the present invention;

[0035] Figure 2 for Figure 1 The diagram shows the first positioning structure of the surgical robot connected to the suspension link, where a rangefinder is installed at the end of the moving part;

[0036] Figure 3 for Figure 1 A three-dimensional view of the second positioning structure in the surgical robot shown;

[0037] Figure 4 for Figure 1 A magnified view of the surgical robot at the propulsion device;

[0038] Figure 5 for Figure 3 A three-dimensional view of the suspension link in the second arrangement structure shown from below;

[0039] Figure 6 for Figure 1 The diagram shows a top view of the positioning device in the surgical robot, with the distance to the obstacle measured using a rangefinder.

[0040] Figure 7 for Figure 1 The diagram shown illustrates the movement of the surgical robot into the surgical operating area.

[0041] Figure 8 for Figure 1 The diagram shows the process of the surgical robot moving to the surgical operating area.

[0042] Figure 9 for Figure 1 The surgical robot shown is a stereoscopic view from another angle;

[0043] Figure 10 for Figure 1 The surgical robot shown is a 3D image viewed from another angle;

[0044] Figure 11 for Figure 10 The image shown is a magnified view of a portion of the surgical robot's end arm docking with the tamper.

[0045] Figure 12 for Figure 1 The control flowchart of the surgical robot is shown below;

[0046] Figure 13 for Figure 1 The diagram shows the control flow of the surgical robot when docking with the embossed card.

[0047] Among them: A. Surgical robot; 10. Positioning device; 100. First positioning structure; 110. Lifting component; 120. First rotating component; 130. Moving component; 140. Second rotating component; 200. Second positioning structure; 210. Suspension link; 220. Positioning robotic arm; 221. First rotating component; 222. First linear motion component; 223. Second rotating component; 224. Second linear motion component; 20. Operating robotic arm; 201. Mounting component; 202. Stamping card; 203. Marking point; 30. Operating table; 40. Operating instrument; 50. Operating trolley; 60. Navigation device; 70. Pushing device; 710. Mounting component; 720. Pushing handle; 730. Quick release component; 80. Rangefinder; 90. Environmental sensing device; 910. Indicator light; 920. Imaging equipment. Detailed Implementation

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] See Figures 1 to 13 This invention provides a surgical robot A. This surgical robot A is used in minimally invasive surgery to perform surgical operations on the patient's lesion site. It is worth noting that this surgical robot A can be any type of surgical robot used to perform different surgical procedures.

[0055] The current positioning process of minimally invasive surgical robots is complex. After the sterile hood is installed preoperatively, the robotic carriage needs to be slowly pushed manually to the surgical area. This process requires two people: one to operate and the other to assist and guide the direction. Then, the robotic arm is manually dragged and adjusted until its end is near the trocar, then dragged again to align with the trocar, and finally the adjustment arm is evenly separated. The entire preoperative preparation involves many manual steps, and the positioning process is time-consuming, affecting both preoperative preparation time and intraoperative adjustment efficiency.

[0056] Therefore, the present invention provides a novel surgical robot A, which can automatically position itself to the required location. Furthermore, the movement and positioning of the surgical robot A are achieved through a navigation device 60, which greatly simplifies preoperative preparation time and shortens positioning time. The specific structure of the surgical robot A is described below.

[0057] See Figures 1 to 11 In one embodiment, surgical robot A includes a surgical cart 50, a positioning device 10, an environmental sensing device 90, a robotic arm 20, and a navigation device 60. The surgical cart 50 is movable relative to the ground, and the positioning device 10 is movably mounted on the surgical cart 50. The robotic arm 20 is located at the end of the positioning device 10 and moves with the positioning device 10; the environmental sensing device 90 is located on the positioning device 10 and is used to acquire environmental information; the navigation device 60 is used to control the movement of the surgical robot A, so that the end of the robotic arm 20 of the surgical robot A is aligned with the puncture card 202 on the patient's body surface.

[0058] The operating trolley 50 carries the various structures of the surgical robot A. The operating trolley 50 can move relative to the ground. During the preoperative preparation stage, the operating trolley 50 moves to the surgical operation area and locks. After the surgery, the operating trolley 50 can unlock and move away. The operating trolley 50 can synchronously move the surgical robot A, allowing it to reach the surgical operation area. The surgical operation area refers to the area near the operating table 30 that is convenient for performing surgical operations. A positioning device 10 is installed on the operating trolley 50, and the end of the positioning device 10 is connected to the operating robotic arm 20. The operating robotic arm 20 moves with the positioning device 10. The positioning device 10 is used to adjust the position of the operating robotic arm 20 so that the end of the operating robotic arm 20 can be aligned with the puncture card 202 on the patient's body surface. When the positioning device 10 moves, it can output lifting, rotating and linear motion, which can drive the operating robotic arm 20 to move, adjust the spatial position of the operating robotic arm 20, align the operating robotic arm 20 with the puncture card on the patient's body surface, and then connect the puncture card 202 to the end of the operating robotic arm 20.

[0059] An environmental sensing device 90 is installed in the positioning device 10. This device acquires environmental information to assist the surgical robot A in reaching the surgical area without collision. This environmental information specifically includes information about objects and people in the environment, and further includes map information of the environment. Simultaneously, the environmental sensing device 90 can also acquire the position parameters of the puncture card, assisting the end effector of the robotic arm 20 in aligning with the puncture card 202 on the patient's body surface. Specifically, during the process of aligning the end effector of the robotic arm 20 with the puncture card 202, the environmental sensing device 90 can identify target points in the environment and automatically track these points to guide the movement of the robotic arm 20, enabling the operating instruments 40 on the robotic arm 20 to automatically align with the puncture card 202, thus achieving automatic positioning of the robotic arm 20.

