Operating device, surgical robot and movement control method thereof

Abstract

The present application provides a slave operation device, a surgical robot and a movement control method thereof, wherein the slave operation device includes a connected robotic arm and a manipulator arm, the manipulator arm includes a holding arm, the robotic arm includes multiple joints for moving the manipulator arm, and a motor assembly for driving the joints; the slave operation device also includes a force sensing unit and a control unit that are interconnected, the force sensing unit is arranged on the holding arm and is used to detect the force acting on the holding arm; the control unit is connected to the motor assembly, and the control unit is used to control the motor assembly to drive and adjust the joints according to the force acting on the manipulator arm, thereby ensuring a large driving force of the motor while achieving easy dragging and free adjustment of the holding arm.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an operating device, a surgical robot and a movement control method thereof. Background Art

[0002] Minimally invasive surgery refers to a procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes, as well as related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. These robots typically consist of a master console and slave devices. The master console sends control commands to the slave devices based on the surgeon's actions. The slave devices then respond to these commands and perform the corresponding surgical procedures.

[0004] The operating equipment includes a robotic arm, a manipulator arm, and surgical instruments arranged on the manipulator arm. In order to realize the multi-degree-of-freedom movement of the manipulator arm together with the surgical instrument by controlling the manipulator arm, the robotic arm is provided with a plurality of motion joints, such as one or more of rotary joints and mobile joints. Usually, the motor corresponding to each joint on the robotic arm will be equipped with a reducer with a large reduction ratio, so that each joint can obtain a large driving torque and power. However, this makes the damping of reverse dragging of these joints relatively large, that is, it is more difficult to manually reverse drag the joints to adjust the surgical instrument. The magnitude of the end thrust cannot be identified by the control algorithm, and it is basically impossible to achieve the required large driving torque by using the direct drive of the motor. Summary of the Invention

[0005] The purpose of this application is to provide a slave operating device, aiming to solve the technical problems of difficulty in reverse dragging joints of existing surgical robots and difficulty in adjusting surgical instruments.

[0006] The embodiment of the present application is implemented as follows: a slave operating device includes a connected mechanical arm and a manipulator arm, wherein the manipulator arm includes a holding arm; the mechanical arm includes a plurality of joints for moving the manipulator arm, and a motor assembly for driving the joints; characterized in that:

[0007] The slave operating device also includes a force sensing unit and a control unit that are interconnected. The force sensing unit is arranged on the robotic arm and is used to detect the force acting on the robotic arm; the control unit is connected to the motor assembly, and the control unit is used to control the motor assembly to drive and adjust the joint according to the force acting on the robotic arm.

[0008] In one embodiment, the robotic arm includes an upper bracket and a lower bracket connected to each other, the upper bracket is coupled to the robotic arm, and the force sensing unit is provided on the lower bracket and connected to the upper bracket.

[0009] In one embodiment, a cavity is provided at one end of the lower bracket facing the upper bracket, and the force sensing unit is provided in the cavity.

[0010] In one embodiment, the joint includes a first rotational joint, a first movable joint and a second movable joint, and the motor assembly includes a first motor, a second motor and a third motor, which are used to drive and adjust the first rotational joint, the first movable joint and the second movable joint respectively.

[0011] In one embodiment, the joint includes a first movable joint and a second movable joint, and the motor assembly includes a first motor and a second motor, which are used to drive and adjust the first movable joint and the second movable joint respectively.

[0012] In one embodiment, the manipulator arm further includes a linkage mechanism connected between the holding arm and the robotic arm, and a second rotation joint is provided at the connection between the holding arm and the linkage mechanism for driving the holding arm to rotate; the force sensing unit is provided between the holding arm and the second rotation joint.

[0013] In one embodiment, the control unit is further configured to control the joints to be locked and unlocked respectively.

[0014] In one embodiment, a trigger button for locking and unlocking the joint is further provided on a side of the lower bracket opposite to the robotic arm.

