Surgical instrument control system

Abstract

The application relates to a surgical instrument control system, comprising a detection device, a surgical instrument, a pose acquisition device and a controller, the surgical instrument being connected with the pose acquisition device and the controller respectively, the pose acquisition device being connected with the detection device and the controller respectively, the detection device being connected with the controller, the controller being used for judging the positional relationship between the detection device and the surgical instrument based on real-time pose information, comparing with a preset positional relationship, and sending a control instruction to the surgical instrument based on a comparison result. By comparing the real-time positional relationship between the surgical instrument and the detection device with the preset positional relationship, the action of the surgical instrument can be limited when the surgical instrument moves out of the detection range, normal tissue damage caused by human operation errors can be avoided, and the surgical safety is improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical instrument control system. Background Technology

[0002] The use of surgical robots to assist in surgery offers numerous benefits to both doctors and patients, and has become a popular trend in modern surgery. Surgical robots can be either separate or integrated units. Depending on clinical needs and product configuration, the number of robotic arms varies from single to three or four. The robotic arm base can be fixed to the operating table, trolley, operating room floor, ceiling, etc. Additionally, the robotic arms can be used to load surgical instruments and endoscopes, placing them in the patient's abdominal cavity, thoracic cavity, or other surgical sites through specific channels. The surgeon, through the controller configured in the surgical robot system, controls the robotic arms and surgical instruments to apply the instruments to the target tissues of the patient, and, in conjunction with the energy output of energy devices, performs operations such as cutting, separating, anastomosing, ligating, electrocautery, suturing, and dissection.

[0003] In both traditional and robotic endoscopic surgery, energy devices such as electrosurgical instruments and ultrasonic scalpels are indispensable. When surgical instruments are within the endoscopic field of view, the surgeon can accurately determine whether to output energy. However, instruments sometimes move out of the endoscopic field of view. In such cases, the surgeon cannot determine the instrument's position, and continuing to output energy can easily cause injury to the patient. In both traditional and robotic endoscopic surgery, the operation of instruments is entirely determined by the surgeon's subjective judgment, which can easily lead to damage to normal tissue due to user error, resulting in significant risks and dangers.

[0004] There is currently no effective solution to the problem that the operation of instruments in related technologies is entirely determined by the physician's subjective judgment. When surgical instruments are outside the detection field of view, normal tissues are easily damaged due to user error, which poses a high risk and danger. Summary of the Invention

[0005] This embodiment provides a surgical instrument control system to address the problem in related technologies where the operation of instruments is entirely determined by the physician's subjective judgment. When the surgical instrument is outside the detection field of view, it is easy for the user to misoperate and cause energy output damage to normal tissue, resulting in a high risk and danger.

[0006] In a first aspect, this embodiment provides a surgical instrument control system, including a detection device, surgical instruments, a pose acquisition device, and a controller. The surgical instruments are connected to the pose acquisition device and the controller, respectively. The pose acquisition device is connected to the detection device and the controller, respectively. The detection device is connected to the controller, wherein:

[0007] The surgical instrument is used to receive control commands from the controller and execute corresponding actions;

[0008] The pose acquisition device is used to acquire real-time pose information and transmit the real-time pose information to the controller. The real-time pose information includes a first real-time pose and a second real-time pose. The first real-time pose includes the real-time pose of the surgical instrument, and the second real-time pose includes the real-time pose of the detection device.

[0009] The controller is used to determine whether the surgical instrument is within the detection field of the detection device based on the real-time pose information. If the surgical instrument is not within the detection field of the detection device, a preset control command is sent to the surgical instrument. The preset control command is either a command to limit energy output or a command to move the surgical instrument into the detection field of view.

[0010] In some embodiments, a robotic arm is also included, which is connected to both the surgical instrument and the controller. The robotic arm is used to receive control commands from the controller and guide the surgical instrument to perform corresponding actions based on the control commands.

[0011] In some embodiments, the pose acquisition device includes a first pose acquisition unit disposed on each joint of the robotic arm, for acquiring the first joint angle value of each joint of the robotic arm, and acquiring the first real-time pose based on the first joint angle value.