[0060] The navigation device 60 is connected to the operating cart 50 and the positioning device 10. The navigation device 60 controls the movement of the operating cart 50 and the positioning device 10, allowing the operating cart 50 to move to the surgical operating area. Then, it controls the positioning device 10 to move the robotic arm 20, aligning the end of the robotic arm 20 with the puncture card 202, thus achieving automatic positioning of the robotic arm 20. The navigation device 60 enables the surgical robot A to perform the above positioning process, simplifying preoperative manual preparation steps and shortening positioning time. Furthermore, the navigation device can guide the positioning of the robotic arm 20 during surgery, improving surgical efficiency. The navigation device 60 can automatically control the operating cart 50 to move to the surgical operating area, or it can simply provide navigation guidance for the user to push the operating cart 50 to the surgical operating area. Therefore, the navigation device 60 can be installed or removed from the surgical robot A according to the actual usage scenario. Correspondingly, the navigation device 60 can be an electronic device with navigation control functions that is easy to install and remove, such as a tablet or mobile phone. After the navigation device 60 is installed on the surgical robot A, it is electrically connected to the operating table 50 and the positioning device 10. If the navigation device 60 is not installed on the surgical robot A before surgery, it is communicatively connected to the operating table 50 and the positioning device 10.

[0061] In some embodiments of this application, the surgical robot A further includes a pushing device 70, which is disposed on the positioning device 10. It should be noted that the pushing device 70 can be disposed on the positioning device 10 at any position suitable for moving the surgical trolley without affecting the movement of the positioning device 10. In one embodiment of this application, the pushing device 70 is disposed on the side of the positioning device 10. In one embodiment of this application, the navigation device 60 is detachably mounted on the pushing device 70.

[0062] See Figures 1 to 3In one embodiment, the positioning device 10 includes a first positioning structure 100 and a second positioning structure 200. The first positioning structure 100 is disposed on the operating table 50, and the second positioning structure 200 is connected to the first positioning structure 100 via a suspension link 210. An operating robotic arm 20 is mounted at the end of the second positioning structure 200. The first positioning structure 100 serves as a support structure for the positioning device 10, and the second positioning structure 200 is disposed on the first positioning structure 100. The operating robotic arm 20 is mounted at the end of the second positioning structure 200. When the first positioning structure 100 moves, it can drive the second positioning structure 200 to move, thereby enabling the second positioning structure 200 to move synchronously with the operating robotic arm 20.

[0063] The first positioning structure 100 is used to adjust the larger spatial position of the robotic arm 20, and the second positioning structure 200 is used to fine-tune the robotic arm 20. The spatial position adjustment of the robotic arm 20 is achieved through the cooperation of the first positioning structure 100 and the second positioning structure 200. In this invention, the first positioning structure 100 and the second positioning structure 200 drive the robotic arm 20 to move, so that the end of the robotic arm 20 can be aligned with the puncture card 202 on the patient's body surface, and the puncture card 202 is installed onto the robotic arm 20, thus completing the positioning of the robotic arm 20.

[0064] Specifically, the first positioning structure 100 can drive the second positioning structure 200 to perform lifting and lowering motion in the vertical plane, moving motion in the horizontal plane, and at least one rotational motion in the vertical plane. In this way, the first positioning structure 100 can drive the second positioning structure 200 within a large spatial range, thereby achieving a large spatial position adjustment of the manipulating arm 20 at the end of the second positioning structure 200. The second positioning structure 200 can swing the manipulating arm 20 to perform linear and rotational movements, driving the manipulating arm 20 to move so that it can align with the stamp card 202, facilitating its docking with the stamp card 202. Moreover, when positioning the manipulating arm 20, the first positioning structure 100 can be controlled to move first, followed by the second positioning structure 200; alternatively, the first positioning structure 100 and the second positioning structure 200 can move simultaneously.

[0065] See Figures 1 to 3 In one embodiment, the first positioning structure 100 includes a lifting member 110, a first rotating member 120, a moving member 130, and a second rotating member 140. The first rotating member 120 is disposed between the lifting member 110 and the moving member 130 and is rotatably connected between the lifting member 110 and the moving member 130. The second rotating member 140 is disposed on the moving member 130 and is rotatably connected to the second positioning structure 200. The pushing device 70 is disposed on the lifting member 110.

[0066] When the positioning device 10 of the present invention is applied to surgical robot A, the positioning device 10 is installed on surgical trolley 50. That is, the bottom of the lifting member 110 is installed on the surgical trolley 50. The lifting member 110 is a liftable structure. The top of the lifting member 110 is equipped with a first rotating member 120. The first rotating member 120 is also connected to a moving member 130. The end of the moving member 130 away from the first rotating member 120 is equipped with a second rotating member 140. The second rotating member 140 is connected to the suspension link 210 of the second positioning structure 200 (mentioned later).

[0067] In this way, the lifting member 110 can drive the moving member 130 and the second rotating member 140 to move up and down via the first rotating member 120. Furthermore, the second rotating member 140 can drive the positioning robotic arm 220 (mentioned later) and its operating robotic arm 20 of the second positioning structure 200 to move up and down via the suspension link 210. The first rotating member 120 can drive the moving member 130 and the second rotating member 140 to rotate in the horizontal plane. Furthermore, the second rotating member 140 can drive the positioning robotic arm 220 and its operating robotic arm 20 to rotate via the suspension link 210. When the moving member 130 moves, it can drive the suspension link 210, the positioning robotic arm 220, and its operating robotic arm 20 to move via the second rotating member 140. When the second rotating member 140 rotates, it can drive the positioning robotic arm 220 and its operating robotic arm 20 to rotate via the suspension link 210.

[0068] Optionally, the lifting member 110 and the moving member 130 can be ball screw structures, belt drive structures, or other structures capable of outputting linear motion. For example, both the lifting member 110 and the moving member 130 include a motor, a movable mounting housing, and a ball screw. The movable mounting housing includes a main housing and a movable housing, which is movably disposed within and extends out of the main housing. The ball screw of the ball screw is rotatably disposed within the movable mounting housing and connected to the motor. The screw nut of the ball screw is sleeved on the ball screw and connected to the movable housing. Thus, when the motor drives the ball screw to rotate, the screw nut can move along the ball screw, thereby causing the movable housing to extend or retract into the main housing. Of course, in other embodiments of the present invention, the lifting member 110 and the moving member 130 can also be other structures capable of outputting linear motion.