[0015] In one embodiment, the slave operating device has a free drag mode for preoperative use;

[0016] In the free drag mode, the force sensing unit is used to collect the drag force F exerted on the robotic arm. A The control unit is used to convert the dragging force F A The speed is mapped to the output speed of the motor assembly until the robotic arm moves to the target point.

[0017] In one embodiment, the slave operating device has an adaptive mode for intraoperative use;

[0018] In the adaptive mode, the force sensing unit is used to collect the force F applied to the robotic arm. AThe control unit is used to map the force applied to the robotic arm to the output speed of the motor assembly; when the force applied to the robotic arm is less than a preset value, the output speed of the motor assembly is reduced to zero.

[0019] In one embodiment, the control unit is used to convert the force F applied to the robotic arm into A Transformed into the force F under the base coordinates of the robotic arm O , and the force F O Mapped to the motor's output speed V J .

[0020] In one embodiment, the force F A To the force F O The transformation is achieved through the following formula:

[0021] F O =( A J O ) T F A ;

[0022] in, A J O Represents the Jacobian matrix between the coordinate system of the force sensing unit and the base coordinate system; ( A J O ) T is the transposed matrix of the Jacobian matrix;

[0023] The force F O to V J The mapping is achieved through the following formula:

[0024] V J =(J r ) T (k*F O );

[0025] Among them, V J is the output speed of the motor in the motor assembly; k is the conversion coefficient; J r The mechanical Jacobian matrix defined for the joint.

[0026] In one embodiment, the manipulator arm further comprises an angle sensor provided on the robotic arm, wherein the angle sensor is communicatively connected to the control unit and is used to detect the posture of the robotic arm.

[0027] Another object of the present application is to provide a method for controlling the movement of a surgical robot, wherein the surgical robot includes a robotic arm and a manipulator arm driven by the robotic arm, wherein the manipulator arm includes a holding arm for clamping a surgical instrument, and the method for controlling the movement includes:

[0028] When the mechanical arm is subjected to an action force, the force sensing unit provided on the mechanical arm outputs the magnitude and direction of the action force to the control unit;

[0029] The control unit controls the motor assembly provided on the robotic arm to drive the robotic arm to move.

[0030] In one embodiment, the robotic arm includes multiple joints, the motor assembly includes multiple motors for driving the joints, the force sensing unit is used to collect the force acting on the robotic arm, and the control unit is used to map the force fed back by the force sensing unit to the output speed of the motor until the force acting on the robotic arm detected by the force sensing unit is zero.

[0031] In one embodiment, the robotic arm includes multiple joints, the motor assembly includes multiple motors for driving the joints, the force sensing unit is used to collect the force applied to the robotic arm, and the control unit is used to map the force fed back by the force sensing unit to the output speed of the motor; when the force applied to the robotic arm is less than a preset value, the output speed of the motor is reduced to zero.

[0032] Another object of the embodiments of the present application is to provide a surgical robot, comprising a slave operating device as described in the above embodiments, and a master control console communicatively connected to the slave operating device.

[0033] The beneficial effects of the slave operation device, surgical robot, and movement control method thereof provided by the embodiments of the present application are:

[0034] The slave operation device provided in an embodiment of the present application includes a connected robotic arm and a manipulator arm, wherein the robotic arm includes multiple joints for moving the manipulator arm and a motor assembly for driving the joints. The slave operation device also includes a force sensing unit and a control unit connected to each other, wherein the force sensing unit is provided on the robotic arm and is used to detect the force acting on the robotic arm. The control unit is connected to the motor assembly and is used to control the motor assembly to drive and adjust the joints according to the force acting on the manipulator arm, thereby ensuring a large driving force of the motor while achieving easy dragging and free adjustment of the robotic arm. The surgical robot and its movement control method allow the operator to easily drag and freely adjust the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 This is a structural diagram of a surgical robot provided by an embodiment of the present application as viewed from the side of an operating device;

