Robotic arm operating device, surgical control platform, and surgical robotic system

Abstract

The present application relates to a kind of mechanical arm operating device, surgical control platform and surgical robot system.Surgical robot system includes surgical control platform and surgical execution mechanism, and surgical control platform includes the mechanical arm operating device for controlling surgical execution mechanism to execute surgical operation.Mechanical arm operating device includes terminal joint and operating joint, operating joint includes first drive control unit, first driving part and open-close mechanism, open-close mechanism can change open-close angle when bearing pinch force, and open-close angle information of open-close mechanism is fed back to first drive control unit, and first control unit sends control instruction generated based on open-close angle information to first driving part, so that first driving part drives open-close mechanism to generate counterforce to resist pinch force, so that surgical robot system can more truly simulate the force change of doctor when pinch mechanical arm operating device to carry out surgical operation, and more enhance the real feeling of doctor when carrying out surgical operation.

Description

Technical Field

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

[0002] A surgical robot system is a master-slave advanced robotic platform for performing complex surgical procedures. The system can be broadly divided into three parts: the master robotic arm (operated by the surgeon), the surgical execution mechanism (operated by the surgeon), and the endoscopic imaging system. The master robotic arm is operated by the surgeon and is used to input the surgeon's operational information. The surgical execution mechanism, located beside the bed, follows the operational information detected by the master robotic arm and performs surgical procedures in place of the surgeon. The endoscopic imaging system acquires images of the surgical area and presents them clearly to the surgeon and assistants. During the surgery, the surgeon can control the surgical instruments held by the surgical execution mechanism by manipulating the master robotic arm based on the surgical images they see, thus completing complex surgeries. The master robotic arm, as the input end of the entire system, plays a crucial role in this process. The opening and closing mechanism, an important component of the master robotic arm, is guided by the surgeon's hand and its main function is to perform operations such as cutting, suturing, and knotting during the surgical procedure.

[0003] Most existing surgical robot systems suffer from the following drawbacks: the opening and closing mechanisms are mostly connected to springs, using the force of a two-stage spring to simulate the feel of surgical instruments gripping the target object. This approach cannot realistically simulate and provide feedback on the gripping feel of surgical instruments gripping the target object, which can easily lead to surgeons not having a clear understanding and judgment of the actual gripping force. As a result, surgeons often use greater operating force to ensure the stability of the surgical process, causing the components in the robotic arm to operate at full or even overload for extended periods. This is detrimental to the normal use of the surgical robot system and the smooth progress of the surgical procedure. Summary of the Invention

[0004] Therefore, it is necessary to address the problem that existing surgical robot systems cannot realistically simulate and provide feedback on the gripping sensation when grasping surgical targets, and to provide a robotic arm operating device, a surgical control platform including the robotic arm operating device, and a surgical robot system including the surgical control platform.

[0005] According to one aspect of this application, a robotic arm operating device is provided, comprising:

[0006] terminal joint;

[0007] The operating joint includes a first drive control unit, a first drive component, a transmission mechanism, and an opening and closing mechanism. The first drive component is communicatively connected to the first drive control unit. The opening and closing mechanism can change its opening and closing angle when subjected to a pinching force. The transmission mechanism includes a first transmission component and a second transmission component that are mutually connected. The first transmission component is connected to the first drive component, and the second transmission component is connected to the opening and closing mechanism. The first transmission component and the second transmission component can rotate around their own axes. The first drive control unit is used to acquire the opening and closing angle information of the opening and closing mechanism and send control commands generated based on the opening and closing angle information to the first drive component.

[0008] The first driving member is used to drive the opening and closing mechanism to generate a reaction force against the pinching force through the transmission mechanism according to the control command.

[0009] In one embodiment, the end joint is used to connect to the preceding joint, and the end joint includes a second drive control unit, which is communicatively connected to the first drive control unit;

[0010] The second drive control unit is used to receive the opening and closing angle information, generate the control command according to the preset strategy, and send the control command to the first drive control unit.

[0011] Alternatively, the second drive control unit is used to receive the opening and closing angle information and send the opening and closing angle information to a host computer, and is used to receive the control command generated by the host computer according to the preset strategy and send the control command to the first drive control unit;

[0012] The preset strategy includes a correspondence between different control methods adopted for the first drive component based on different opening and closing angle information.

[0013] In one embodiment, the first drive control unit is connected to the second drive control unit via a connecting shaft, the connecting shaft having a channel passing through opposite ends of the connecting shaft along its axial direction, the first drive control unit and the second drive control unit being able to communicate wirelessly through the channel.

[0014] In one embodiment, the first driving component is a motor, and the operating joint further includes an encoder. The encoder is mounted on the motor and is communicatively connected to the first driving control unit. The encoder is used to acquire the position signal of the motor, and the opening / closing angle information is determined based on the correspondence between the position signal of the motor and the opening / closing angle.

[0015] In one embodiment, the central axis of the first transmission member is a first central axis, the central axis of the second transmission member is a second central axis perpendicular to the first central axis, and the first transmission member is coaxially connected to the first driving member.

[0016] The first driving member can drive the first transmission member, the second transmission member and the opening and closing mechanism to work together to convert the axial motion of the first driving member reciprocating around the first central axis into the opening and closing motion of the opening and closing mechanism reciprocating around an axis parallel to the second central axis.

[0017] In one embodiment, the opening and closing mechanism includes a pinch handle and a gear disposed at one end of the pinch handle. The second transmission member has meshing teeth in the circumferential direction that mesh with the gear. When the second transmission member rotates about the second central axis, it can drive the opening and closing mechanism to rotate about an axis parallel to the second central axis, so as to change the opening and closing angle of the opening and closing mechanism.