[0069] Optionally, the first rotating member 120 and the second rotating member 140 may be a motor, a rotating joint, etc. Exemplarily, both the first rotating member 120 and the second rotating member 140 include a motor and a rotating mounting housing. The motor is mounted in the rotating mounting housing, and its output terminal outputs rotational motion. The rotating mounting housing of the first rotating member 120 is mounted to the top of the lifting member 110, and the motor output terminal of the first rotating member 120 is connected to the moving member 130, driving the moving member 130 to rotate. The rotating mounting housing of the second rotating member 140 is mounted to the moving member 130, and the motor output terminal of the second rotating member 140 is connected to the suspension link 210, driving the suspension link 210 to rotate. Of course, in other embodiments of the present invention, the first rotating member 120 and the second rotating member 140 may also have other structures capable of outputting rotational motion, or, in the above embodiments, components such as a brake or a reducer may be added.

[0070] The first positioning structure 100 in the above embodiment has four degrees of freedom. Specifically, it is formed by connecting four joints—the lifting member 110, the first rotating member 120, the moving member 130, and the second rotating member 140—to achieve four degrees of freedom. This four-degree-of-freedom structure enables the positioning of the second positioning structure 200 and the robotic arm 20. Of course, in other embodiments of the present invention, the first positioning structure 100 may further include more moving members 130, lifting members 110, and rotating members to increase the degrees of freedom of the first positioning structure 100.

[0071] See Figures 1 to 3 In one embodiment, the second positioning structure 200 includes a suspension link 210 and a plurality of positioning robotic arms 220. The suspension link 210 is mounted on the second rotating member 140 of the first positioning structure 100. One end of each of the plurality of positioning robotic arms 220 is rotatably connected to the suspension link 210, and the other end of each of the plurality of positioning robotic arms 220 is respectively mounted with an operating robotic arm 20.

[0072] The suspension link 210 is rotatably connected to the second rotating member 140. The second rotating member 140 at the end of the first positioning structure 100 can drive the suspension link 210 to rotate relative to the lifting member 110. Multiple positioning robotic arms 220 are rotatably mounted at intervals on the suspension link 210, and each positioning robotic arm 220 can rotate relative to the suspension link 210. An operating robotic arm 20 is mounted at the end of each positioning robotic arm 220. Thus, when the first positioning structure 100 drives the suspension link 210 to rotate, the suspension link 210 can drive the multiple positioning robotic arms 220 to rotate synchronously, and each positioning robotic arm 220 can drive its corresponding operating robotic arm 20 to rotate relative to the suspension link 210.

[0073] It is worth noting that the structures of all the positioning robotic arms 220 are identical, and the following description focuses on the structure of only one of the positioning robotic arms 220. Furthermore, after the operating robotic arm 20 is installed on each positioning robotic arm 220, the operating instrument 404 installed at the end of the operating robotic arm 20 is the same and / or different. Optionally, the number of positioning robotic arms 220 is four. Moreover, the suspension link 210 has four mounting positions for rotatably mounting four positioning robotic arms 220. Of course, in other embodiments of the present invention, the number of positioning robotic arms 220 may be three or even more.

[0074] The surgical robot A of the present invention achieves the positioning of the operating robotic arm 20 through four positioning robotic arms 220. The four positioning robotic arms 220 are mounted on the suspension link 210 and are hinged to the suspension link 210 via a first rotating component 221, allowing them to rotate relative to the suspension link 210. The housing of the first rotating component 221 is mounted on the outside of the first linear motion component 222. The output end of the first rotating component 221 is connected to the suspension link 210. The transmission assembly (not shown) of the first linear motion component 222 is connected to the housing of the second rotating component 223. The output end of the second rotating component 223 is connected to the housing of the second linear motion component 224. The output end of the second linear motion component 224 is connected to the operating robotic arm 20.

[0075] During positioning, the first rotating component 221, the first linear motion component 222, the second rotating component 223, and the second linear motion component 224 move respectively, driving the end effector of the robotic arm 20 to move, thereby positioning the robotic arm 20 so that its end effector aligns with the card 202. This facilitates the installation of the card 202 onto the robotic arm 20 and ensures that the posture of the robotic arm 20 is consistent with the posture of the card 202. It is worth noting that the first rotating component 221 and the second rotating component 223 have the same structure as the first rotating member 120, the first linear motion component 222 has the same structure as the moving member 130, and the second linear motion component 224 has the same structure as the lifting member 110. Of course, the first rotating component 221, the second rotating component 223, the first linear motion component 222, and the second linear motion component 224 can also be other structures capable of achieving the corresponding functions. These will not be elaborated upon here.

[0076] In one embodiment, the navigation device 60 is electrically and communicatively connected to the first positioning structure 100 and the second positioning structure 200, enabling the navigation device 60 to control the spatial position of the first positioning structure 100 and the second positioning structure 200, thereby aligning the end effector of the robotic arm 20 with the puncture card 202 on the patient's body surface. This transmission connection includes both electrical and communication connections. When the navigation device 60 is installed on the pushing device 70, it is electrically connected to each joint of the first positioning structure 100 and the second positioning structure 200. When the navigation device 60 is not installed on the pushing device 70, it is communicatively connected to each joint of the first positioning structure 100 and the second positioning structure 200. Thus, the navigation device 60 controls the movement of the first positioning structure 100 and the second positioning structure 200, achieving automatic positioning of the robotic arm 20.

[0077] See Figures 1 to 4 In one embodiment, the pushing device 70 includes a mounting assembly 710 and a pushing handle 720. The mounting assembly 710 is detachably mounted with a navigation device 60, which assists in positioning the surgical robot A. The mounting assembly 710 is mounted on the lifting member 110 of the first positioning structure 100. The mounting assembly 710 has a mounting groove in which the navigation device 60 is disposed. The pushing handle 720 is disposed on the mounting assembly 710, and the surgical robot A can be moved by pushing the pushing handle 720.

