Laparoscopic Robotic System and Control Method

Abstract

This invention discloses a laparoscopic robot system and its control method. The laparoscopic robot system includes a robotic arm, a detection unit, and a control device. The control device is communicatively connected to the robotic arm and controls the movement of the robotic arm. The robotic arm is equipped with a laparoscopic locking device. The detection unit is used to detect the length of the laparoscope tube locked by the laparoscopic locking device and feeds back the detection result to the control device. Based on the detection result, the control device sets kinematic parameter limit values ​​so that the robotic arm does not exceed the limit value in the length direction of the laparoscope tube during the control of the robotic arm's movement. This allows the kinematic parameter limit values ​​of the laparoscope to be adjusted according to the length of the laparoscope tube of different laparoscopic devices, thereby enabling the application of different specifications of laparoscopes and facilitating the universality of laparoscopes.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a laparoscopic robot system and control method. Background Technology

[0002] With the development of telemedicine, laparoscopic robotic systems have been widely used. A laparoscopic robotic system generally includes a control unit and a robotic arm, which are connected to each other. The control unit transmits the surgeon's surgical operation information to the robotic arm, which simulates the surgeon's arm movements to insert the laparoscope tube into the patient's body, thereby assisting the surgeon in performing remote surgery.

[0003] In current technology, laparoscopes from different manufacturers are not interchangeable. This is because each manufacturer only stores the specifications and models of the laparoscopes they produce in their control device. In other words, each laparoscopic robot can only recognize laparoscopes manufactured by its own company and then control the movement of its robotic arm. Since the tube lengths of laparoscopes from different manufacturers vary, even if the specification and model detection is bypassed to achieve universality, the difference in tube length when using a laparoscope from another manufacturer can introduce significant surgical risks.

[0004] For example, manufacturer A's laparoscopic robot control device stores the specifications of two laparoscopes, A1 and A2, with tube lengths of 20cm and 30cm respectively. Manufacturer B produces two laparoscopes, B1 and B2, with tube lengths of 40cm and 50cm respectively. If laparoscope B2 is forcibly installed onto the robotic arm of manufacturer A's laparoscopic robot, even if manufacturer A's model detection of laparoscope B2 is disabled, thus enabling control of the robotic arm's movement, if the kinematic parameters matching A1 or A2 are continued to be used for motion control of B2, the longer tube of laparoscope B2 could lead to a significant risk of accidental insertion of the laparoscope too far into the body during surgery. Alternatively, if the laparoscope B2 does not retract sufficiently before surgery, the tip of the tube may not reach above the body, preventing it from entering the patient. Summary of the Invention

[0005] The purpose of this invention is to provide a laparoscopic robot system and control method, which aims to solve the technical problem that laparoscopy is difficult to universally apply in the prior art.

[0006] According to one aspect of the present invention, a laparoscopic robotic system is provided, the laparoscopic robotic system comprising: a robotic arm, a detection unit, and a control device;

[0007] The control device is communicatively connected to the robotic arm, and the control device controls the movement of the robotic arm. The robotic arm is equipped with a laparoscopic locking device.

[0008] The detection unit is used to detect the length of the laparoscope tube locked by the laparoscopic locking device and to feed the detection result back to the control device.

[0009] The control device sets kinematic parameter limit values ​​based on the detection results, so that the robotic arm does not exceed the limit value in the length direction of the endoscope tube during the control device's movement.

[0010] Optionally, the robotic arm is connected to the control device via remote communication.

[0011] Optionally, the detection unit is further configured to detect whether the laparoscopic locking device locks the laparoscope. When the detection result is yes, the detection unit sends a writable signal to the control device. After receiving the writable signal, the control device allows the kinematic parameter limit values ​​to be reset.

[0012] Optionally, the laparoscopic locking device includes:

[0013] A knob, the inner side of which is provided with a first thread;

[0014] A positioning sleeve is detachably connected to the knob. The side of the positioning sleeve connected to the knob has a constriction structure. An inner cavity is formed on the constriction structure for inserting a laparoscope. A second thread is provided on the outer side of the constriction structure. The second thread is threadedly engaged with the first thread to lock and unlock the laparoscope inserted into the cavity through the knob and the constriction structure.