[0037] Figure 2 This is a structural diagram of the main control console of the surgical robot provided in an embodiment of the present application;

[0038] Figure 3 This is a schematic diagram of a surgical robot provided by an embodiment of the present application from a three-dimensional perspective of an operating device;

[0039] Figure 4 1 is a schematic diagram of a partially exploded structure of a manipulator arm of a surgical robot provided in an embodiment of the present application, wherein a force sensing unit is provided between the manipulator arm and the connecting rod;

[0040] Figure 5 1 is a schematic structural diagram of the surgical robot arm provided in an embodiment of the present application;

[0041] Figure 6 1 is a schematic diagram of the exploded structure of the surgical robot arm provided in an embodiment of the present application, wherein the force sensing unit is arranged between the upper bracket and the lower bracket;

[0042] Figure 7 1 is a schematic diagram of the three-dimensional structure of a force sensing unit in a surgical robot provided in an embodiment of the present application;

[0043] Figure 8 1 is a front view of a force sensing unit in a surgical robot provided in an embodiment of the present application;

[0044] Figure 9 is a schematic diagram of coordinates in a surgical robot provided in an embodiment of the present application;

[0045] Figure 10 This is a flowchart of the free dragging mode of the surgical robot provided in an embodiment of the present application;

[0046] Figure 11 This is a flowchart of the adaptive mode of the surgical robot provided in an embodiment of the present application.

[0047] The meanings of the marks in the figure are:

[0048] 300-main operating console; 200-slave operating equipment,

[0049] 9-Robotic arm, 8-Power mechanism, 7-Surgical instrument, 71-Drive box, 72-Long axis, 73-End instrument;

[0050] 6-manipulating arm, 61-holding arm, 611-upper bracket, 612-lower bracket, 6120-recessed cavity;

[0051] 62-connecting rod mechanism, 621-connecting rod;

[0052] 63-actuator; 5-force sensing unit;

[0053] 41-first rotational joint, 42-first translational joint, 43-second translational joint, 44-second rotational joint;

[0054] 3-Trigger key. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0056] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0057] It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0058] The terms "distal" and "proximal" used in this article are directional words, which are commonly used terms in the field of interventional medical devices, where "distal" refers to the end away from the operator during the operation, and "proximal" refers to the end close to the operator during the operation.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0060] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0061] See also Figure 1 and Figure 2 The present invention provides a surgical robot comprising a master console 300 and a slave operating device 200 that are communicatively connected to each other. The master console 300 is configured to send control commands to the slave operating device 200 based on the doctor's operation to control the slave operating device 200. The slave operating device 200 is configured to respond to the control commands sent by the master console 300 and perform the corresponding surgical operation.

[0062] The master console 300 and the slave operating device 200 can be located in the same operating room, or in different rooms, or even remotely separated. For example, if the master console 300 and the slave operating device 200 are located in different cities, the master console 300 and the slave operating device 200 can transmit data via a wired or wireless method. For example, if the master console 300 and the slave operating device 200 are located in the same operating room, data can be transmitted between them via a wired method. Alternatively, if the master console 300 and the slave operating device 200 are located in different cities, data can be transmitted between them over long distances using wireless signals.

[0063] like Figure 1 As shown, the slave operating device 200 includes a robotic arm 9, a power mechanism 8 provided on the robotic arm 9, a manipulating arm 6, and a surgical instrument 7 provided on the manipulating arm 6. The power mechanism 8 is used to drive the manipulating arm 6 to perform corresponding actions.

[0064] like Figure 1 As shown, the manipulator arm 6 includes a holding arm 61, a connecting rod mechanism 62 and an actuator 63. The surgical instrument 7 includes a drive box 71, a long shaft 72 and an end instrument 73. The actuator 63 is connected to the drive box 71 and is arranged on the holding arm 61 of the manipulator arm 6. It can move in a specific direction on the holding arm 61 so that the end instrument 73 can be extended into the patient's body.