[0078] The mounting assembly 710 serves as the main mounting body for the pushing device 70. The mounting assembly 710 has a recessed mounting groove for the device. The navigation device 60 is installed in the mounting groove, allowing it to be mounted into the mounting assembly 710. The mounting assembly 710 electrically connects the first positioning structure 100 and the positioning robotic arm 220 of the second positioning structure 200. The positioning robotic arm 220 is disposed on the mounting assembly 710 and protrudes from it. When the surgical robot A is moved manually, the medical staff holds the pushing handle 720 and pushes the surgical robot A according to the instructions of the navigation device 60. This causes the surgical robot A to move within the surgical operating area, and the navigation device 60 is used to position the robotic arm 20.

[0079] The fixed rod of the lifting component 110 is connected to the operating table 50. The telescopic rod of the lifting component 110 is telescopically installed in the fixed rod. The mounting component 710 is installed on the outer wall of the fixed rod to ensure that the position of the pushing device is fixed and to prevent it from moving up and down with the telescopic rod of the lifting component 110. This ensures that the position of the pushing device 70 is fixed and to prevent the pushing device 70 from moving up and down, making it convenient for medical staff to use.

[0080] It is worth noting that the placement of the push handle 720 is not limited in principle, as long as operating the push handle 720 can move the surgical robot A. For example, the push handle 720 can be located at the end of the mounting assembly 710 away from the lifting member 110 and protrude from the side of the mounting assembly 710. Of course, in other embodiments of the present invention, the push handle 720 can also be located in the middle region of the side of the mounting assembly 710; or, the push handle 720 can be vertically positioned at the bottom or top of the mounting assembly 710.

[0081] Optionally, the mounting assembly 710 is a frame structure, including a mounting base plate and four mounting frames. The four mounting frames are arranged around the mounting base plate and together with the mounting base plate form a mounting groove. After the navigation device 60 is installed into the mounting groove, the edge of the navigation device 60 can abut against the inner wall of the mounting frame, thereby fixing the navigation device 60. Of course, in other embodiments of the present invention, the mounting assembly 710 may also be other structural forms capable of supporting the navigation device 60.

[0082] In one embodiment, the mounting assembly 710 has an electrical connector that is electrically connected to the positioning device 20 and the operating table 50. The navigation device 60 is mounted after the mounting assembly 710, and the conductive part of the navigation device 60 is connected to the electrical connector.

[0083] The navigation device 60 has conductive parts. When the navigation device 60 is installed on the mounting assembly 710, the conductive parts of the navigation device 60 are correspondingly configured with electrical connectors on the mounting assembly 710. After the navigation device 60 is installed on the mounting assembly 710, the conductive parts of the navigation device 60 are connected to the electrical connectors on the mounting assembly 710. These electrical connectors are connected to the first positioning structure 100 and the multiple positioning robotic arms 220. Thus, the navigation device 60 achieves electrical connection with the first positioning structure 100 and the multiple positioning robotic arms 220 through the connection between its conductive parts and the electrical connectors.

[0084] Optionally, one of the electrical connector and the conductive part is a plug and the other is a socket. The connection between the conductive connector and the conductive part is achieved through plugging and unplugging the plug and socket. Optionally, both the electrical connector and the conductive part are contacts. After the navigation device 60 is installed into the mounting assembly 710, the two contacts become conductive. Of course, in other embodiments of the present invention, the conductive part and the electrical connector can also be other structural forms capable of achieving electrical connection. See also... Figure 1 and Figure 4In one embodiment, the pushing device 70 further includes a locking component disposed on the mounting component 710. The locking component is used to unlock or lock the navigation device 60 onto the mounting component 710. After the navigation device 60 is installed into the mounting component 710, the locking component locks the navigation device 60 in the mounting component 710, ensuring reliable fixation of the navigation device 60 and preventing it from falling off during use. When it is necessary to remove the navigation device 60, the locking component is pressed, and the locking component unlocks the navigation device 60, at which point the navigation device 60 can be removed from the mounting component 710.

[0085] In one embodiment, the locking component includes a latch and a telescopic member. The telescopic member is movably disposed within the mounting frame, and the end of the extender is connected to the latch, enabling the latch to extend or retract into the mounting frame. When installing the navigation device 60, the telescopic member retracts the latch into the mounting frame, allowing the navigation device 60 to be placed in the mounting slot. Subsequently, the telescopic member is controlled to extend the latch, which engages the navigation device 60, thus locking it. To unlock the navigation device 60, the telescopic member is controlled to retract the latch into the mounting frame, allowing the navigation device 60 to be removed from the mounting slot. At this point, medical personnel need to pry the navigation device 60 out of the mounting slot.

[0086] In one embodiment, the locking component includes a quick-release member 730 and a latch disposed on the mounting component 710. The latch is used to lock the mounting component 710, and the quick-release member 730 is connected to the latch and can unlock the latch. The quick-release member 730 is disposed on the mounting component 710, and the latch is disposed on the mounting frame. The quick-release member 730 can lock the navigation device 60 and also enable the navigation device 60 to be quickly released, allowing the navigation device 60 to spring out a certain distance from the mounting slot without requiring medical personnel to pry the navigation device 60 out of the mounting slot.

[0087] Optionally, the latch is secured to the mounting frame via a spring or other elastic element. Normally, the latch is in the extended position. When the navigation device 60 needs to be installed, the navigation device 60 abuts against the latch and compresses the elastic element, causing the latch to retract into the mounting frame. After the navigation device 60 is installed into the mounting slot, the navigation device 60 disengages from the latch, and the latch extends out of the mounting frame under the elastic force of the elastic element, locking the navigation device 60. When the navigation device 60 is removed, the quick-release component 730 drives the latch to retract into the mounting frame and springs the navigation device 60 back up.

[0088] Optionally, the quick-release component 730 includes a quick-release button, a spring, and a spring pin. The spring pin is elastically and liftably mounted to the mounting base plate, the quick-release mechanism is mounted on the outer surface of the mounting frame, and the quick-release button can connect to a latch and actuate the latch to retract.