[0015] Optionally, when the knob is rotated in the first direction, the constriction structure can retract until it abuts against the laparoscope in the receiving cavity to lock the laparoscope; when the knob is rotated in the second direction, the constriction structure can expand until it separates from the laparoscope in the receiving cavity to unlock the laparoscope, wherein the second direction is opposite to the first direction.

[0016] Optionally, the constriction structure is cylindrical, and the second thread is located on the outer periphery of the cylindrical structure. During the rotation of the knob, the outer diameter of the cylindrical structure can change.

[0017] Optionally, the constriction structure includes two constriction portions, which are arranged opposite to each other and fastened together to form the receiving cavity, and each constriction portion is provided with a second thread on its outer side.

[0018] Optionally, the ferrule structure includes four ferrule portions, which are symmetrically arranged in pairs and fastened together to form the receiving cavity, and each ferrule portion is provided with a second thread on its outer side.

[0019] Optionally, the laparoscopic robot system further includes an adapter, wherein the positioning sleeve has a mounting portion on the side away from the girdle structure, the adapter is sleeved on the mounting portion, and the adapter has a connecting portion.

[0020] Optionally, a button is also movably provided on the positioning sleeve. The button is located on the side of the mounting part away from the constriction structure. The button includes a button body and a connected first protrusion. A first through hole is provided on the side of the adapter near the button. The first through hole is opposite to the first protrusion. The first protrusion can pass through the first through hole so that the positioning sleeve and the adapter can be engaged.

[0021] Optionally, a second through hole is provided on the side of the mounting part opposite to the first protrusion. When the button is in the pressed state, the first protrusion can disengage from the first through hole and move into the second through hole, so that the positioning sleeve can be released from the adapter. When the button is in the released state, the first protrusion can pass through the first through hole, so that the positioning sleeve can be engaged with the adapter.

[0022] Optionally, there are two buttons, which are symmetrically arranged on the positioning sleeve. Each button includes a first protrusion. The adapter has first through holes on both sides near the two buttons. Each first protrusion can pass through a corresponding first through hole, so that the positioning sleeve can engage with the adapter from opposite sides.

[0023] According to another aspect of the present invention, a laparoscopic robot control method is provided, the laparoscopic robot control method comprising:

[0024] The length of the laparoscope tube locked on the robotic arm of the laparoscopic robot is detected;

[0025] The kinematic parameter limit values ​​of the robotic arm are set according to the length of the lens tube;

[0026] The system detects whether the robotic arm reaches the kinematic parameter limit during its movement. If it does, the movement of the robotic arm along the length of the mirror tube is stopped.

[0027] Optionally, the laparoscopic robot control method further includes:

[0028] The system detects whether the length of the endoscope tube has changed; if so, it resets the kinematic parameter limits of the robotic arm.

[0029] One technical advantage of this invention is that, by utilizing the cooperation of the detection unit and the control device, the kinematic parameters of the laparoscope can be adjusted according to the length of the endoscope tube of different laparoscopes to control the movement distance of the laparoscope, thereby making it applicable to laparoscopes of different specifications and facilitating the universality of laparoscopes.

[0030] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0031] The accompanying drawings, which form part of this specification, illustrate embodiments of the invention and, together with the specification, serve to explain the principles of the invention.

[0032] Figure 1 This is a schematic diagram of a laparoscopic robotic system according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of a laparoscopic locking device according to an embodiment of the present invention;

[0034] Figure 3 This is another schematic diagram of a laparoscopic locking device according to an embodiment of the present invention;

[0035] Figure 4 This is a top view of a laparoscopic locking device according to an embodiment of the present invention;

[0036] Figure 5 This is an exploded view of a laparoscopic locking device according to an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of a positioning sleeve according to an embodiment of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 100. Robotic arm; 200. Detection unit; 300. Control device;

[0040] 1. Knob; 2. Positioning sleeve; 21. Grip structure; 22. Mounting part; 221. Second through hole; 23. Button; 231. Button body; 232. First protrusion; 3. Adapter; 31. Connecting part; 32. First through hole. Detailed Implementation

[0041] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0042] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0043] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0044] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0046] This invention provides a laparoscopic robotic system, which generally includes a control device 300 and a robotic arm 100 connected via communication. The control device 300 transmits surgical operation information from the surgeon to the robotic arm 100. The robotic arm 100 simulates the surgeon's arm movements to insert the laparoscope tube into the patient's body, thereby enabling remote surgery in cooperation with the surgeon. Furthermore, this invention introduces a detection unit 200, which can identify specific information about the laparoscope within the laparoscopic robotic system, thereby guiding the control device 300 to adjust relevant motion parameters to improve surgical safety.