[0012] In some embodiments, the detection device is used to acquire image information of the region of interest and transmit the image information to the controller; the surgical instrument control system further includes a detection robotic arm, which is connected to both the detection device and the controller, and is used to receive control commands from the controller and guide the detection device to detect the region of interest based on the control commands.

[0013] In some embodiments, the pose acquisition device includes a second pose acquisition unit disposed on each joint of the probe robotic arm, for acquiring the second joint angle value of each joint of the probe robotic arm, and acquiring the second real-time pose based on the second joint angle value.

[0014] In some embodiments, the pose acquisition device includes an encoder.

[0015] In some embodiments, an energy generator is also included, which is connected to both the surgical instrument and the controller, and is used to generate energy based on control commands from the controller and output it to the surgical instrument.

[0016] In some embodiments, the energy output limiting command includes a command to stop the energy generator from generating energy or to reduce the generating energy.

[0017] In some embodiments, an information feedback device is also included, which is connected to the controller and is used to provide information feedback to the user when the positional relationship between the detection device and the surgical instrument does not match the preset positional relationship.

[0018] In some embodiments, the pose acquisition device includes a first pose acquisition unit, a second pose acquisition unit, and a conversion unit. The conversion unit is connected to both the first pose acquisition unit and the second pose acquisition unit. The first pose acquisition unit is connected to the surgical instrument and is used to acquire a first real-time pose of the surgical instrument. The second pose acquisition unit is connected to the detection device and is used to acquire a second real-time pose of the detection device. The conversion unit is connected to the controller and is used to map the first real-time pose and the second real-time pose to the same coordinate system to obtain real-time pose information, and transmit the real-time pose information to the controller.

[0019] Compared with related technologies, the surgical instrument control system provided in this embodiment includes a detection device, a surgical instrument, a pose acquisition device, and a controller. The surgical instrument is connected to both the pose acquisition device and the controller. The pose acquisition device is connected to both the detection device and the controller. The detection device is connected to the controller. Specifically, the surgical instrument receives control commands from the controller and executes corresponding actions. The pose acquisition device acquires real-time pose information and transmits it to the controller. The real-time pose information includes a first real-time pose and a second real-time pose, whereby the first real-time pose includes the surgical instrument. The real-time pose of the surgical instrument is obtained, and the second real-time pose includes the real-time pose of the detection device. The controller is used to determine whether the surgical instrument is within the detection field of the detection device based on the real-time pose information. If the surgical instrument is not within the detection field of the detection device, a preset control command is sent to the surgical instrument. The preset control command is either a command to limit energy output or a command to move the surgical instrument into the detection field of view. By comparing the real-time positional relationship between the surgical instrument and the detection device with the preset positional relationship, the movement of the surgical instrument can be restricted when it moves out of the detection range, thus avoiding damage to normal tissues caused by human error and increasing surgical safety.

[0020] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0022] Figure 1 This is a schematic diagram of the traditional endoscopic surgery process;

[0023] Figure 2 This is a structural block diagram of a surgical instrument control system according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of a surgical instrument control system according to another embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a surgical instrument control system according to another embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram illustrating the real-time pose information calculation of a surgical instrument control system according to an embodiment of the present invention. Detailed Implementation

[0027] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0028] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0029] Please see Figure 1 , Figure 1 This is a schematic diagram of a traditional endoscopic surgery procedure. In a traditional endoscopic surgery, the surgical instruments 20 and the endoscope are connected to a robotic arm, and the surgical instruments 20 are also connected to an energy generator. The surgeon controls the robotic arm through a controller 40 to move the surgical instruments 20 and the endoscope to the designated positions to perform surgical procedures on the patient. At the same time, when energy output is required, the controller 40 activates the energy generator to power the surgical instruments 20.