[0089] When navigation device 60 needs to be installed, an external force is applied to it. Navigation device 60 abuts against the latch and compresses the elastic element. Simultaneously, it abuts against the spring pin and compresses the spring. After navigation device 60 is installed in the mounting slot, the latch extends out of the mounting frame under the elastic force of the elastic element and locks navigation device 60. At this time, the force exerted by the latch on navigation device 60 is greater than the elastic force of the spring, preventing the spring pin from springing up. When it is necessary to unlock navigation device 60, pressing the quick-release button causes the latch to lock the mounting frame. When the force on navigation device 60 is less than the elastic force of the spring, the spring causes the spring pin to rise, thereby causing navigation device 60 to spring up, facilitating the removal of navigation device 60 by medical personnel.

[0090] Of course, in other embodiments of the invention, the locking component may also be other structures capable of locking or unlocking the navigation device 60 on the mounting component 710.

[0091] In one embodiment, the pushing device 70 further includes an enable switch disposed inside the pushing handle 720. The enable switch is used for assisting and pushing. When the enable switch is pressed, the assist device in the surgical robot A can provide assistance. The enable switch can adjust the pushing and steering forces applied by the medical staff, facilitating the medical staff to push the surgical robot A using the pushing handle 720. Optionally, the enable switch can be a sensor or other component capable of detecting the direction of force applied by the medical staff.

[0092] It is worth noting that the surgical robot A of the present invention has two methods for moving to the operating table 30, both of which can be achieved by one person. One method is: the navigation device 60 is installed on the mounting assembly 710, and the enable switch of the push handle 720 is pressed. Medical personnel can then push the surgical robot A to the surgical operating area according to the instructions of the navigation device 60. See also... Figure 7 and Figure 8 Another method is for medical staff to hold the navigation device 60 in an open area of ​​the operating room, operate the navigation device 60 to control the surgical robot A to move to the surgical operation area, and control the surgical robot A to automatically position itself. By using these two methods to move the surgical robot A to the surgical operation area, no additional manpower is required, and controlling the movement of the surgical robot A according to the navigation device 60 can shorten preoperative preparation time.

[0093] See Figure 5In one embodiment, the surgical robot A further includes an environmental sensing device 90, which is rotatably mounted on the suspension link 210 for acquiring environmental information. The environmental sensing device 90 may include one or more of a visual camera, a laser rangefinder, a laser scanner, or an NDI optical positioning system. In one embodiment, the environmental sensing device 90 includes a visual camera 920, which is rotatably mounted on the suspension link. It should be noted that the position of the visual camera 920 must ensure that it can freely acquire information from the environment and the information from the stamp card 202, and must not be obstructed by the positioning device 10.

[0094] The visual camera 920 is rotatably mounted on the lower surface of the suspension link 210 to automatically follow the orientation of the surgical site and guide the second positioning structure 200 to automatically align with the puncture card 202.

[0095] Optionally, the visual camera 920 can rotate within a range of 0° to 90° relative to the suspension link 210, such as... Figure 5 The arrow direction is shown. Optionally, the visual camera 920 can be a visible light camera, an infrared camera, etc. Optionally, the environmental sensing device 90 also includes a positioning element, which is disposed on the visual camera 920 for positioning the visual camera 920. Optionally, the positioning element can be an optical positioning system, infrared, laser ranging system, or other system tool used for spatial positioning.

[0096] Furthermore, in one embodiment of this application, the surgical robot A is also equipped with a signal indicating device for indicating the position of the surgical cart 50 relative to the surgical operation area. The signal indicating device can emit a signal to indicate whether the surgical cart 50 has reached the surgical operation area. It should be noted that the signal can be a light signal, a sound signal, or other signals. In one embodiment of this application, the signal indicating device is an indicator light 910, which is disposed on the surface of the suspension link 210 facing the patient. That is, the indicator light 910 is disposed on the lower surface of the suspension link 210. When the surgical cart reaches the surgical operation area, the indicator light signal emitted by the corresponding indicator light is within a certain preset range from the lesion area of ​​the patient on the operating table, which is used to indicate whether the surgical cart and the operating robotic arm 20 have moved into position.

[0097] See Figure 1 and Figure 6In one embodiment, the surgical robot A further includes multiple rangefinders 80, which are disposed at the end of the movable member 130 away from the first rotating member 120. The rangefinders 80 serve as obstacle avoidance devices. Optionally, there are at least two rangefinders 80, one of which is disposed at the end of the movable member 130 away from the first rotating member 120, and the remaining rangefinders 80 are disposed on the side of the movable member 130 away from the first rotating member 120. The rangefinders 80 are connected to the navigation device 60.

[0098] The rangefinder 80 can detect the distance between the moving part 130 and the obstacle and feed it back to the navigation device 60. Medical staff can use the navigation device 60 to determine the distance between the moving part 130 and the obstacle, and push the surgical robot A according to the distance to avoid the surgical robot A from colliding with the obstacle.

[0099] For example, there are three rangefinders 80. One rangefinder 80 is located at the end of the moving member 130 where it is located on the second rotating member 140, and the other two rangefinders 80 are symmetrically arranged on the sides of the moving member 130 where it is located on the rotating member. This ensures that rangefinders 80 are present in three directions, improving obstacle avoidance accuracy. That is to say, with Figure 6 Using the indicated direction as a reference, a rangefinder 80 is set on the left end face of the moving part 130, a one-sided rangefinder 80 is set on the upper side of the left side of the moving part 130, and a rangefinder 80 is set on the lower side of the left end of the moving part 130. The three-sided rangefinder 80 can detect obstacles on the left side and the upper and lower sides of the surgical robot A, limit the movement distance of the surgical robot A, and avoid the surgical robot A from colliding with obstacles.

[0100] The rangefinder 80 measures the distance between the surgical robot A and surrounding obstacles and marks a safe zone on the navigation device 60 for obstacle avoidance guidance during the transfer process of the surgical robot A. During the transfer process of the surgical robot A or the movement controlled by the navigation device 60, the obstacle avoidance diagram shown in the figure will appear on the panel of the navigation device 60. Figure 6 The system will provide specific values ​​for the three sides (provided by the rangefinder 80) and compare them with the safe distance, using different color indicators to remind users to avoid obstacles.