[0047] The laparoscopic robot system provided in this embodiment of the invention includes: a robotic arm 100, a detection unit 200, and a control device 300;

[0048] The control device 300 is communicatively connected to the robotic arm 100, and the control device 300 controls the movement of the robotic arm 100. The robotic arm 100 is equipped with a laparoscopic locking device.

[0049] The control device 300 can be a commonly used MCU (Microcontroller Unit). The control device 300 and the robotic arm 100 are connected in communication, so that the control device 300 can control the robotic arm 100 to simulate the doctor's arm movements according to the doctor's surgical operation information, thereby enabling the robotic arm to cooperate with the doctor to perform remote surgery.

[0050] Furthermore, a laparoscopic locking device can be installed on the robotic arm 100. As a separate structure independent of the laparoscope, the laparoscopic locking device allows for convenient installation and removal of the laparoscope using its internal components. It also adapts to different types and sizes of laparoscopes, improving the laparoscope's versatility. Additionally, the laparoscopic locking device can be used to connect the laparoscope to the robotic arm 100, enabling a laparoscope transfer function. Separating this transfer function from the laparoscope itself reduces the number of components required for the laparoscope, thus lowering its structural complexity.

[0051] The detection unit 200 is used to detect the length of the laparoscope tube locked by the laparoscopic locking device and to feed back the detection result to the control device 300.

[0052] The detection unit 200 can be a sensor or use image recognition technology to detect the length of the endoscope tube. The specifications (e.g., tube length, diameter) of laparoscopes from different manufacturers generally vary. After the laparoscope is installed into the laparoscopic robot system using the laparoscope locking device, the detection unit 200 can detect the length of the installed endoscope tube and transmit this length information to the control device 300, allowing the control device 300 to perform control based on this information.

[0053] The control device 300 automatically sets the kinematic parameter limit value according to the detection result and the length of the endoscope tube, so that the robotic arm 100 does not exceed the limit value in the length direction of the endoscope tube during the movement of the robotic arm 100 controlled by the control device 300.

[0054] In this process, after the detection unit 200 detects the length of the laparoscope tube and transmits the length of the tube to the control device 300, the control device 300 can set the kinematic parameter limit value corresponding to the laparoscope based on the detection result. That is, it limits the highest and lowest movement positions of the laparoscope on the robotic arm 100, thereby guiding the movement process of the robotic arm 100 and avoiding surgical risks caused by the robotic arm 100 exceeding the kinematic parameter limit value during the movement.

[0055] For example, for laparoscopes with short tube lengths, sufficient range of motion is required during surgery due to the short length of the laparoscope itself. After the detection unit 200 detects the length information of the tube and transmits it to the control device 300, the control device 300 can adjust accordingly to a larger kinematic parameter limit value to meet the range of motion requirements during surgery. Conversely, for laparoscopes with longer tube lengths, the range of motion needs to be controlled during surgery due to the longer length of the laparoscope itself. After the detection unit 200 detects the length information of the tube and transmits it to the control device 300, the control device 300 can adjust accordingly to a smaller kinematic parameter limit value to control the range of motion of the laparoscope and avoid surgical risks caused by excessive range of motion.

[0056] Therefore, the laparoscopic robot system provided in this embodiment of the invention can adapt to different specifications of laparoscopes through the cooperation of the detection unit 200 and the control device 300. It can adjust the kinematic parameter limit values ​​of the laparoscope according to the length of the laparoscope tube, thereby improving the versatility and operational safety of the laparoscopic robot system while ensuring the ease of operation.

[0057] Optionally, the robotic arm 100 and the control device 300 are connected via remote communication. The control device 300 can transmit the surgeon's surgical operation information to the remote robotic arm 100, allowing the robotic arm 100 to simulate the surgeon's arm movements and insert the laparoscope tube into the patient's body, thus assisting the surgeon in performing remote surgery and achieving convenient remote surgery. In this case, the robotic arm 100 and the control device 300 can be connected wirelessly to facilitate remote communication.