[0030] This embodiment provides a surgical instrument control system. Figure 2This is a structural block diagram of a surgical instrument control system according to an embodiment of the present invention. The surgical instrument control system includes a detection device 10, a surgical instrument 20, a pose acquisition device 30, and a controller 40. The surgical instrument 20 is connected to both the pose acquisition device 30 and the controller 40. The pose acquisition device 30 is connected to both the detection device 10 and the controller 40. The detection device 10 is connected to the controller 40. Specifically, the surgical instrument 20 receives control commands from the controller 40 and executes corresponding actions; the pose acquisition device 30 acquires real-time pose information and... The real-time pose information is transmitted to the controller 40. The real-time pose information includes a first real-time pose and a second real-time pose. The first real-time pose is the real-time pose of the surgical instrument 20, and the second real-time pose is the real-time pose of the detection device 10. The controller 40 is used to determine whether the surgical instrument 20 is within the detection field of the detection device 10 based on the real-time pose information. If the surgical instrument 20 is not within the detection field of the detection device 10, a preset control command is sent to the surgical instrument 20. The preset control command is either a command to limit energy output or a command to move the surgical instrument 20 into the detection field of view.

[0031] For example, the first real-time pose is used to characterize the real-time position information of the surgical instrument 20, and the second real-time pose is used to characterize the real-time position information of the detection device 10.

[0032] It is understood that the reference frames of the first real-time pose of the surgical instrument 20 and the second real-time pose of the detection device 10 can be the same or different, depending on the method of acquiring the real-time pose. This can be determined according to actual needs and is not specifically limited here. If the reference frames of the first and second real-time poses are the same, then when determining the positional relationship between the detection device 10 and the surgical instrument 20, the determination can be made directly based on the first and second real-time poses. If the reference frames of the first and second real-time poses are different, then the first and second real-time poses need to be transformed to the same coordinate system before making the determination.

[0033] In this embodiment, the controller 40 sends control commands to the surgical instrument 20 based on the comparison results to adjust the position or energy output of the surgical instrument 20, so as to avoid blind operation and cause harm to the patient when the user cannot know the position of the surgical instrument 20 through the detection device 10.

[0034] Understandably, when the surgical instrument 20 is not within the detection field of the detection device 10, the user cannot know the specific position of the surgical instrument 20 relative to the patient. If the operation continues, it is easy to make a misjudgment, resulting in the surgical instrument 20 causing damage to the patient. Therefore, if the surgical instrument 20 is not within the detection field of the detection device 10, a control command is sent through the controller 40 to limit its movement. For example, limiting the surgical instrument 20 can be to prevent it from moving away from the detection device 10. The user can manually control the surgical instrument 20 to move closer to the detection device 10 until the surgical instrument 20 re-enters the detection field of the detection device 10, at which point the limitation stops. Alternatively, limiting the surgical instrument 20 can be to control the surgical instrument 20 to move closer to the detection field of the detection device 10 through the controller 40 until the surgical instrument 20 re-enters the detection field of the detection device 10, at which point the limitation stops. Understandably, the limiting method for the surgical instrument 20 can also be other methods, such as controlling the surgical instrument 20 to move away from the patient. It can be set according to the user's actual needs, as long as the surgical instrument 20 does not cause damage to the patient. No specific limitation is made here.

[0035] The aforementioned surgical instrument control system includes a detection device 10, a surgical instrument 20, a pose acquisition device 30, and a controller 40. The surgical instrument 20 is connected to both the pose acquisition device 30 and the controller 40. The pose acquisition device 30 is connected to both the detection device 10 and the controller 40. The detection device 10 is connected to the controller 40. Specifically, the surgical instrument 20 receives control commands from the controller 40 and executes corresponding actions. The pose acquisition device 30 acquires real-time pose information and transmits it to the controller 40. The real-time pose information includes a first real-time pose and a second real-time pose. The first real-time pose includes the... The real-time pose of the surgical instrument 20, the second real-time pose including the real-time pose of the detection device 10; the controller 40 determines whether the surgical instrument 20 is within the detection field of the detection device 10 based on the real-time pose information. If the surgical instrument 20 is not within the detection field of the detection device 10, a preset control command is sent to the surgical instrument 20. The preset control command is either a command to limit energy output or a command to move the surgical instrument 20 into the detection field of view. By comparing the real-time positional relationship between the surgical instrument 20 and the detection device 10 with the preset positional relationship, the movement of the surgical instrument 20 can be restricted when it moves out of the detection range, avoiding damage to normal tissues caused by human error and increasing surgical safety.