[0018] In one embodiment, there are two opening and closing mechanisms, which are symmetrically arranged about the first central axis. The gears of the two opening and closing mechanisms mesh with each other, and the meshing teeth of the second transmission member mesh with the gear of one of the opening and closing mechanisms, so that the included angle formed between the two opening and closing mechanisms can be increased or decreased.

[0019] According to another aspect of this application, a surgical control platform is provided, comprising:

[0020] robotic arm;

[0021] As described above, the robotic arm operating device has an end joint connected to the robotic arm; the robotic arm operating device is used to control the movement of the robotic arm to perform surgical operations.

[0022] According to another aspect of this application, a surgical robot system is provided, comprising:

[0023] The surgical execution platform has a surgical execution institution;

[0024] As described above, the surgical control platform is communicatively connected to the surgical execution platform, and the surgical control platform is used to control the surgical execution mechanism to perform corresponding surgical operations.

[0025] The aforementioned robotic arm operating device, surgical control platform, and surgical robot system, through a first drive component communicatively connected to a first drive control unit, allow the opening and closing mechanism to change its opening and closing angle when subjected to a pinching force. The first drive control unit can send control commands to the first drive component. Furthermore, by incorporating a first transmission component and a second transmission component that are mutually connected within a transmission mechanism—the first transmission component driving the first drive component, and the second transmission component driving the opening and closing mechanism—the first and second transmission components can rotate around their respective axes. This allows the first drive component to drive the opening and closing mechanism to generate a reaction force against the pinching force according to the control commands. Compared to traditional two-stage spring-based force simulation methods, this surgical robot system more realistically simulates the force changes experienced by a surgeon during surgical operations using a robotic arm operating device. This enhances the surgeon's tactile feedback when pressing the opening and closing mechanism with their fingers and eliminates cable constraints on the transmission mechanism, resulting in simpler installation, longer service life, and better force feedback.

[0026] According to another aspect of this application, a force feedback method for a surgical robot system is provided, applied to the robotic arm operating device described above, comprising the following steps:

[0027] S100, Obtain the opening and closing angle information of the opening and closing mechanism;

[0028] S200: Generate control commands based on the opening / closing angle information;

[0029] S300: According to the control command, control the first driving component to drive the opening and closing mechanism to generate a reaction force that resists the pinching force.

[0030] In one embodiment, the first driving element is a motor, and step S100 includes:

[0031] S110, Obtain the position signal of the motor;

[0032] S120. Based on the preset correspondence between the position signal of the motor and the opening / closing angle, determine the opening / closing angle information.

[0033] In one embodiment, step S200 includes:

[0034] S210. Process the opening and closing angle information according to a preset strategy and generate the control command. The preset strategy includes a correspondence of different control methods for the first drive component based on different opening and closing angle information.

[0035] In one embodiment, step S210 includes:

[0036] S211. Determine the pinching force borne by the opening and closing mechanism based on the opening and closing angle information and a preset relationship;

[0037] S212. Determine the magnitude of the required reaction force based on the kneading force;

[0038] S213. Determine the control method to be adopted for the first driving component based on the magnitude of the reaction force.

[0039] The preset relationship includes the correspondence between different opening and closing angles and different kneading forces.

[0040] In one embodiment, the reaction force is not greater than the kneading force.

[0041] In one embodiment, the control method includes controlling the first driving member to reciprocate to vibrate the opening and closing mechanism; or controlling the first driving member to move unidirectionally to provide a reaction force to the opening and closing mechanism through the transmission mechanism.

[0042] In one embodiment, before step S100, the following steps are included:

[0043] S400, Establish the preset strategy, step S400 includes:

[0044] S410. Obtain the opening and closing angle information of the opening and closing mechanism when it is at different opening and closing angles;

[0045] S420. Repeat step S410 multiple times in sequence;

[0046] S430. Fit a curve of the applied kneading force based on the obtained multiple opening and closing angle information;

[0047] S440. Establish the preset strategy based on the curve of the applied kneading force.

[0048] In one embodiment, prior to step S100, the following steps are included:

[0049] S500: Control the opening and closing mechanism to rotate in any direction that changes the opening and closing angle;

[0050] S600: Determine whether the opening and closing mechanism has rotated to its limit position;

[0051] S700: When the opening and closing mechanism reaches the limit position, control the opening and closing mechanism to return to the origin position of the opening and closing mechanism.

[0052] In one embodiment, step S500 includes:

[0053] S510. Receive regression information about the first drive component, the regression information including the regression direction, regression speed and torque mutation value of the first drive component;

[0054] S520. Activate the first drive unit to control the opening and closing mechanism to rotate in a direction closer to the extreme position.

[0055] In one embodiment, step S600 includes:

[0056] S610. Determine whether the torque value of the first driving component is greater than the torque mutation value;

[0057] S620. When the torque value of the first driving member is greater than the torque mutation value, it is determined that the opening and closing mechanism is in the extreme position.

[0058] In one embodiment, step S700 includes:

[0059] S710. Receive feedback control information about the first driving component, the feedback control information including the creeping direction and creeping speed of the first driving component;

[0060] S720. Control the first driving member to drive the opening and closing mechanism according to the feedback control information, so that the opening and closing mechanism rotates to the origin position in a direction opposite to the direction close to the limit position.