[0058] Optionally, the detection unit 200 is further configured to detect whether the laparoscopic locking device locks the laparoscope. When the detection result is yes, the detection unit 200 sends a writable signal to the control device 300. After receiving the writable signal, the control device 300 allows the kinematic parameter limit values ​​to be reset.

[0059] Specifically, in this embodiment of the invention, the detection unit 200 sends a writable signal to the control device 300 only after detecting that the laparoscopic locking device has locked the laparoscope. This allows the control device 300 to set the kinematic parameter limits accordingly. In other words, the kinematic parameter limits are set only after determining that the laparoscope is locked, thereby optimizing the control of the control device 300 and improving the operational reliability of the laparoscopic robot system. Furthermore, the control device 300 can also adjust the kinematic parameter limits according to the different lengths of laparoscopes installed, thus ensuring both the ease of operation and the operational safety of the laparoscopic robot system.

[0060] The laparoscopic robotic system provided in this embodiment of the invention can be used as follows: Figures 2 to 5 The laparoscopic locking device shown allows for convenient mounting of the laparoscope onto the robotic arm 100.

[0061] like Figure 1 As shown, the laparoscopic locking device may include:

[0062] Knob 1, the inner side of which is provided with a first thread;

[0063] The positioning sleeve 2 is detachably connected to the knob 1. The side of the positioning sleeve 2 connected to the knob 1 has a constriction structure 21. The inner side of the constriction structure 21 forms a receiving cavity for inserting a laparoscope. The outer side of the constriction structure 21 is provided with a second thread, which is threadedly engaged with the first thread to lock and unlock the laparoscope inserted in the receiving cavity through the knob 1 and the constriction structure 21.

[0064] In the following embodiments of the invention, the end of the laparoscopic locking device closer to the patient during surgery is called the "proximal end," and the end farther from the patient is called the "distal end."

[0065] like Figure 2 and Figure 3 As shown, in this embodiment of the invention, the inner side of the knob 1 has a first thread, so that the knob 1 can be threadedly engaged with the thread on the positioning sleeve 2 to form a detachable connection between the knob 1 and the positioning sleeve 2. Alternatively, the outer side of the knob 1 can also be threaded or frosted to increase the surface roughness of the knob 1, thereby facilitating rotation of the knob 1 and improving the ease of operation of the laparoscopic locking device.

[0066] like Figure 2 and Figure 3As shown, in this embodiment of the invention, the positioning sleeve 2 and the knob 1 are detachably connected. For example, the positioning sleeve 2 and the knob 1 can be connected by threaded connection, snap-fit, hinge or other connection methods, so as to facilitate the insertion of the laparoscope, and at the same time facilitate the disassembly and replacement of the positioning sleeve 2 and the knob 1, thus extending the service life of the laparoscope locking device.

[0067] Specifically, the side of the positioning sleeve 2 connected to the knob 1 has a constriction structure 21, that is, the distal end of the positioning sleeve 2 has a constriction structure 21. The constriction structure 21 can be a hollow structure, that is, the inner side of the constriction structure 21 has a receiving cavity, which can be used to insert the laparoscope, thereby fixing the laparoscope to the laparoscope locking device.

[0068] Furthermore, the size of the ferrule structure 21 can be adjusted. For example, when the ferrule structure 21 is cylindrical, its diameter can change, and consequently, its inner diameter (i.e., the diameter of the receiving cavity) can also change. This allows the ferrule structure 21 to fix laparoscopes of different sizes, improving the applicability of the laparoscope locking device. For instance, the ferrule structure 21 can include multiple ferrule sections, with movable space between them, allowing the diameter of the ferrule structure 21 to be adjusted by the movement between the multiple ferrule sections. Alternatively, the ferrule structure 21 can be made of elastic material, allowing its diameter to be adjusted by rotating the knob 1.

[0069] like Figure 5 and Figure 6 As shown, in this embodiment of the invention, a second thread is provided on the outer side of the ferrule structure 21. The second thread engages with the first thread on the inner side of the knob 1, allowing a threaded connection between the ferrule structure 21 and the knob 1. When the knob 1 is rotated, it causes the ferrule structure 21 to retract, locking the laparoscope inserted into the receiving cavity, thus facilitating its use. Conversely, when the knob 1 is rotated in the opposite direction, it causes the ferrule structure 21 to unfold, unlocking the laparoscope and facilitating its replacement. Furthermore, this laparoscope locking device allows for convenient locking and unlocking of the laparoscope, reducing the difficulty of surgical procedures. The device itself has a simple structure, offering advantages in terms of production cost and ease of manufacturing.