[0065] The robotic arm 9 includes multiple joints, which are used to provide multiple degrees of freedom for the movement of the manipulator arm 6 and the surgical instrument 7. Correspondingly, the robotic arm 9 also includes a motor assembly, which includes multiple motors, which are connected to the joints in a one-to-one correspondence, and the motors are used to drive the joints for adjustment.

[0066] Please refer to Figure 3 As shown, in this embodiment, the robotic arm 9 includes at least three joints, namely a first rotational joint 41, a first movable joint 42, and a second movable joint 43, thereby allowing the manipulator arm 6 and the surgical instrument 7 to rotate and translate in two directions. Correspondingly, the robotic arm 9 also includes a first motor, a second motor, and a third motor (none of which are shown in the figure), which are respectively used to drive the adjustment of the first rotational joint 41, the first movable joint 42, and the second movable joint 43. That is, the first motor is used to output rotational torque, and the second motor and the third motor are used to output translational power.

[0067] For example, the first rotational joint 41 may be a joint that rotates in a horizontal plane, the first movable joint 42 may be a joint that translates in a horizontal plane, and the second movable joint 43 may be a joint that translates in a vertical plane. Of course, this is merely an example. In other optional embodiments, the first rotational joint 41, the first movable joint 42, and the second movable joint 43 may be configured to respectively move in other directions or planes, depending on specific needs, to allow the manipulation arm 6 to be moved. Examples will not be given here one by one.

[0068] Alternatively, in another embodiment, the robotic arm 9 includes at least two joints, namely a first movable joint 42 and a second movable joint 43, so as to allow the manipulator arm 6 and the surgical instrument 7 to perform translational motion in two directions, such as translation in the horizontal plane and translation in the vertical plane. Correspondingly, the motor assembly includes a second motor and a third motor (not shown), which are respectively used to drive the adjustment of the first movable joint 42 and the second movable joint 43, and the second motor and the third motor are used to output the power of translation. Optionally, in this case, there can still be a first rotation joint 41 to allow the manipulator arm 6 and the surgical instrument 7 to rotate at the same time, such as rotation in the horizontal plane. The first motor can be omitted and the first rotation joint 41 can be manually adjusted by the operator.

[0069] Without being limited to the above, in other embodiments, the multiple joints may also be other types and numbers of joints, which will not be given examples or elaborated on one by one here.

[0070] The following description will be made in detail by taking as an example the first rotation joint 41 being a joint that rotates in a horizontal plane, the first movement joint 42 being a joint that translates in a horizontal plane, and the second movement joint 43 being a joint that translates in a vertical plane.

[0071] In this embodiment, the robotic arm 9 also includes a force sensing unit 5 and a control unit (not shown) interconnected. The force sensing unit 5 is mounted on the robotic arm 61. When an operator wishes to adjust the position of the robotic arm 61 and its surgical instrument 7, the force applied by the operator's hand to the robotic arm 61 can be detected by the force sensing unit 5. Therefore, the force sensing unit 5 is used to detect the force acting on the robotic arm 61. The control unit is mounted on the robotic arm 9 and connected to the first, second, and third motors, respectively. The control unit is used to convert the force acting on the robotic arm 61 into force components used to drive the first rotating joint 41, the first movable joint 42, and the second movable joint 43. Based on these force components, the control unit controls the output of the first, second, and third motors to adjust the first rotating joint 41, the first movable joint 42, and the second movable joint 43. This ensures that each motor has a large driving force, while enabling the robotic arm 61 and its surgical instrument 7 to be freely dragged and easily adjusted.

[0072] Please refer to Figure 3 and Figure 4 The link mechanism 62 includes at least one link 621, specifically, three links 621, forming a parallelogram link mechanism located in a vertical plane. The parallelogram link mechanism can adjust the position of the holding arm 61.

[0073] The connecting rod 621 closest to the arm 61 is hinged to the arm 61, forming a hinge joint (second rotational joint 44). This allows the angle of the arm 61 relative to the connecting rod 621 to be adjusted, that is, the angle of the arm 61 relative to the vertical direction can be adjusted.