[0061] The force feedback method of the above-mentioned surgical robot system obtains the opening and closing angle information of the opening and closing mechanism, generates control commands based on the opening and closing angle information, and then controls the first driving component to drive the opening and closing mechanism to generate a reaction force against the pinching force according to the control commands. This allows the doctor to receive personalized feedback force based on the different opening and closing angles of the opening and closing mechanism when performing surgical operations by pinching the opening and closing mechanism. Thus, feedback force parameters based on different doctors can be selected to make the doctor more comfortable when pinching the opening and closing mechanism. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0063] Figure 1 A schematic diagram of a surgical robot system during surgery, provided as an embodiment of the present invention;

[0064] Figure 2 A schematic diagram of a surgical control platform provided for an embodiment of the present invention;

[0065] Figure 3A schematic diagram of a robotic arm operating device mounted on a robotic arm, provided for an embodiment of the present invention;

[0066] Figure 4 A schematic diagram of the control system in the surgical control platform provided for an embodiment of the present invention;

[0067] Figure 5 A structural block diagram of a robotic arm operating device provided for an embodiment of the present invention;

[0068] Figure 6 A schematic diagram of a robotic arm operating device according to an embodiment of the present invention;

[0069] Figure 7 A cross-sectional structural diagram of a robotic arm operating device according to an embodiment of the present invention;

[0070] Figure 8 A schematic diagram of a robotic arm operating device according to another embodiment of the present invention;

[0071] Figure 9 for Figure 8 Enlarged view of region A in the middle;

[0072] Figure 10 A flowchart illustrating the steps of a force feedback method provided in an embodiment of the present invention;

[0073] Figure 11 A schematic diagram illustrating the transmission of opening and closing angle information in a force feedback method provided in an embodiment of the present invention;

[0074] Figure 12 A step diagram of step S400 in the force feedback method provided in the embodiments of the present invention;

[0075] Figure 13 A schematic diagram of the robotic arm operating device provided in an embodiment of the present invention when subjected to a pinching force;

[0076] Figure 14 A schematic diagram illustrating the action of returning the opening and closing mechanism to the origin position in the force feedback method provided in an embodiment of the present invention;

[0077] Figure 15 A diagram illustrating the steps of returning the opening and closing mechanism to its origin position in the force feedback method provided in an embodiment of the present invention;

[0078] Figure 16 This is a schematic diagram of resistance transmission in a force feedback method provided in an embodiment of the present invention. Detailed Implementation

[0079] 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.

[0080] 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," "level," "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 are not intended to 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.

[0081] 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.

[0082] 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.

[0083] 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," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the liquid level of the first feature is higher than that of 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 liquid level of the first feature is lower than that of the second feature.

[0084] 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.

[0085] One embodiment of the present invention provides a robotic arm operating device, a surgical control platform, and a surgical robot system. The surgical robot system includes a surgical control platform, which in turn includes a robotic arm operating device. The surgical robot system enables surgeons to perform complex surgical procedures on patients. The surgical control platform controls the surgical execution mechanism of the surgical robot system to hold surgical instruments and perform specific surgical operations. The robotic arm operating device is used by the surgeon to grasp and manipulate the robotic arm of the surgical control platform, thereby controlling the surgical execution mechanism to complete the surgical operation. It also provides feedback to the surgeon's hand during the operation on the reaction force resisting the pinching force when grasping the robotic arm operating device, providing a more comfortable grip. Furthermore, it provides feedback to the surgeon's hand on the resistance encountered when the surgical execution mechanism performs cutting or clamping operations during the operation, giving the surgeon a realistic feeling of directly performing surgical operations on human tissue when grasping the robotic arm operating device.

[0086] The following description uses a robotic arm operating device installed on the surgical control platform within a surgical robot system as an example to illustrate the structure of the surgical robot system, surgical control platform, robotic arm operating device, and the steps of the force feedback method based on the surgical robot system in this application. This embodiment is only used as an example and does not limit the technical scope of this application. It is understood that in other embodiments, the robotic arm operating device of this application is not limited to a robotic arm used to control a surgical control platform, but can also be used to control other control platforms and robot systems with robotic arms, and is not limited here.

[0087] The following combination Figures 1 to 16 This application describes preferred embodiments of the surgical robot system, surgical control platform, robotic arm operating device, and force feedback method provided in this application.

[0088] like Figure 1As shown, a surgical robot system 10 includes a surgical execution platform 100 and a surgical control platform 200. The surgical execution platform 100 is communicatively connected to the surgical control platform 200. The surgical execution platform 100, as the slave end of the surgical robot system 10, has a surgical execution mechanism 110. The surgical execution mechanism 110 is used to replace the doctor in holding surgical instruments such as scalpels or endoscopes to perform surgical operations on patients on the bed. The surgical control platform 200, as the master end of the surgical robot system 10, is used to control the surgical execution mechanism 110 located at the slave end to perform surgical operations.