[0070] Optionally, when the knob 1 is rotated in the first direction, the constriction structure 21 can retract until it abuts against the laparoscope in the receiving cavity to lock the laparoscope; when the knob 1 is rotated in the second direction, the constriction structure 21 can expand until it separates from the laparoscope in the receiving cavity to unlock the laparoscope, wherein the second direction is opposite to the first direction.

[0071] Specifically, in this embodiment of the invention, when the knob 1 is rotated in the first direction, the constriction structure 21 can retract. For example, the first direction can be clockwise. When the knob 1 is rotated in the clockwise direction, the thread engagement between the second thread and the first thread can drive the constriction structure 21 to retract, so that the size of the constriction structure 21 continuously shrinks, and the size of the receiving cavity inside the constriction structure 21 also continuously shrinks until it abuts against the laparoscope inserted in the receiving cavity, so as to form a reliable lock on the laparoscope.

[0072] When the knob 1 is rotated in the second direction, the constriction structure 21 can be unfolded. For example, the second direction can be counterclockwise. When the knob 1 is rotated in the counterclockwise direction, the thread engagement between the second thread and the first thread can drive the constriction structure 21 to unfold, so that the size of the constriction structure 21 continuously increases, and the size of the receiving cavity inside the constriction structure 21 also continuously increases until it separates from the laparoscope inserted in the receiving cavity, thereby unlocking the laparoscope. At this time, the laparoscope can be easily replaced.

[0073] Depending on the actual design of the laparoscopic locking device, the first direction can be counterclockwise, and the second direction can be clockwise.

[0074] Optionally, the constriction structure 21 is cylindrical, and the second thread is located on the outer periphery of the cylindrical structure. During the rotation of the knob 1, the outer diameter of the cylindrical structure can change.

[0075] like Figure 6 As shown, in this embodiment of the invention, the constriction structure 21 can be cylindrical, meaning its cross-section is circular. The second thread is located on the outer periphery of the cylindrical structure, facilitating its placement and ensuring a reliable threaded connection with the knob 1. The second thread can be evenly distributed on the outer periphery of the cylindrical structure, resulting in more uniform force transmission between the first and second threads. This ensures the overall consistency and stability of the constriction structure 21 during expansion and contraction, and also allows the laparoscope surface within the receiving cavity to be subjected to uniform force, reducing the risk of damage to the laparoscope.

[0076] Furthermore, during the rotation of knob 1, the threaded connection between the first and second threads can cause the cylindrical constriction structure 21 to contract or expand, so that the outer diameter of the cylindrical structure can change accordingly, so as to lock and unlock the laparoscope located in the receiving cavity, and facilitate the convenient switching of the laparoscope between the locked and unlocked states to adapt to different surgical needs.

[0077] Optionally, the constriction structure 21 includes two constriction portions, which are arranged opposite to each other and fastened together to form the receiving cavity, and each constriction portion is provided with a second thread on its outer side.

[0078] Specifically, the binding structure 21 in this embodiment of the invention may include two binding portions with a space between them. The two binding portions are arranged opposite each other and can be fastened to form a receiving cavity, in which a laparoscope can be inserted. A second thread is provided on the outer side of each binding portion so as to form a threaded connection with the first thread on the inner side of the knob 1. Thus, the two binding portions can move closer to each other and lock the laparoscope when the knob 1 is rotated, or the two binding portions can move away from each other and unlock the laparoscope when the knob 1 is rotated.

[0079] Preferably, the two opening sections have identical structures, meaning they are symmetrically arranged. This allows the opening structure 21 to contract and expand uniformly under the rotation of the knob 1, ensuring overall consistency and stability during the contraction and expansion of the opening structure 21. It also ensures that the surface of the laparoscope within the receiving cavity is subjected to uniform force, reducing the risk of damage to the laparoscope. Furthermore, having two identical opening sections facilitates interchangeability and reduces the manufacturing difficulty of the laparoscope locking device.