[0101] Of course, in other embodiments of the present invention, the number of rangefinders 80 may be more or less, depending on the usage requirements. Optionally, the rangefinder 80 may be an infrared rangefinder, a laser rangefinder, an ultrasonic radar rangefinder, or other components capable of measuring the distance to an obstacle.

[0102] See Figures 9 to 11In one embodiment, the end of the robotic arm 20 has a mounting component 201 for mounting a stamp card 202. The positioning device 10 moves the robotic arm 20 to position the stamp card 202 onto the mounting component 201. The mounting component 201 is used for automatic docking with the stamp card 202. After the positioning robotic arm 220 moves the robotic arm 20 to complete the positioning, the mounting component 201 at the end of the robotic arm 20 aligns with the stamp card 202. The navigation device 60 initiates the stamp card 202 docking procedure, enabling the robotic arm 20 to move the mounting component 201 to dock with the stamp card 202.

[0103] Optionally, the mounting component 201 is a magnetic chuck. When the mounting component 201 is aligned with the stamp card 202, the docking procedure is initiated. The magnetic chuck generates attraction to hold the stamp card 202 in place, and a mechanical locking mechanism secures the stamp card 202, preventing it from falling off. Alternatively, in other embodiments of the invention, the mounting component 201 can be a snap-fit, automatically securing the stamp card 202. Optionally, each stamp card 202 has at least one marker point 203. For example, there are three marker points 203, but more or fewer are also possible. During the docking process, the vision camera 920 identifies the marker points 203 to obtain the actual position and orientation of the stamp card 202 and feeds this information back to the navigation device 60. The navigation device 60 controls the movement of the positioning robotic arm 220 and the operating robotic arm 20, causing the mounting component 201 at the end of the operating robotic arm 20 to align with the stamp card 202, thus initiating the docking procedure for automatic docking.

[0104] In one embodiment, the surgical cart 50 is supported by four wheels. The first two wheels are power-assisted wheels, providing power for the movement of the surgical robot A, while the last two wheels are passive omnidirectional wheels, providing steering functionality. Furthermore, the surgical cart 50 has a lifting device. When the surgical robot A has moved to the surgical operating area and does not need to move further, the lifting device lifts the surgical cart 50, causing all four wheels of the surgical cart 50 to leave the ground. This ensures the surgical cart 50 is securely fixed and prevents the surgical robot A from shifting due to movement of the surgical cart 50.

[0105] See Figure 11The surgical robot A of this invention moves to the surgical operation area after the puncture card 202 is ready to be in place. It is worth noting that the two methods for moving the surgical robot A to the surgical operation area have been mentioned above and will not be repeated here. After the surgical robot A moves to the surgical operation area, in order to improve the positioning accuracy of the surgical cart 50, the position of the surgical robot A needs to be fine-tuned in conjunction with the indicator signal. The vision camera 920 acquires information about the patient's lesion area and the indicator signal. When the indicator signal is within a predetermined distance from the lesion area, it is considered that the surgical robot A has moved to the surgical operation area, and at this time, the surgical cart 50 is locked. It should be clarified that the predetermined distance can be adaptively set according to the size of the lesion area, or it can be set according to actual needs. Furthermore, the vision camera 920 identifies the puncture cards 202 corresponding to different operating robotic arms 20, for example, the endoscope arm corresponds to the endoscope puncture card, and the mechanical arm corresponds to the mechanical arm puncture card. The vision camera 920 acquires the position information of the stamp card and plans the path for the robotic arm to move from its current position to the corresponding stamp card position. It should be noted that the movement paths between multiple robotic arms should be collision-free. The navigation device 60 controls the positioning robotic arm 220 to automatically position itself, and the operating instruments 40 move simultaneously, bringing the end of the robotic arm 20 close to the stamp card 202. At this point, the posture of the robotic arm 20 is consistent with the posture of the stamp card 202, and the mounting component 201 and the stamp card 202 reach the allowable docking distance. The docking is confirmed, allowing the stamp card 202 to be installed onto the mounting component 201, completing the docking of the stamp card 202.

[0106] During the docking process, the vision camera 920 identifies the marker point 203 to obtain the actual position and orientation of the stamp card 202 and feeds it back to the navigation device 60. The navigation device 60 controls the movement of the positioning robotic arm 220 and the operating robotic arm 20, aligning the mounting component 201 at the end of the operating robotic arm 20 with the stamp card 202, and initiating the docking procedure for automatic docking. After docking is completed, the positions of the positioning robotic arm 220 and the operating robotic arm 20 are automatically adjusted to maintain a preset distance between them, thus preventing mechanical interference when docking other stamp cards 202. Once all docking is complete, the positioning device 10 and the operating robotic arm 20 are restarted to ensure that the positioning robotic arm 220 and the operating robotic arm 20 are at a suitable distance. Subsequently, an operating instrument 40, such as a surgical instrument or an endoscope system, is installed at the end of the operating robotic arm 20.

[0107] The surgical robot A of this invention achieves automatic positioning of the robotic arm 20 via a positioning device 10, and a navigation device 60 is installed via a pushing structure. The surgical robot A is moved to the surgical operating area by pushing and guided by the navigation device 60, or it can be moved to the surgical operating area by operating the navigation device 60. The navigation device 60 controls the movement of the positioning robotic arm 220, achieving automatic positioning of the robotic arm 20. This process requires only one operator, simplifying preoperative manual steps, shortening positioning time, and reducing preoperative preparation time. Furthermore, the robotic arm 20 can be repositioned during surgery via the navigation device 60, improving intraoperative adjustment efficiency.

[0108] The positioning device 10 in the surgical robot A of the present invention can support the operating robotic arm 20 and drive the operating robotic arm 20 to move, thereby realizing the positioning of the operating robotic arm 20. Of course, in other embodiments of the present invention, the positioning device 10 in the surgical robot A can also be applied to other equipment or fields that require positioning.

[0109] See Figure 12 The present invention also provides a control method for a surgical robot A, which is applied to the surgical robot A as described in any of the above embodiments. The control method includes the following steps:

[0110] Environmental sensing device 90 acquires environmental information;

[0111] The navigation device 60 controls the surgical cart to move to the surgical operation area based on the acquired environmental information;

[0112] The navigation device 60 controls the positioning device 10 of the surgical robot A to drive the end of the operating robotic arm 20 to dock with the stamping card 202;

[0113] The navigation device 60 adjusts the positions of the positioning device 10 and the operating robotic arm 20 so that the positioning device 10 and the operating robotic arm 20 maintain a preset distance.