[0089] like Figure 2 and Figure 3 As shown, a surgical control platform 200 according to one embodiment includes a robotic arm 210, a robotic arm operating device 220, a 3D imaging unit 230, and a control cabinet 240. The control cabinet 240 is communicatively connected to the surgical execution platform 100, the robotic arm 210 is communicatively connected to the control cabinet 240, and the robotic arm operating device 220 (… Figure 3 The components shown in the circle are connected to the robotic arm 210, and the 3D imaging unit 230 is communicatively connected to the control cabinet 240. The robotic arm operating device 220 is used by the doctor to perform corresponding preset actions (such as gripping, cutting, flipping, etc.), so that the robotic arm 210 can control the surgical execution mechanism 110 at the slave end to perform the corresponding surgical operation via wireless communication. The control cabinet 240 has a control system, which is used to interact with the surgical execution platform 100 in real time and send control commands to the robotic arm 210 according to the interaction information, so that the doctor can control the robotic arm 210 to perform various specific operations. The control system also feeds back the resistance encountered by the surgical execution mechanism 110 during cutting and gripping operations to the doctor's fingers through the robotic arm operating device 220. It can also feed back the doctor's pinching force on the robotic arm operating device 220, so that the doctor can have the realistic feeling of directly performing surgical operations on human tissue during the operation. The 3D imaging system is used to present real-time images of the surgical process to the doctor. During the surgery, the doctor can operate the robotic arm 210 on the main surgical control platform 200 to remotely control the surgical execution mechanism 110 at the slave end to hold the surgical instruments, thereby completing complex surgeries.

[0090] Specifically, such as Figure 4As shown, the control system includes a main control system 241 and a motion control system 242 that are interconnected. The motion control system 242 includes a host computer, an adjustment mechanism unit 2421 connected to the host computer, and a robotic arm control unit 2422. The main control system 241 acts as a bridge between the motion control system 242 and the surgical execution mechanism 110, enabling information exchange between them. When the doctor operates the robotic arm operating device 220 to perform actions such as position joint control, posture joint control, and opening and closing joint control, and when the doctor changes the position of the robotic arm 210 through the robotic arm operating device 220, the host computer can generate control commands for the robotic arm control unit 2422 and the adjustment mechanism unit 2421, respectively, and send them to the main control system 241. The main control system 241 then sends these commands to the surgical execution mechanism 110 to perform the surgical operation. The resistance and other signals received by the surgical execution mechanism 110 during the surgical operation can be fed back to the doctor's hand in the opposite direction, thereby simulating the realism of the doctor's hand directly performing surgical operations on human tissue.

[0091] Furthermore, such as Figure 5 and Figure 6 As shown, the robotic arm operating device 220 includes an end joint 221 and an operating joint 222 connected to the end joint 221. The end joint 221 is rotatably connected to the robotic arm 210 (i.e., connected to the previous joint), and the end joint 221 is communicatively connected to the operating joint 222. The end joint 221 can receive signals sent by the previous joint and send them to the operating joint 222. The operating joint 222 can also feed back the external force received by the robotic arm operating device 220 to the end joint 221.

[0092] In some embodiments, the operating joint 222 includes a first drive control unit 2221, a first drive member 2222, a transmission mechanism 2223, and an opening and closing mechanism 2224. The first drive member 2222 is communicatively connected to the first drive control unit 2221, and is also drively connected to the opening and closing mechanism 2224 via the transmission mechanism 2223. The opening and closing mechanism 2224 can change its opening and closing angle when subjected to a pinching force, allowing the surgeon to pinch it for specific surgical operations such as cutting, clamping, and twisting. The first drive control unit 2221 internally includes components such as a driver and a transceiver module, used to send control commands to the first drive member 2222. The driver can be various signal processors, etc., and is not specifically limited. Preferably, the first drive control unit 2221 can acquire the opening and closing angle information of the opening and closing mechanism 2224 and send the control command generated based on the opening and closing angle information to the first drive component 2222. The first drive component 2222 can also be a drive source such as a servo motor, used to drive the transmission mechanism 2223 to drive the opening and closing mechanism 2224 to move, so that the opening and closing mechanism 2224 can also simulate the real touch that the doctor's fingers can feel during surgery based on the control command and feed this real touch back to the doctor's hand.

[0093] The end joint 221 includes a second drive control unit 2211 and a gear mechanism 2212. The second drive control unit 2211 is communicatively connected to the first drive control unit 2221, and also includes components such as a driver and a transceiver module. In one embodiment, the second drive control unit 2211 receives opening and closing angle information from the opening and closing mechanism 2224, generates control commands according to a preset strategy, and sends the control commands to the first drive control unit 2221. In another embodiment, the second drive control unit 2211 can also send the opening and closing angle information to a host computer, receive control commands generated by the host computer according to a preset strategy, and then send the control commands to the first drive control unit 2221, enabling the first drive control unit 2221 to send the control commands to the first drive member 2222. The preset strategy includes a correspondence between different control methods for the first drive member 2222 based on different opening and closing angle information. The control method for the first drive member 2222 can be to control its unidirectional movement, thereby providing a reaction force to the opening and closing mechanism 2224 via the transmission mechanism 2223, to simulate the reaction force used to resist the pinching force. Alternatively, the first drive member 2222 can be controlled to reciprocate, vibrating the opening and closing mechanism 2224, to simulate the additional resistance encountered by the surgical execution mechanism 110 when it needs to cut or clamp the target object during surgery.

[0094] The gear mechanism 2212 is used to connect the robotic arm 210. Correspondingly, a second drive unit (not shown in the figure) is provided in the robotic arm 210 near the end joint 221. The second drive unit can be a drive source such as a servo motor, which is used to drive the gear mechanism 2212 to operate during the doctor's operation, so that the robotic arm operating device 220 can rotate relative to the robotic arm 210 with the end point of the end joint 221 as the rotation center.

[0095] Better, such as Figure 7 As shown, the first drive control unit 2221 is connected to the second drive control unit 2211 via a connecting shaft 223. The connecting shaft 223 is a hollow shaft with a hollow channel passing through the two opposite ends of the connecting shaft 223 along its axial direction.