[0074] Optionally, the second rotational joint 44 may be a joint that rotates in a vertical plane. Not limited thereto, in other optional embodiments, the second rotational joint 44 may be a joint that rotates in other planes.

[0075] Among them, see Figure 4 As shown, in one embodiment, the force sensing unit 5 can be located at the connection between the arm 61 and the linkage 62. That is, the force sensing unit 5 is mounted on the arm 61, with one portion connected to the arm 61 and the other portion connected to the second revolute joint 44. In this way, when an operator applies force to any position of the arm 61, the applied force can be sensed by the force sensing unit 5. For example, the operator can place their hand on the side of the arm 61 facing away from the linkage 62, e.g., on that side and below the second revolute joint 44. Alternatively, the operator can place their hand on the side of the arm 61 facing the linkage 62, e.g., on that side and above the second revolute joint 44.

[0076] Or, in another embodiment, Figure 5 and Figure 6 As shown, the robotic arm 61 includes an upper bracket 611 and a lower bracket 612 connected to each other. The upper bracket 611 is connected to the linkage mechanism 62, thereby coupling the upper bracket 611 with the robotic arm 9. The lower bracket 612 is used to connect the surgical instrument 7. A force sensing unit 5 is provided at the connection between the upper bracket 611 and the lower bracket 612. When the operator applies force to the lower bracket 612, the force is sensed by the force sensing unit 5.

[0077] In this case, the magnitude and direction of the force collected by the force sensing unit 5 are more direct, and there will be no problem of force scaling, thereby ensuring the accuracy of the dragging adjustment of the robotic arm 61.

[0078] Furthermore, in a specific application, surgical instrument 7 clamps a stamp (not shown) via a clamping portion provided on the holding arm 61, specifically on the lower bracket 612. The stamp is further connected to the holding arm 61. When the force sensing unit 5 is provided on the lower bracket 612, when a person applies force to the lower bracket 612, the area touched by the person's hand is relatively close to the distal fixed point of the stamp, thereby preventing excessive torque during operation that could affect the position of the end instrument 73.

[0079] More specifically, if Figure 6 As shown, a cavity 6120 is formed at one end of the lower bracket 612 facing the upper bracket 611. The force sensing unit 5 can be disposed within the cavity 6120 of the lower bracket 612 and connected to the lower end of the upper bracket 611. In this way, the force sensing unit 5 is concealed while ensuring connection between the force sensing unit 5 and the lower bracket 612 and the upper bracket 611.

[0080] The force sensing unit 5 is a force sensor capable of detecting force components in at least three directions within a three-dimensional space. For example, the force sensing unit 5 may be a three-dimensional force sensor; alternatively, the force sensing unit 5 may be a six-dimensional force sensor capable of detecting force components in three directions and torque components in three directions within a three-dimensional space.

[0081] In this embodiment, the force sensing unit 5 is a three-dimensional force sensor. The three-dimensional force sensor has a specific coordinate system, such as Figures 7 to 9 As shown, the coordinate system of the three-dimensional force sensor is defined as {A}, which has an X-axis, a Y-axis, and a Z-axis that are perpendicular to each other.

[0082] Due to the hinged connection between the robotic arm 61 and the above-mentioned connecting rod mechanism 62, the angle of the robotic arm 61 relative to the vertical direction can change. The force sensing unit 5 is set on the robotic arm 61. Therefore, the overall coordinate system {A} of the force sensing unit 5 changes with the movement of the robotic arm 61, that is, the position of the force sensing unit 5 itself changes with the movement of the robotic arm 61.

[0083] In this embodiment, the robotic arm 61 is also equipped with an angle sensor (not shown) for detecting the position (angle) of the robotic arm 61. The angle sensor is connected to the control unit and is used to feed back the position information of the robotic arm 61, that is, the position information of the force sensing unit 5, to the control unit. Optionally, the angle sensor can be integrated with the force sensing unit 5 or with the actuator 63.