[0036] In another embodiment, the surgical instrument control system further includes an instrument robotic arm, which is connected to the surgical instrument 20 and the controller 40 respectively. The instrument robotic arm is used to receive control commands from the controller 40 and guide the surgical instrument 20 to perform corresponding actions based on the control commands.

[0037] For example, a robotic arm is connected between the surgical instrument 20 and the controller 40. The controller 40 controls the surgical instrument to perform corresponding surgical actions by controlling the movement of the robotic arm. In other embodiments, the controller 40 may be connected to the surgical instrument 20 through other components or directly to the surgical instrument 20 to control the surgical instrument 20 to perform surgical actions; no specific limitation is made here.

[0038] A robotic arm is a complex system characterized by high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in fields such as industrial assembly and safety and explosion protection.

[0039] In the above embodiment, the surgical instrument 20 and the controller 40 are connected by a robotic arm. By utilizing the high degree of freedom and high precision of the robotic arm, the surgical instrument 20 can be better controlled to perform corresponding surgical actions, resulting in better control.

[0040] In another embodiment, the pose acquisition device 30 includes a first pose acquisition unit, which is disposed on each joint of the robotic arm and is used to acquire the first joint angle value of each joint of the robotic arm and acquire the first real-time pose based on the first joint angle value.

[0041] Understandably, the pose of the robotic arm can be obtained by acquiring the angle values ​​of each joint. The robotic arm and surgical instrument 20 are rigidly connected, maintaining a fixed positional relationship. The posture of the surgical instrument 20 is consistent with the posture of the robotic arm's end effector, and its position is determined by the length L of the surgical instrument 20 extending beyond the robotic arm's end effector. By constructing a kinematic model of the robotic arm and surgical instrument 20, the position and posture T1 of each surgical instrument 20's end effector in its robotic arm coordinate system can be calculated. In other embodiments, the real-time pose of the surgical instrument 20 can also be directly obtained through other detection methods; no specific limitations are made here.

[0042] For example, encoders are configured at the motor ends and motor output shafts of each joint of the robotic arm to obtain the joint angle values ​​of the robotic arm. In other embodiments, other detection methods can be used to obtain the pose of the robotic arm according to user needs, and no specific limitations are made here.

[0043] In the above embodiment, the real-time pose of the surgical instrument 20 is obtained by acquiring the joint angle values ​​of the robotic arm, making the measurement more convenient and efficient.

[0044] In another embodiment, the detection device 10 is used to acquire image information of the region of interest and transmit the image information to the controller 40; the surgical instrument control system further includes a detection robotic arm, which is connected to the detection device 10 and the controller 40 respectively, and is used to receive control commands from the controller 40 and guide the detection device 10 to detect the region of interest based on the control commands.

[0045] Understandably, the detection device 10 can be an endoscope.

[0046] An endoscope is a diagnostic instrument that integrates traditional optics, ergonomics, precision mechanics, modern electronics, mathematics, and software. It contains image sensors, optical lenses, illumination sources, and mechanical devices. It can enter the stomach through the mouth or other natural orifices to visualize lesions that cannot be seen with X-rays. For example, with the help of an endoscope, doctors can observe ulcers or tumors in the stomach and formulate the best treatment plan accordingly.

[0047] In other embodiments, the detection device 10 may be any other instrument, as long as it is capable of acquiring image information of the region of interest.

[0048] For example, a robotic arm is connected between the detection device 10 and the controller 40. The controller 40 controls the detection device 10 to detect the region of interest by controlling the movement of the robotic arm. In other embodiments, the controller 40 may be connected to the detection device 10 through other components or directly to the detection device 10 to control the detection device 10 to detect the region of interest; no specific limitation is made here.

[0049] In the above embodiment, the detection device 10 and the controller 40 are connected by a robotic arm. By utilizing the high degree of freedom and high precision of the robotic arm, the detection device 10 can be better controlled to detect the region of interest, resulting in better control performance.