[0096] Thus, at the mechanical connection level, the end joint 221 is connected to the operating joint 222 via the connecting shaft 223, allowing the end joint 221 and the operating joint 222 to be fixed together. At the communication connection level, the end joint 221 and the operating joint 222 can communicate through this channel. The communication connection can be wired, with the cable passing through the channel, or wireless, allowing the second drive control unit 2211 and the first drive control unit 2221 to communicate wirelessly through this channel. When the two are connected wirelessly, the signal can be transmitted within the channel of the connecting shaft 223, effectively preventing signal loss and avoiding problems that could affect the stability and reliability of the surgical robot system 10 due to cable wear and breakage.

[0097] In some embodiments, please continue reading Figure 6The transmission mechanism 2223 includes a first transmission member 2223a and a second transmission member 2223b that are connected to each other. Both the first transmission member 2223a and the second transmission member 2223b are circular cylindrical structures. The first transmission member 2223a is coaxially connected to the output shaft of the first drive member 2222, and the second transmission member 2223b is connected to the opening and closing mechanism 2224. The central axis of the first transmission member 2223a is the first central axis, which extends vertically in the figure. The central axis of the second transmission member 2223b is the second central axis, which extends perpendicular to the plane of the paper in the figure. The first central axis and the second central axis are perpendicular to each other. The first driving member 2222 can drive the first transmission member 2223a and the second transmission member 2223b to rotate around their own axes, so that the first transmission member 2223a, the second transmission member 2223b and the opening and closing mechanism 2225 are linked together to convert the axial motion of reciprocating rotation around the first central axis into the motion of reciprocating rotation around an axis parallel to the second central axis. This allows the opening and closing mechanism 2224 to reciprocate around the axis parallel to the second central axis under the drive of the transmission mechanism 2223. This simulates the external resistance encountered by the surgical execution mechanism 110 during cutting and gripping operations through the reciprocating vibration of the opening and closing mechanism 2224, and then feeds this feedback to the doctor's fingers, making the surgical operation more realistic. It also simulates the force resisting the pinching force when the doctor pinches the opening and closing mechanism 2224, and then feeds this feedback to the doctor's fingers, providing better comfort when the doctor pinches the opening and closing mechanism 2224 during surgical operations.

[0098] In one specific embodiment, see further. Figure 6 The first transmission member 2223a and the second transmission member 2223b are a pair of meshing gears 2224a with their central axes perpendicular to each other. In another specific embodiment, such as Figure 8 As shown, the transmission mechanism 2223 is a gearless transmission mechanism, meaning that the first transmission member 2223a and the second transmission member 2223b are not connected by meshing teeth, but rather by four L-shaped connecting rods 2223c. Specifically, as... Figure 9 As shown, the first transmission member 2223a and the second transmission member 2223b are respectively provided with through holes extending through their axial direction. The opposite ends of each L-shaped connecting rod 2223c are respectively movably inserted into a corresponding through hole of the first transmission member 2223a and a corresponding through hole of the second transmission member 2223b. When the first transmission member 2223a and the second transmission member 2223b rotate around their own axial direction, the opposite ends of each L-shaped connecting rod 2223c can reciprocate along the axial direction of the corresponding through hole into which it is inserted, thereby achieving the same effect as the meshing transmission of the two gears 2224a with their two central axes perpendicular to each other in the previous embodiment.

[0099] In some embodiments, please continue reading Figure 9 The opening and closing mechanism 2224 includes a pinch handle 2224b and a gear 2224a disposed at one end of the pinch handle 2224b. The circumferential arc region of the second transmission member 2223b has meshing teeth that mesh with the gear 2224a. When the second transmission member 2223b rotates around the second central axis, it can drive the opening and closing mechanism 2224 to rotate around an axis parallel to the second central axis, so as to change the opening and closing angle of the opening and closing mechanism 2224.

[0100] Better, such as Figure 6 , Figure 8 As shown, there are two opening and closing mechanisms 2224, which are symmetrically arranged about the first central axis. The gears 2224a of the two opening and closing mechanisms 2224 mesh with each other, and the meshing teeth of the second transmission member 2223b mesh with the gear 2224a of one of the opening and closing mechanisms 2224. This allows the second transmission member 2223b to drive the two opening and closing mechanisms 2224 to rotate relative to each other about an axis parallel to the second central axis when the second transmission member 2223b reciprocates around the second central axis, so that the included angle formed between the two opening and closing mechanisms 2224 can be increased or decreased.

[0101] Thus, through the above transmission connection, the robotic arm operating device 220 of this application can convert the longitudinal force output by the first driving member 2222 into a lateral force through the transmission mechanism 2223, thereby driving the opening and closing mechanism 2224 to change the opening and closing angle. This makes the transmission structure simple and compact, and not constrained by cables. At the same time, the opening and closing mechanism 2224 does not need to simulate force changes by connecting springs, making installation and replacement more convenient, longer service life, and better force feedback. It can also more realistically simulate the force changes when the doctor pinches the robotic arm operating device 220 to perform surgical operations, increasing the comfort of the doctor's fingers when pressing or pinching the opening and closing mechanism 2224.