[0080] Optionally, the constriction structure 21 includes four constriction portions, which are symmetrically arranged in pairs and fastened together to form the receiving cavity, and each constriction portion is provided with a second thread on its outer side.

[0081] like Figure 6 As shown, the binding structure 21 of this embodiment may include four binding portions, with a space for movement between any two adjacent binding portions. The four binding portions are arranged opposite each other and can be fastened to form a receiving cavity, in which a laparoscope can be inserted. A second thread is provided on the outer side of each of the four binding portions, so as to form a threaded connection with the first thread on the inner side of the knob 1. Thus, the four binding portions can move closer to each other and lock the laparoscope when the knob 1 is rotated, or the four binding portions can move away from each other and unlock the laparoscope when the knob 1 is rotated.

[0082] Preferably, the four opening sections have identical structures, meaning they are symmetrically arranged. This allows the opening structure 21 to contract and expand uniformly under the rotation of the knob 1, ensuring overall consistency and stability during the contraction and expansion of the opening structure 21. It also ensures that the surface of the laparoscope within the receiving cavity is subjected to uniform force, reducing the risk of damage to the laparoscope. Furthermore, the identical structures of the four opening sections facilitate interchangeability, reducing the manufacturing difficulty of the laparoscope locking device.

[0083] Optionally, the laparoscopic robot system further includes an adapter 3. The positioning sleeve 2 has a mounting part 22 on the side away from the ferrule structure 21. The adapter 3 is sleeved on the mounting part 22. The adapter 3 has a connecting part 31. The laparoscopic locking device and the robotic arm 100 can be connected by the connecting part 31 on the adapter 3.

[0084] Specifically, such as Figure 5 As shown, the positioning sleeve 2 has a mounting part 22 on the side away from the constriction structure 21. The adapter 3 is fitted onto this mounting part 22, meaning the adapter 3 can be positioned close to the proximal end of the laparoscope. The adapter 3 has a connecting part 31, which allows the adapter 3 to be connected to the robotic arm 100. For example, the connecting part 31 and the robotic arm 100 can be connected by snap-fit, adhesive, screw, or other methods, thereby enabling the laparoscope to be connected and separating the connection function from the laparoscope. This also reduces the number of laparoscope-related connecting components, lowers the structural complexity of the laparoscope, and increases the applicability of the laparoscopic robot system.

[0085] Optionally, a button 23 is movably disposed on the positioning sleeve 2. The button 23 is located on the side of the mounting part 22 away from the clamping structure 21. The button 23 includes a button body 231 and a connected first protrusion 232. The adapter 3 has a first through hole 32 on the side near the button 23. The first through hole 32 is opposite to the first protrusion 232. The first protrusion 232 can pass through the first through hole 32 so that the positioning sleeve 2 and the adapter 3 form a snap-fit ​​connection.

[0086] like Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, in this embodiment of the invention, a button 23 is also movably provided on the positioning sleeve 2. That is, the button 23 can move on the positioning sleeve 2, so that it can approach the axis of the positioning sleeve 2 until it is pressed, or move away from the axis of the positioning sleeve 2 until it is released. Thus, the different states of the button 23 can be used to connect and disconnect the adapter 3 from the positioning sleeve 2, thereby improving the applicable scenarios of the laparoscopic robot system.

[0087] Specifically, button 23 may include button body 231 and connected first protrusion 232. Button 23 is usually integrally molded to facilitate convenient and reliable switching of button 23 state. Button 23 is located on the side of mounting part 22 away from the ferrule structure 21, that is, button 23 can be set close to the proximal end of the laparoscope to facilitate operation of button 23 during surgery.

[0088] Furthermore, a first through hole 32 is provided on the side of the adapter 3 near the button 23. The first through hole 32 is positioned opposite to the first protrusion 232, so that the state switching of the button 23 can be achieved by the cooperation between the first through hole 32 and the first protrusion 232. When the adapter 3 is installed on the mounting part 22, the first protrusion 232 can be embedded in the first through hole 32, so that the button 23 and the adapter 3 are engaged, thereby realizing the connection between the adapter 3 and the positioning sleeve 2.