[0050] In another embodiment, the pose acquisition device 30 includes a second pose acquisition unit disposed on each joint of the probe robotic arm, for acquiring the second joint angle value of each joint of the probe robotic arm, and acquiring the second real-time pose based on the second joint angle value.

[0051] Understandably, the pose of the robotic arm can be obtained by acquiring the angle values ​​of each joint. The robotic arm and the detection device 10 are rigidly connected, maintaining a fixed positional relationship. The pose of the detection device 10 is consistent with the pose of the robotic arm's end effector, and its position is determined by the length L of the detection device 10 extending beyond the robotic arm's end effector. By constructing a kinematic model of the robotic arm and the detection device 10, the position and pose T2 of each end effector of the detection device 10 in its robotic arm coordinate system can be calculated. In other embodiments, the real-time pose of the detection device 10 can also be directly obtained through other detection methods; no specific limitations are made here.

[0052] For example, encoders are configured at the motor ends and motor output shafts of each joint of the detection robotic arm to obtain the joint angle values ​​of the detection robotic arm. In other embodiments, other detection methods can be used to obtain the pose of the detection robotic arm according to user needs, and no specific limitations are made here.

[0053] In the above embodiments, the real-time pose of the detection device 10 is obtained by acquiring the joint angle values ​​of the detection robotic arm, making the measurement more convenient and efficient.

[0054] In another embodiment, the surgical instrument control system further includes an energy generator connected to both the surgical instrument 20 and the controller 40, for generating energy based on control commands from the controller 40 and outputting it to the surgical instrument 20.

[0055] Understandably, the surgical instrument 20 can be an electrosurgical instrument or an ultrasonic scalpel, etc., that requires energy output during operation. When the user determines that the surgical instrument 20 needs to output energy, the controller 40 controls the energy generator to generate energy and output it to the surgical instrument 20, causing the surgical instrument 20 to output energy and perform the corresponding surgical action. In other embodiments, the surgical instrument 20 can also be other surgical instruments 20 capable of energy output, which are not specifically limited here.

[0056] For example, the surgical instrument 20 may also be equipped with an energy supply component, so there is no need to connect an additional energy generator for energy output.

[0057] In the above embodiment, by setting up an energy generator, the energy generator is controlled to generate energy when the surgical instrument 20 needs to output energy. The energy generator and the surgical instrument are set up independently and controlled separately, which is safer.

[0058] In another embodiment, the energy output limiting command includes a command to stop the energy generator from generating energy or to reduce the generating energy.

[0059] Please see Figure 3 , Figure 3 This is a schematic diagram of a surgical instrument control system according to another embodiment of the present invention. The pose acquisition device 30 acquires the real-time poses of surgical instruments 20 (such as electrosurgical instruments and ultrasonic scalpels) and detection devices 10 (such as endoscopes). The controller 40 determines whether the energy output conditions are met based on the real-time poses and selects whether to restrict the energy excitation of the energy generator based on the determination result. It is understood that when the surgical instrument 20 is not within the detection field of the detection device 10, the user cannot know the specific position of the surgical instrument 20 relative to the patient. If the energy generator can still excite energy according to the control of the controller 40, causing the surgical instrument 20 to output energy, then if the user makes a judgment error or misoperation, causing the surgical instrument 20 to output energy, it is easy to cause injury to the patient. Therefore, if the surgical instrument 20 is not within the detection field of the detection device 10, the controller 40 sends a control command to the energy generator to prevent it from exciting energy. It is understood that the restriction method for the energy generator can also be other methods such as reducing the excitation energy or limiting its output power. It can be set according to the user's actual needs, as long as it avoids the surgical instrument 20 mistakenly outputting energy and causing injury to the patient; no specific limitation is made here.

[0060] The above embodiment restricts the energy generator when the surgical instrument 20 is not within the detection field of the detection device 10, so that the surgical instrument 20 cannot output energy, thus avoiding injury to the patient caused by the user's operation when the position of the surgical instrument 20 is unknown, and making it safer.