[0102] More preferably, the operating joint 222 also includes an encoder 224, which is mounted on the first drive member 2222, which is a motor. The encoder 224 is communicatively connected to the first drive control unit 2221. When the doctor performs cutting or clamping operations, the encoder 224 is used to acquire the position signal of the motor when the doctor pinches the opening and closing mechanism 2224, thereby knowing the magnitude of the torque value and the opening and closing angle information of the opening and closing mechanism 2224. The opening and closing angle information is based on the correlation between the motor position signal and the opening and closing angle. The opening and closing angle information is determined according to the relationship. Simultaneously, encoder 224 feeds back the opening and closing angle information to the first drive control unit 2221, which then feeds it back to the host computer of the surgical control platform 200 via the second drive control unit 2211. The host computer issues control commands to control the first drive component 2222 to drive the opening and closing mechanism 2224 to have the necessary opening and closing angle to resist the reaction force of the pinching force. This allows the surgeon to comfortably pinch the opening and closing mechanism 2224 to smoothly grasp the target object, thus ensuring smooth surgical operations. No additional sensor is needed at the end joint 221, saving costs.

[0103] Furthermore, the following combination Figures 5 to 16 Based on the aforementioned surgical robot system 10, surgical control platform 200, and robotic arm operating device 220, the force feedback method of the surgical robot system 10 is described, such as... Figure 10 As shown, the specific steps of this method are as follows:

[0104] Step S100: Obtain the opening and closing angle information of the opening and closing mechanism. This step specifically includes the following steps:

[0105] S110, Obtain the motor position signal;

[0106] S120. Determine the opening / closing angle information based on the preset correspondence between the motor's position signal and the opening / closing angle.

[0107] Specifically, such as Figure 11 As shown, when the doctor pinches the opening and closing mechanism 2224, a pinching force is applied to the opening and closing mechanism 2224. The pinching force can be fed back from the opening and closing mechanism 2224 to the first driving component 2222 (i.e., the motor), causing the main shaft of the motor to rotate by an angle. The encoder 224 records the position signal and torque value of the motor. The first drive control unit 2221 collects the position signal of the motor, and thus determines the opening and closing angle information based on the preset correspondence between the position signal of the motor and the opening and closing angle.

[0108] The second step, S200, generates control commands based on the opening / closing angle information. This step includes:

[0109] S210. Process the opening and closing angle information according to a preset strategy and generate control commands. The preset strategy includes a correspondence between different control methods for the first drive component based on different opening and closing angle information. The purpose of step S210 is to enable the doctor to generate control commands according to the preset strategy when performing surgical operations by pinching the opening and closing mechanism 2224 of the robotic arm operating device 220. This allows the doctor to receive personalized feedback force based on the different opening and closing angles of the opening and closing mechanism 2224 when performing surgical operations by pinching the opening and closing mechanism 2224.

[0110] Specifically, please refer to step S210. Figure 11 The opening and closing angle information is transmitted from the first drive control unit 2221 to the second drive control unit 2211, and then the second drive control unit 2211 uploads the opening and closing angle information to the host computer of the surgical control platform 200. The host computer generates control instructions for judging the opening and closing mechanism 2224 according to the preset strategy that has been established and stored in advance.

[0111] In some embodiments, step 210 of the host computer generating control commands includes:

[0112] S211. Based on the opening and closing angle information and a preset relationship, determine the pinching force borne by the opening and closing mechanism. The preset relationship includes the correspondence between different opening and closing angles and different pinching forces.

[0113] S212. Determine the required reaction force based on the kneading force;

[0114] S213. Determine the control method for the first drive member 2222 based on the magnitude of the reaction force. Generate control commands based on the determined control method. For example, the control method may be to drive the first drive member 2222 to move in one direction, and control the transmission mechanism to give the opening and closing mechanism 2224 a reaction force that resists the pinching force through the control command, so that the reaction force is fed back to the doctor's fingers, so that the doctor can pinch the opening and closing mechanism 2224 with a more comfortable feel when pinching the robotic arm operating device 220 to perform flipping and other actions.

[0115] The host computer then sends the control command to the second drive control unit 2211, and the second drive control unit 2211 then sends the control command to the first drive control unit 2221.

[0116] At the same time, the host computer also generates a rotation control command for controlling the rotation of the robotic arm operating device 220 relative to the robotic arm 210, and then sends the rotation control command to the second drive control unit 2211. The second drive control unit 2211 then sends the rotation control command to the second drive component, thereby controlling the rotation of the robotic arm operating device 220 relative to the robotic arm 210.

[0117] Alternatively, the control command can be generated directly by the second drive control unit 2211, or it can be generated by the second drive control unit 2211 uploading the opening and closing angle information to the host computer. No limitation is made here.

[0118] Preferably, before step S100, a step S400 is included to establish a preset strategy. Specifically, as shown in... Figure 12 As shown, this step includes the following steps:

[0119] S410. Obtain the opening and closing angle information of the opening and closing mechanism 2224 when it is at different opening and closing angles. Specifically, firstly, the doctor uses the UI interface to follow the prompts displayed on the interface, such as... Figure 13 As shown, the doctor applies a pinching force when the opening and closing mechanism 2224 is at 100%, 75%, 50%, 25%, and 0% of its initial angle. The pinching force experienced by the opening and closing mechanism 2224 at different opening and closing angles is recorded. Specifically, the encoder 224 collects information such as the motor's position and torque value when the opening and closing mechanism 2224 is at different opening and closing angles, thereby obtaining the pinching force applied by the doctor to position the opening and closing mechanism 2224 at different opening and closing angles.

[0120] S420. Repeat step S410 multiple times. In this step, a number of pinches is set. The next step can only proceed if the number of pinches performed by the doctor on the opening and closing mechanism 2224 exceeds the set number of pinches. The purpose of setting the number of pinches is to maximize the number of pinches, thereby ensuring that enough data is collected so that the established preset strategy is more realistic and the opening and closing mechanism 2224 can provide a more realistic tactile feedback to the doctor's fingers.

[0121] S430. Fit a curve of the applied kneading force based on the obtained multiple opening and closing angle information.