[0089] Optionally, the mounting portion 22 is provided with a second through hole 221 on the side opposite to the first protrusion 232. When the button 23 is in the pressed state, the first protrusion 232 can disengage from the first through hole 32 and move into the second through hole 221, so that the positioning sleeve 2 and the adapter 3 are disengaged. When the button 23 is in the released state, the first protrusion 232 can pass through the first through hole 32, so that the positioning sleeve 2 and the adapter 3 are engaged.

[0090] like Figure 5 and Figure 6 As shown, in this embodiment of the invention, a second through hole 221 is provided on the side of the mounting part 22 opposite to the first protrusion 232. The second through hole 221 is used to provide a certain amount of movement space for the first protrusion 232 so as to facilitate the state switching of the button 23.

[0091] When button 23 is pressed, that is, when button 23 is close to the axis of positioning sleeve 2, the first protrusion 232 can disengage or slide out of the first through hole 32 and move into the second through hole 221, so that positioning sleeve 2 and adapter 3 are disengaged, so as to facilitate the replacement of adapter 3; when button 23 is released, that is, when button 23 is away from the axis of positioning sleeve 2, the first protrusion 232 can be embedded in the first through hole 32, so that positioning sleeve 2 and adapter 3 are engaged, so as to realize the laparoscopic adapter function.

[0092] Optionally, there are two buttons 23, which are symmetrically arranged on the positioning sleeve 2. Each button 23 includes a first protrusion 232. The adapter 3 has first through holes 32 on both sides near the two buttons 23. Each first protrusion 232 can pass through a corresponding first through hole 32, so that the positioning sleeve 2 can be engaged with the adapter 3 from opposite sides.

[0093] Specifically, in this embodiment of the invention, the positioning sleeve 2 may have two buttons 23. The two buttons 23 are typically arranged opposite each other along the diameter of the positioning sleeve 2, and the two buttons 23 have identical structures. This allows the adapter 3 to engage with the positioning sleeve 2 from opposite sides, improving the reliability and stability of the connection between the adapter 3 and the positioning sleeve 2, and also improving the structural reliability of the laparoscopic adapter device. The adapter 3 can have a symmetrical structure to facilitate convenient connection between the adapter 3 and the positioning sleeve 2, while also improving the aesthetics of the laparoscopic robot system with the adapter 3.

[0094] The present invention also provides a method for controlling a laparoscopic robot, comprising:

[0095] The length of the laparoscope tube locked on the robotic arm 100 of the laparoscopic robot is detected;

[0096] The kinematic parameter limit values ​​of the robotic arm 100 are set according to the length of the lens tube;

[0097] The system detects whether the robotic arm 100 reaches the kinematic parameter limit value during its movement. If it does, the movement of the robotic arm 100 along the length direction of the mirror tube is stopped.

[0098] The present invention, through the above-described control method, can detect the length of the endoscope tubes of different specifications of laparoscopes locked on the robotic arm 100, and adjust the kinematic parameter limits of the robotic arm 100 accordingly. That is, it limits the highest and lowest positions of the laparoscope on the robotic arm 100, thereby controlling the movement of the laparoscope and preventing the robotic arm 100 from exceeding the kinematic parameter limits during movement, which could lead to surgical risks. This improves the versatility and operational safety of the laparoscopic robot system.

[0099] Optionally, the laparoscopic robot control method further includes:

[0100] If the length of the endoscope tube changes, the kinematic parameter limit value of the robotic arm 100 is reset. This allows for timely detection of the endoscope tube length and corresponding adjustment of the kinematic parameter limit value of the robotic arm 100 after changing the laparoscope, thereby enabling reliable control of the laparoscope's movement process.

[0101] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0102] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A laparoscopic robotic system, characterized in that, include: Robotic arm (100), detection unit (200) and control device (300); The control device (300) is communicatively connected to the robotic arm (100), and the control device (300) controls the movement of the robotic arm (100). The robotic arm (100) is equipped with a laparoscopic locking device. The detection unit (200) is used to detect the length of the laparoscope tube locked by the laparoscopic locking device and to feed back the detection result to the control device (300). The control device (300) sets the kinematic parameter limit value according to the detection result, so that the robotic arm (100) does not exceed the limit value in the length direction of the lens tube during the process of the control device (300) controlling the movement of the robotic arm (100); The laparoscopic locking device includes: A knob (1) has a first thread on its inner side; The positioning sleeve (2) is detachably connected to the knob (1). The side of the positioning sleeve (2) connected to the knob (1) has a constriction structure (21). The inner side of the constriction structure (21) forms a receiving cavity for inserting a laparoscope. The outer side of the constriction structure (21) is provided with a second thread, which is threadedly engaged with the first thread so that the laparoscope inserted in the receiving cavity can be locked and unlocked by the knob (1) and the constriction structure (21).