[0084] like Figure 9 As shown, a base coordinate system {O} is defined on the robotic arm 9, which has mutually perpendicular X', Y', and Z' axes. The X', Y', and Z' axes in the base coordinate system do not change with the adjustment of each joint. In one embodiment, the component force in the X' direction is provided by the third motor, and drives the second mobile joint 43 to adjust; the component force in the Z' direction is provided by the second motor, and drives the first mobile joint 42 to adjust; and the component force in the Y' direction is provided by the first motor, and drives the first rotating joint 41 to adjust. Of course, this is only an example. In other embodiments, the X', Y', and Z' axes and the joints can be combined in other corresponding ways.

[0085] Based on this, please refer to Figure 9 As shown, the force sensing unit 5 detects the spatial force F exerted on the robotic arm 61. A , the force F A In fact, it is composed of a first force component F1 in the X direction, a second force component F2 in the Y direction, and a third force component F3 in the Z direction. The control unit obtains the position information of the force sensing unit 5 and the magnitudes of the first force component F1, the second force component F2, and the third force component F3 from the force sensing unit 5.

[0086] In this way, the control unit receives the position information of the force sensing unit 5 and the magnitudes of the first force component F1, the second force component F2 and the third force component F3, and transforms the first force component F1, the second force component F2 and the third force component F3 into the driving force F under the base coordinate system {O}. O and the force F O The force is decomposed into a first driving force component F'1 in the X' direction, a second driving force component F'2 in the Y' direction, and a third driving force component F'3 in the Z' direction. The control unit then controls the output of the first motor based on the first driving force component F'1, the second motor based on the second driving force component F'2, and the third motor based on the third driving force component F'3.

[0087] Specifically, the force F A Zhili F O The transformation process is shown in the following formula (1):

[0088] FO =( A J O ) T F A ;

[0089] in, A J O Represents the Jacobian matrix between coordinate system {A} and coordinate system {O}, whose calculation depends on the relative pose from coordinate system {O} to coordinate system {A}; ( A J O ) T is the transposed matrix of the aforementioned Jacobian matrix;

[0090] Force F O Output speed V to the first motor, the second motor, and the third motor J The mapping is achieved by the following formula (2):

[0091] V J =(J r ) T (k*F O );

[0092] Among them, V J is the output speed of the motors (the first motor, the second motor, and the third motor);

[0093] k is the conversion coefficient, which represents the conversion of the driving force in the X', Y', and Z' directions to the desired speed in the corresponding directions in the coordinate system {O}; J r The mechanical Jacobian matrix defined for the joints (the first rotational joint 41 , the first translational joint 42 , and the second translational joint 43 ).

[0094] Through the above changes, the force F acting on the holding arm 61 can be A Mapped to the spatial velocity of the joint to achieve joint adjustment.

[0095] In one embodiment, the control unit is further configured to control the locking and unlocking of the first rotational joint 41, the first mobile joint 42, and the second mobile joint 43. When the joints are unlocked, the motors can output, thereby controlling the joints for adjustment; when the joints remain locked, the motors cannot drive the joints for adjustment even after outputting output.

[0096] Among them, locking and unlocking can be performed by manual operation and automatic operation.

[0097] In manual operation, such as Figure 4As shown, the trigger button 3 is provided on the holding arm 61 of the slave operating device 200. When the operator presses and holds the trigger button 3, the joint is unlocked. When the operator releases the trigger button 3, the trigger button 3 is restored and the joint remains locked. The trigger button 3 can be specifically provided at the lower part of the lower bracket 612 facing the connecting rod mechanism 62, so that the operator can operate the trigger button 3 with one hand and apply force to the holding arm 61 with the other hand. Figure 4 Of course, in specific applications, the trigger key 3 can also be set at other positions, as long as the operator can operate it manually.