[0122] S440. Establish a preset strategy based on the curve of the applied pinching force. After the preset strategy is established, it is stored in the host computer of the surgical control platform 200. In this way, when the doctor performs surgical operations by pinching the opening and closing mechanism 2224 of the robotic arm operating device 220, the feedback force parameters based on the doctor's different pinching forces can be selected to make the doctor more comfortable when pinching the opening and closing mechanism 2224.

[0123] In the third step S300, the first driving component 2222 is controlled according to the control command to drive the opening and closing mechanism 2224 to generate the aforementioned reaction force against the pinching force. In this step, the control command is sent from the first driving control unit 2221 to the first driving component 2222, causing the first driving component 2222 to drive the opening and closing mechanism 2224 to change a small opening and closing angle, thereby simulating the change in the reaction force against the pinching force, so as to achieve the purpose of providing a relatively comfortable feel for the doctor when pinching the opening and closing mechanism 2224 to perform surgical operations.

[0124] Preferably, before step S100, the opening and closing mechanism 2224 needs to be reset to its original position. This is because after the doctor has completed the previous surgical procedure, if... Figure 14 As shown, the initial position B of the opening and closing mechanism 2224 is not necessarily at the origin. To facilitate the surgeon's cutting or gripping of the surgical target during pinching, the opening and closing mechanism 2224 needs to be zeroed out, returning its opening and closing angle to the origin position D. This step determines the origin position D by first determining whether the opening and closing mechanism 2224 has reached a limit position C. Specifically, zeroing out the opening and closing mechanism 2224 to the origin position includes the following steps:

[0125] S500, control the opening and closing mechanism 2224 to rotate from the initial position B in any direction that changes the opening and closing angle. Specifically, by activating the first driving member 2222, the opening and closing mechanism 2224 is driven to rotate around an axis parallel to the second central axis, which can be either a rotation in the direction that decreases the opening and closing angle or a rotation in the direction that increases the opening and closing angle.

[0126] S600. Determine whether the opening / closing mechanism 2224 has rotated to the limit position C. In this step, based on the inherent characteristics of the first driving member 2222, a torque mutation value that causes the torque of the first driving member 2222 to change abruptly can be set to determine whether the opening / closing mechanism 2224 has reached the limit position C.

[0127] S700. When the opening and closing mechanism 2224 reaches the limit position C, control the opening and closing mechanism 2224 to return to the origin position. When the opening and closing mechanism 2224 reaches the limit position C, the origin position D can be determined based on the principle that the origin position D and the limit position C have a fixed angle value. At this time, the opening and closing mechanism 2224 can be controlled to rotate back to the origin position D at a relatively slow speed.

[0128] Specifically, in combination Figure 14 and Figure 15 As shown, step S500 includes the following steps:

[0129] S510, Receive the return direction, return speed and torque mutation value of the first drive unit 2222;

[0130] S520. Activate the first driving element 2222 to control the opening / closing mechanism 2224 to rotate towards the extreme position C. In this step, the pulse information is designated as positive in one direction. When the opening / closing mechanism 2224 begins to return to zero, the first driving element 2222 moves in the opposite direction at the speed of returning to the origin.

[0131] Step S600 includes the following steps:

[0132] S610. Determine whether the torque value of the first driving component 2222 is greater than the torque mutation value;

[0133] S620. When the torque value of the first driving member 2222 is greater than the torque mutation value, it is determined that the opening and closing mechanism 2224 is in the limit position C.

[0134] Step S700 includes the following steps:

[0135] S710, Receive feedback control information about the first drive unit 2222, the feedback control information including the creeping direction and creeping speed of the first drive unit 2222;

[0136] S720. Based on the feedback control information, the first driving member 2222 drives the opening and closing mechanism 2224 to rotate the opening and closing mechanism 2224 in the opposite direction to the direction approaching the limit position C to the origin position D. Since the angle between the origin position D and the limit position C is fixed, the first driving member 2222 can be recorded as the origin position D after slowly rotating a certain distance in the aforementioned positive direction at a creeping speed. This distance can be a fixed pulse value, the value of one revolution of the output end of the first driving member 2222, or the value of the detected Z-phase signal of the first driving member 2222; the specific value is not limited.

[0137] At this point, the step of returning the opening and closing mechanism 2224 to its original position D is complete, and the doctor can begin the surgical procedure at a comfortable pinching angle.

[0138] It should be noted that the above force feedback method applies not only to the surgical execution mechanism 110 when it is performing surgical operations without resistance, such as when a doctor is pinching the robotic arm operating device 220 to perform flipping or other actions. Figure 16As shown, when the surgical execution mechanism 110 needs to cut or grasp the target object during the operation, it will encounter additional resistance. The steps of the force feedback method described above are also applicable, and the doctor can be fed back the reaction force used to resist the pinching force. The difference is that the surgical robot system 10 can feed back the resistance information to the robotic arm operating device 220, and simulate the resistance encountered by the surgical execution mechanism 110 during the operation by causing the first driving component 2222 to drive the opening and closing mechanism 2224 to open or vibrate. This allows the doctor to feel the magnitude of the resistance while pinching the opening and closing mechanism 2224, thus giving the doctor a more realistic feeling of directly operating on human tissue during the operation.