[0114] When the surgical robot A of the present invention is in use, it acquires environmental information through the environmental sensing device 90 and controls the navigation device 60 to move the surgical robot A to an open location; sterile covers are put on each component of the surgical robot A; the navigation device 60 controls the surgical trolley to move to the surgical operation area according to the acquired environmental information; the navigation device 60 controls the positioning device 10 of the surgical robot A to move the operating robotic arm 20 so that the end of the operating robotic arm 20 docks with the tamper 202; after docking, the navigation device 60 adjusts the position of the positioning device 10 and the operating robotic arm 20 to maintain a preset distance between them; the operating instruments 40 are installed on the operating robotic arm 20, completing the preoperative preparation of the surgical robot A.

[0115] During the preoperative preparation stage, the surgical trolley 50 of surgical robot A needs to be pushed to an open area in the operating room. Surgical robot A is then deployed, and sterile covers are fitted to the robotic arm 20 and positioning device 10. Surgical robot A is then moved to the surgical operating area. Subsequently, the positioning device 10 is controlled by the navigation device 60 to move the robotic arm 20, positioning it so that the end of the robotic arm 20 is aligned with the puncture card 202, ensuring that the posture of the robotic arm 20 matches the posture of the puncture card 202.

[0116] The robotic arm 20 is docked with the card 202. After docking, the positioning robotic arm 220 is controlled to move away from the robotic arm 20, so that there is a preset distance between the robotic arm 20 and the positioning device 10, so as to avoid interference between the robotic arm 20 and the positioning device 10, and to avoid interference between the robotic arm 20 and the adjacent robotic arm.

[0117] In one embodiment, the navigation device 60 controls the surgical cart to move to the surgical operation area based on acquired environmental information, and further includes:

[0118] Enter the location parameters of the surgical area;

[0119] Navigation device 60 plans a navigation path to the surgical operating area;

[0120] The navigation device 60 controls the surgical cart to move to the surgical operation area according to the navigation path, or the user pushes the surgical robot A to the surgical operation area according to the navigation path planned by the navigation device 60.

[0121] There are two methods for moving the surgical robot A to the surgical operating area, both of which can be achieved by a single operator. One method involves installing the navigation device 60 onto the mounting assembly 710 and pressing the enable switch on the push handle 720. Medical personnel can then push the surgical robot A to the surgical operating area according to the instructions from the navigation device 60 and the direction indicated by the scroll of the imaging device 920. The other method involves a medical personnel holding the navigation device 60 in an open area of ​​the operating room and operating it to control the movement of the surgical robot A to the surgical operating area. Simultaneously, the navigation device 60 controls the automatic positioning of the robotic arm 20, ensuring it automatically aligns with the puncture card 202. By using these two methods to move the surgical robot A to the surgical operating area, no additional personnel are required. Furthermore, controlling the movement of the surgical robot A using the navigation device 60 shortens preoperative preparation time.

[0122] Furthermore, before the surgical robot A moves to the surgical operating area, the location parameters of the surgical operating area are input into the navigation device 60, which then plans a navigation path to the surgical operating area. Based on the planned navigation path, the navigation device 60 controls the surgical robot A to move automatically to the surgical operating area, or, medical personnel can push the surgical robot A to the surgical operating area according to the instructions of the navigation device 60.

[0123] In one embodiment, the step of the navigation device 60 controlling the positioning device 10 of the surgical robot A to drive the end-effector docking card 202 of the robotic arm 20 includes:

[0124] Identify the stamp card 202 corresponding to the operating robotic arm 20;

[0125] Obtain the position information of the stamp card 202 and plan the docking path with the operating robotic arm 20;

[0126] Control the robotic arm 20 to dock with the corresponding stamp card 202.

[0127] In this invention, the end effector of the robotic arm 20, which docks with the puncture card 202, can be either manually or automatically docked by medical personnel. Only the automatic docking process is described here. The navigation device 60 stores the automatic docking program. During the positioning process, the robotic arm 20 uses a camera 920 to follow the target point, causing the indicator light 910 to point at the surgical site, thus identifying the puncture card 202 that the robotic arm 20 is aligned with. The navigation device 60 obtains the position information of the puncture card 202 and plans the docking path with the robotic arm 20. Subsequently, the navigation device 60 controls the movement of the robotic arm 20, causing it to align with and contact the puncture card 202 according to the indications of the indicator light 910 and the navigation device 60.

[0128] See Figure 13 In one embodiment, the mounting component 201 of the robotic arm 20 docks with the stamp card 202, including the following steps:

[0129] Start the process for docking with the 202 card;

[0130] Identify the stamp card 202 corresponding to the robotic arm 20 and select the docking program for the stamp card 202;

[0131] Control the robotic arm 20 to move to the vicinity of the stamp card 202, and make the posture of the robotic arm 20 consistent with the posture of the stamp card 202;

[0132] Confirm the connection and install the card 202 onto the installation component 201;

[0133] Adjust the position of the robotic arm 20 and the positioning device to avoid interference;

[0134] Confirm that all robotic arms 20 have completed docking;

[0135] Otherwise, continue with the card docking operation 202;

[0136] If the positions of the robotic arm 20 and the positioning device are adjusted, the operating instrument 40 will be installed.

[0137] When the surgical robot A of the present invention controls the robotic arm 20 to dock with the puncture card 202, the docking program for the puncture card 202 is initiated; the puncture card 202 corresponding to one of the robotic arms 20 is identified, and the docking program for the puncture card 202 is selected; the robotic arm 20 is controlled to move to the vicinity of the puncture card 202, and the posture of the robotic arm 20 is made consistent with the posture of the puncture card 202; the docking is confirmed, and the puncture card 202 is installed on the mounting component 201; the positions of the robotic arm 20 and the multiple positioning robotic arms in the positioning device 20 are adjusted to avoid interference. Subsequently, the remaining robotic arms 20 and their corresponding puncture cards 202 are docked one by one to confirm whether all robotic arms 20 have been docked; if not, the puncture card 202 docking operation continues; if all have been docked, the positions of the robotic arms 20 and the positioning device are adjusted, the operating instruments 40 are prepared for installation, the preoperative preparation is completed, and the surgery is ready to proceed.