[0061] In another embodiment, the surgical instrument control system further includes an information feedback device connected to the controller 40, which provides information feedback to the user when the positional relationship between the detection device 10 and the surgical instrument 20 does not match the preset positional relationship.

[0062] Please see Figure 4 , Figure 4This is a schematic diagram of the surgical instrument control system according to another embodiment of the present invention. It is understood that the controller 40 acquires the real-time pose of the robotic arm, and also acquires the real-time poses of the surgical instrument 20 and the detection devices 10 such as the endoscope. Based on the real-time poses, it determines whether the energy excitation conditions are met, and selects whether to limit the energy excitation of the energy generator based on the determination result. If the energy excitation conditions are not met, information feedback is provided to the user. For example, if the positional relationship of the surgical instrument 20 does not match the preset positional relationship, it means that the surgical instrument 20 is not within the detection field of the detection device 10. On the one hand, the controller 40 limits or restricts energy output to ensure patient safety; on the other hand, the information feedback device reminds the user to manually adjust the device so that the surgical instrument 20 returns to the detection field of the detection device 10. It is understood that the information feedback device can be a buzzer, LED light, or other similar device, as long as it serves as a reminder to the user; no specific limitation is made here.

[0063] In the above embodiment, when the positional relationship between the detection device 10 and the surgical instrument 20 does not match the preset positional relationship, the user is reminded so that the user can manually adjust the position of the surgical instrument 20, thus avoiding the failure of the automatic control of the controller 40 and making it safer.

[0064] In another embodiment, the pose acquisition device 30 includes a first pose acquisition unit, a second pose acquisition unit, and a conversion unit. The conversion unit is connected to both the first pose acquisition unit and the second pose acquisition unit. The first pose acquisition unit is connected to the surgical instrument 20 and is used to acquire the first real-time pose of the surgical instrument 20. The second pose acquisition unit is connected to the detection device 10 and is used to acquire the second real-time pose of the detection device 10. The conversion unit is connected to the controller 40 and is used to map the first real-time pose and the second real-time pose to the same coordinate system to obtain real-time pose information, and transmit the real-time pose information to the controller 40.

[0065] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the calculation of real-time pose information in a surgical instrument control system according to an embodiment of the present invention. It is understood that if the reference frames of the first and second real-time poses are different, it is necessary to transform the first and second real-time poses to the same coordinate system before making a judgment. Specifically, the pose T1 of the surgical instrument 20 relative to the instrument robotic arm coordinate system (i.e., coordinate system 1) and the pose T2 of the detection device 10 relative to the detection robotic arm coordinate system (i.e., coordinate system 2) are mapped to the world coordinate system g, thereby obtaining the poses T1 of the surgical instrument 20 and the detection device 10 relative to the world coordinate system, respectively. g and T2 g And based on T1g and T2 g The system obtains real-time pose information to determine the positional relationship between the surgical instrument 20 and the detection device 10. In other embodiments, the coordinate system transformation can be performed after the controller 40 receives the original first and second real-time poses, or it can be performed by the pose acquisition device 30 before being transmitted to the controller 40.

[0066] In another embodiment, determining the positional relationship between the detection device 10 and the surgical instrument 20 based on the real-time pose information and comparing it with a preset positional relationship further includes determining whether the surgical instrument 20 is within the detection field of view of the detection device 10. For example, the detection device 10 includes an endoscope. For each adapted endoscope, its visualization area B in its own coordinate system can be calculated from its viewing angle α and field of view θ. The determination of whether the surgical instrument 20 is within the detection field of view of the endoscope is based on the real-time pose of the surgical instrument 20, the real-time pose of the endoscope, and the visualization area of ​​the endoscope. It is understood that before making the determination, it is necessary to convert the real-time pose of the surgical instrument 20, the real-time pose of the endoscope, and the visualization area of ​​the endoscope to the same coordinate system.

[0067] In another embodiment, the detection image of the detection device 10 can be acquired and the detection image can be detected by machine vision and other related technologies to determine whether the surgical instrument 20 is within the detection field of the detection device 10.