[0139] Specifically, the resistance signal encountered by the surgical execution mechanism 110 during cutting or gripping actions is extracted and transmitted to the end joint 221 of the robotic arm operating device 220. The end joint 221 then transmits the resistance signal wirelessly to the operating joint 222. This requires the user to apply greater pinching force to the opening and closing mechanism 2224 to balance the pinching force with the reaction force containing the resistance. At this time, the encoder 224 also records the position signal of the motor after the user pinches the opening and closing mechanism, thereby determining the opening and closing angle information based on the preset correspondence between the motor position signal and the opening and closing angle. Then, the host computer processes the opening and closing angle information according to the preset strategy and generates control commands. Finally, the host computer controls the first driving component 2222 to output force according to the control commands, for example, driving the first driving component 2222 to reciprocate to vibrate the opening and closing mechanism 2224; preferably, the reaction force is not greater than the pinching force. In this way, the opening and closing mechanism 2224 can vibrate with a small amplitude to simulate resistance, which enhances the realism that the doctor can feel in his hands when performing surgery, and allows the doctor to have a clear understanding and judgment of the actual clamping force, thus ensuring the smooth progress of the surgery.

[0140] 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.

[0141] The above-described embodiments are merely one implementation of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. 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 scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A robotic arm operating device, characterized in that, include: terminal joint; The operating joint includes a first drive control unit, a first drive component, an encoder, a transmission mechanism, and an opening / closing mechanism. The first drive component is communicatively connected to the first drive control unit. The opening / closing mechanism can change its opening / closing angle when subjected to a pinching force. The transmission mechanism includes a first transmission component and a second transmission component that are mutually connected. The first transmission component is transmittedly connected to the first drive component, and the second transmission component is transmittedly connected to the opening / closing mechanism. The first transmission component and the second transmission component can rotate around their own axes. The first drive control unit is used to acquire the opening / closing angle information of the opening / closing mechanism and send control commands generated based on the opening / closing angle information to the first drive component. The first drive component is a motor. The encoder is mounted on the motor and is communicatively connected to the first drive control unit. The encoder is used to acquire the position signal of the motor. The opening / closing angle information is determined based on the correspondence between the position signal of the motor and the opening / closing angle. The first driving member is used to drive the opening and closing mechanism to generate a reaction force against the pinching force through the transmission mechanism according to the control command.

2. The robotic arm operating device according to claim 1, characterized in that, The end joint is used to connect with the previous joint, and the end joint includes a second drive control unit, which is communicatively connected to the first drive control unit. The second drive control unit is used to receive the opening and closing angle information, generate the control command according to the preset strategy, and send the control command to the first drive control unit. Alternatively, the second drive control unit is used to receive the opening and closing angle information and send the opening and closing angle information to a host computer, and is used to receive the control command generated by the host computer according to the preset strategy and send the control command to the first drive control unit; The preset strategy includes a correspondence between different control methods adopted for the first drive component based on different opening and closing angle information.

3. The robotic arm operating device according to claim 2, characterized in that, The control method is to control the first driving member to move in one direction so as to give the opening and closing mechanism a reaction force through the transmission mechanism, or to control the first driving member to move back and forth so as to vibrate the opening and closing mechanism.

4. The robotic arm operating device according to claim 2, characterized in that, The first drive control unit is connected to the second drive control unit via a connecting shaft. The connecting shaft has a channel that passes through the two opposite ends of the connecting shaft along its axial direction. The first drive control unit and the second drive control unit can communicate wirelessly through the channel.

5. The robotic arm operating device according to any one of claims 1-4, characterized in that, The central axis of the first transmission component is a first central axis, and the central axis of the second transmission component is a second central axis perpendicular to the first central axis. The first transmission component is coaxially connected to the first driving component. The first driving member can drive the first transmission member, the second transmission member and the opening and closing mechanism to work together to convert the axial motion of the first driving member reciprocating around the first central axis into the opening and closing motion of the opening and closing mechanism reciprocating around an axis parallel to the second central axis.

6. The robotic arm operating device according to claim 5, characterized in that, The first transmission component and the second transmission component are a pair of meshing gears with their central axes perpendicular to each other.

7. The robotic arm operating device according to claim 5, characterized in that, The first transmission component and the second transmission component are connected to each other by four L-shaped connecting rods. The first transmission component and the second transmission component are respectively provided with through holes extending through their own axes. The opposite ends of each L-shaped connecting rod are respectively movably inserted into a corresponding through hole of the first transmission component and a corresponding through hole of the second transmission component.

8. The robotic arm operating device according to claim 5, characterized in that, The opening and closing mechanism includes a pinch handle and a gear located at one end of the pinch handle. The second transmission member has meshing teeth in the circumferential direction that mesh with the gear. When the second transmission member rotates around the second central axis, it can drive the opening and closing mechanism to rotate around an axis parallel to the second central axis, thereby changing the opening and closing angle of the opening and closing mechanism.

9. The robotic arm operating device according to claim 8, characterized in that, The opening and closing mechanism has two parts, which are symmetrically arranged about the first central axis. The gears of the two opening and closing mechanisms mesh with each other, and the meshing teeth of the second transmission member mesh with the gear of one of the opening and closing mechanisms, so that the included angle formed between the two opening and closing mechanisms can be increased or decreased.

10. A surgical control platform, characterized in that, include: robotic arm; The robotic arm operating device according to any one of claims 1 to 9, wherein the end joint of the robotic arm operating device is connected to the robotic arm; the robotic arm operating device is used to control the movement of the robotic arm to perform surgical operations.

11. A surgical robot system, characterized in that, include: The surgical execution platform has a surgical execution institution; The surgical control platform as described in claim 10 is communicatively connected to the surgical execution platform, and the surgical control platform is used to control the surgical execution mechanism to perform corresponding surgical operations.

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