[0138] This invention automatically adjusts the operating robotic arm 20 and the positioning device 10 to maintain an appropriate distance between them, preventing mechanical interference during the docking of other puncture cards 202 and ensuring safety during the docking process. After all docking is completed, the positioning device and the operating robotic arm 20 are adjusted again to ensure a suitable distance between the operating robotic arm 20 and to avoid interference with the operating robotic arm 20 during surgery.

[0139] 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.

[0140] 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 surgical robot (A), characterized in that, include: Operating table cart (50); Positioning device (10) is installed on the surgical cart (50); An environmental sensing device (90) is disposed on the placement device (10). Operate the robotic arm (20) and connect it to the positioning device; The environmental sensing device (90) is used to acquire environmental information to assist the surgical robot (A) in reaching the surgical operation area without collision; and the environmental sensing device (90) can acquire the position parameters of the puncture card (202) to assist the end of the operating robotic arm (20) in aligning with the puncture card (202). The navigation device (60) is connected to both the operating trolley (50) and the positioning device (10). The navigation device (60) controls the movement of the operating trolley (50) and the positioning device (10), so that the operating trolley (50) moves to the surgical operation area, and then controls the positioning device (10) to drive the operating robotic arm (20) to move, so that the end of the operating robotic arm (20) of the surgical robot (A) docks with the puncture card (202) on the patient's body surface. The positioning device includes a first positioning structure (100) and a second positioning structure (200). The first positioning structure (100) is disposed on the operating table (50), and the second positioning structure (200) is connected to the first positioning structure (100) through a suspension link (210). The end of the robotic arm (20) has a mounting component (201) for mounting a stamp card (202). The stamp card (202) has at least one marker point (203). During the docking process, the environmental sensing device (90) identifies the marker point (203) to obtain the actual position and posture of the stamp card (202) and feeds it back to the navigation device (60). The navigation device (60) controls the positioning device (10) and the robotic arm (20) to move so that the mounting component (201) at the end of the robotic arm (20) aligns with the stamp card (202). The navigation device starts the docking procedure for the stamp card (202), and the robotic arm (20) drives the mounting component (201) to dock with the stamp card (202). In this process, the corresponding stamp card (202) of one of the operating robotic arms (20) is identified, and the docking program of the stamp card (202) is selected. The operating robotic arm (20) is controlled to move to the vicinity of the stamp card (202) and the posture of the operating robotic arm (20) is made consistent with the posture of the stamp card (202). The docking is confirmed, and the stamp card (202) is installed on the mounting component. The position of the operating robotic arm (20) and the positioning device (10) is adjusted to avoid interference. The remaining operating robotic arms (20) and their corresponding stamp cards (202) are docked one by one in sequence.

2. The surgical robot (A) according to claim 1, characterized in that, The first positioning structure (100) includes a lifting member (110), a first rotating member (120), a moving member (130), and a second rotating member (140). The first rotating member (120) is disposed between the lifting member (110) and the moving member (130) to realize the rotational connection between the moving member (130) and the lifting member (110). The second rotating member (140) is used to realize the rotational connection between the suspension link (210) and the moving member (130).

3. The surgical robot (A) according to claim 1 or 2, characterized in that, The second positioning structure (200) includes a plurality of positioning robotic arms (220), one end of each of the plurality of positioning robotic arms (220) is rotatably connected to the suspension link (210), and the other end of each of the plurality of positioning robotic arms (220) is respectively equipped with an operating robotic arm (20).

4. The surgical robot (A) according to claim 1, characterized in that, The environmental sensing device (90) may include one or more of a visual camera, a laser rangefinder, a laser scanner, or an NDI optical positioning system.

5. The surgical robot (A) according to claim 4, characterized in that, The suspension link (210) is also equipped with a signal indicator device to indicate the position of the operating trolley relative to the surgical operation area.

6. The surgical robot (A) according to claim 2, characterized in that, The positioning device (10) further includes a pushing device (70), which is disposed on the lifting member (110). The pushing device (70) includes a mounting assembly (710) and a pushing handle (720). The navigation device (60) is detachably mounted on the mounting assembly (710).

7. The surgical robot (A) according to claim 6, characterized in that, The pushing device (70) also includes an enable switch located inside the pushing handle (720), which is used to assist the surgical robot (A) in pushing and turning.

8. A positioning control method for a surgical robot (A) according to any one of claims 1 to 7, characterized in that, The method includes: The environmental sensing device (90) acquires environmental information; The navigation device (60) controls the surgical cart to move to the surgical operation area based on the acquired environmental information; The navigation device (60) controls the positioning device (10) of the surgical robot (A) to drive the end of the operating robotic arm (20) to dock with the stamp card (202). The navigation device (60) adjusts the position of the positioning device (10) and the operating robotic arm (20) so that the positioning device (10) and the operating robotic arm (20) maintain a preset distance.

9. The placement control method according to claim 8, characterized in that, The navigation device (60) controls the surgical cart to move to the surgical operation area based on the acquired environmental information, and also includes: Enter the location parameters of the surgical area; The navigation device (60) plans a navigation path to the surgical operation area; The navigation device (60) controls the surgical trolley to move to the surgical operation area according to the navigation path, or the user pushes the surgical robot (A) to the surgical operation area according to the navigation path planned by the navigation device (60).

10. The control method according to claim 8, characterized in that, The navigation device (60) controls the positioning device (10) of the surgical robot (A) to drive the end of the operating robotic arm (20) to dock with the tamper (202), including: Identify the stamp card (202) corresponding to the operating robotic arm (20); Obtain the location information of the stamp card and plan the docking path with the robotic arm; Control the robotic arm (20) to dock with the corresponding stamp card (202).

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