2. The laparoscopic robotic system according to claim 1, characterized in that, The robotic arm (100) is connected to the control device (300) via remote communication.

3. The laparoscopic robotic system according to claim 1, characterized in that, The detection unit (200) is also used to detect whether the laparoscopic locking device locks the laparoscope. When the detection result is yes, the detection unit (200) sends a writable signal to the control device (300). After receiving the writable signal, the control device (300) allows the kinematic parameter limit values ​​to be reset.

4. The laparoscopic robotic system according to claim 1, characterized in that, When the knob (1) is rotated in the first direction, the constriction structure (21) can retract until it abuts against the laparoscope in the receiving cavity to lock the laparoscope; when the knob (1) is rotated in the second direction, the constriction structure (21) can expand until it separates from the laparoscope in the receiving cavity to unlock the laparoscope, wherein the second direction is opposite to the first direction.

5. The laparoscopic robotic system according to claim 4, characterized in that, The ferrule structure (21) is cylindrical, and the second thread is located on the outer periphery of the cylindrical structure. During the rotation of the knob (1), the outer diameter of the cylindrical structure can change.

6. The laparoscopic robotic system according to claim 5, characterized in that, The ferrule structure (21) includes two ferrule portions, which are arranged opposite to each other and fastened together to form the receiving cavity. The second thread is provided on the outer side of each ferrule portion.

7. The laparoscopic robotic system according to claim 5, characterized in that, The sac structure (21) includes four sacs, which are symmetrically arranged in pairs and fastened together to form the receiving cavity. Each sac is provided with a second thread on its outer side.

8. The laparoscopic robotic system according to claim 1, characterized in that, It also includes an adapter (3), the positioning sleeve (2) has a mounting part (22) on the side away from the clamping structure (21), the adapter (3) is sleeved on the mounting part (22), and the adapter (3) has a connecting part (31).

9. The laparoscopic robotic system according to claim 8, characterized in that, A button (23) is also movably disposed on the positioning sleeve (2). The button (23) is located on the side of the mounting part (22) away from the clamping structure (21). The button (23) includes a button body (231) and a connected first protrusion (232). The adapter (3) has a first through hole (32) on the side near the button (23). The first through hole (32) is opposite to the first protrusion (232). The first protrusion (232) can pass through the first through hole (32) so that the positioning sleeve (2) and the adapter (3) can be engaged.

10. The laparoscopic robotic system according to claim 9, characterized in that, The mounting part (22) is provided with a second through hole (221) on the side opposite to the first protrusion (232). When the button (23) is in the pressed state, the first protrusion (232) can disengage from the first through hole (32) and move into the second through hole (221) so that the positioning sleeve (2) and the adapter (3) are disengaged. When the button (23) is in the released state, the first protrusion (232) can pass through the first through hole (32) so that the positioning sleeve (2) and the adapter (3) are engaged.

11. The laparoscopic robotic system according to claim 10, characterized in that, The number of buttons (23) is two, and the two buttons (23) are symmetrically arranged on the positioning sleeve (2). Each button (23) includes a first protrusion (232). The adapter (3) has first through holes (32) on both sides near the two buttons (23). Each first protrusion (232) can pass through a corresponding first through hole (32) so that the positioning sleeve (2) can be engaged with the adapter (3) from opposite sides.

12. A laparoscopic robotic system as described in any one of claims 1 to 11, characterized in that, The control method for the laparoscopic robotic system includes: The length of the laparoscope tube locked on the robotic arm of the laparoscopic robot is detected; The kinematic parameter limit values ​​of the robotic arm are set according to the length of the lens tube; The system detects whether the robotic arm reaches the kinematic parameter limit during its movement. If it does, the movement of the robotic arm along the length of the mirror tube is stopped.

13. The laparoscopic robotic system according to claim 12, characterized in that, The control method for the laparoscopic robotic system also includes: The system detects whether the length of the endoscope tube has changed; if so, it resets the kinematic parameter limits of the robotic arm.

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