[0068] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0069] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0070] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0071] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A surgical instrument control system, characterized by, The system comprises a detection device, a surgical instrument, a pose acquisition device, and a controller, the surgical instrument is connected with the pose acquisition device and the controller respectively, the pose acquisition device is connected with the detection device and the controller respectively, and the detection device is connected with the controller, wherein: The surgical instrument is configured to receive control instructions from the controller and perform corresponding actions. The pose acquisition device is configured to acquire real-time pose information, and transmit the real-time pose information to the controller, the real-time pose information comprises a first real-time pose and a second real-time pose, the first real-time pose comprises a real-time pose of the surgical instrument, and the second real-time pose comprises a real-time pose of the detection device. The controller is configured to determine whether the surgical instrument is within a detection field of view of the detection device based on the real-time pose information, and if the surgical instrument is not within the detection field of view of the detection device, send a preset control instruction to the surgical instrument, the preset control instruction is an energy output limiting instruction or an instruction to move the surgical instrument into the detection field of view. Determining whether the surgical instrument is within the detection field of view of the detection device comprises: The detection device comprises an endoscope, a visual field angle θ and a view direction angle α of the endoscope are used to calculate a visual area of the endoscope in a coordinate system of the endoscope, and based on a real-time pose of the surgical instrument, a real-time pose of the endoscope, and the visual area of the endoscope, it is determined whether the surgical instrument is within a detection field of view of the endoscope.

2. The surgical instrument control system of claim 1, wherein, Further comprising an instrument mechanical arm, the instrument mechanical arm is connected with the surgical instrument and the controller respectively, and the instrument mechanical arm is configured to receive control instructions from the controller and guide the surgical instrument to perform corresponding actions based on the control instructions.

3. The surgical instrument control system of Claim 2, wherein, The pose acquisition device comprises a first pose acquisition unit, the first pose acquisition unit is arranged on each joint of the instrument mechanical arm, and is configured to acquire a first joint angle value of each joint of the instrument mechanical arm and acquire the first real-time pose based on the first joint angle value.

4. The surgical instrument control system of claim 1, wherein, The detection device is configured to acquire image information of a region of interest and transmit the image information to the controller, and the surgical instrument control system further comprises a detection mechanical arm, the detection mechanical arm is connected with the detection device and the controller respectively, and the detection mechanical arm is configured to receive control instructions from the controller and guide the detection device to detect the region of interest based on the control instructions.

5. The surgical instrument control system of claim 4, wherein, The pose acquisition device comprises a second pose acquisition unit, the second pose acquisition unit is arranged on each joint of the detection mechanical arm, and is configured to acquire a second joint angle value of each joint of the detection mechanical arm and acquire the second real-time pose based on the second joint angle value.

6. The surgical instrument control system of any one of claims 1-5, wherein, The pose acquisition device comprises an encoder.

7. The surgical instrument control system of claim 1, wherein, Further comprising an energy generator, the energy generator is connected with the surgical instrument and the controller respectively, and is configured to excite energy based on control instructions from the controller and output to the surgical instrument.

8. The surgical instrument control system of Claim 7, wherein, The energy output limiting instruction comprises an instruction to stop or reduce energy excitation of the energy generator.

9. The surgical instrument control system of claim 1, wherein, The information feedback device is connected with the controller and is configured to feed back information to a user when the positional relationship between the detection device and the surgical instrument does not match a preset positional relationship.

10. The surgical instrument control system of claim 1, wherein, The pose acquisition device comprises a first pose acquisition unit, a second pose acquisition unit and a conversion unit. The conversion unit is connected with the first pose acquisition unit and the second pose acquisition unit. The first pose acquisition unit is connected with the surgical instrument and is configured to acquire a first real-time pose of the surgical instrument. The second pose acquisition unit is connected with the detection device and is configured to acquire a second real-time pose of the detection device. The conversion unit is connected with the controller and is configured to map the first real-time pose and the second real-time pose to the same coordinate system to obtain real-time pose information, and transmit the real-time pose information to the controller.

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