[0098] In automatic operation, a locking mechanism (not shown) may be provided at the joint, and the locking mechanism is connected to the control unit. The control unit controls the locking mechanism to achieve automatic locking and unlocking of the joint.

[0099] In one embodiment, the slave operating device 200 of the present application has a free drag mode and an adaptive mode. The free drag mode is applied before surgery, and the adaptive mode is applied during surgery.

[0100] like Figure 10 As shown, in the free drag mode: manually press the trigger key 3 to manually unlock the first rotating joint 41, the first movable joint 42 and the second movable joint 43; the human hand applies a force to the weapon arm 61 (this force can be called a dragging force), and the force sensing unit 5 collects the force applied to the weapon arm 61. The control unit maps the force applied to the weapon arm 61 to the output speed of the first motor, the second motor and the third motor, and controls the corresponding output of the first motor, the second motor and the third motor. The first rotating joint 41, the first movable joint 42 and the second movable joint 43 move toward the target point, and the output speed of the first motor, the second motor and the third motor gradually decreases until the first rotating joint 41, the first movable joint 42 and the second movable joint 43 move to the target point. At this time, the operator's force on the weapon arm 61 is zero, and the control unit controls the output speed of the first motor, the second motor and the third motor to be reduced to zero.

[0101] The free dragging mode enables the operator to adjust the positions of the arm 61 and the surgical instrument 7 at a relatively fast speed before the operation, for example, to allow the end instrument 73 of the surgical instrument 7 to extend into the incision of the human body.

[0102] Without being limited to the above, in other optional embodiments, the dragging action exerted by the human hand on the robotic arm 61 may be replaced by other methods, which will not be described in detail.

[0103] like Figure 11As shown, in the adaptive mode: the joint is unlocked by the control unit; the force sensing unit 5 collects the force acting on the robotic arm 61, and the control unit maps the force acting on the robotic arm 61 to the output speed of the first motor, the second motor and the third motor, and controls the first motor, the second motor and the third motor to output; when the force acting on the robotic arm 61 is greater than or equal to the preset value, the control unit maps the force acting on the robotic arm 61 to the output speed of the first motor, the second motor and the third motor, and controls the first motor, the second motor and the third motor to output; when the force acting on the robotic arm 61 is less than the preset value, the control unit controls the output speed of the first motor, the second motor and the third motor to be reduced to zero.

[0104] This adaptive mode enables the robotic arm 9 to automatically adjust the stress between the surgical instrument 7 and the human incision during surgery. If there is stress between the human incision (such as the abdominal incision) and the puncture card, the stress can be transmitted to the robotic arm 61 and detected by the force sensor unit. Through this adaptive mode, the micro-stress of the human body (human abdomen) can be released. In this adaptive mode, since the force sensing unit 5 in the aforementioned embodiment is arranged on the lower bracket 612, and the puncture card is directly arranged on the lower bracket 612, the force sensing unit 5 is closer to the human incision, which can further improve the accuracy of the detection of the stress of the end instrument 73 on the human abdomen.

[0105] In addition, an embodiment of the present application further provides a method for controlling movement of the surgical robot, comprising:

[0106] When the arm 61 is subjected to an action force, the force sensing unit 5 provided on the arm 61 senses the action force and outputs the magnitude and direction of the action force to the control unit;

[0107] The control unit controls the motor assembly provided on the robotic arm 9 to drive the robotic arm 61 to move.

[0108] The movement control method includes a free drag mode applied before surgery and an adaptive mode applied during surgery.

[0109] In the free drag mode, the force sensing unit 5 collects the drag force F exerted on the robotic arm 61. A , the control unit will feedback the force F of the force sensing unit 5 A The force applied to the arm 61 is mapped to the motor's output speed until the force sensing unit 5 detects zero. This means the arm 61 has reached the target point. At this point, the operator stops applying force to the arm 61.

[0110] In the adaptive mode, the force sensing unit 5 collects the force F exerted on the robotic arm 61. AThe control unit is used to map the force feedback from the force sensing unit 5 to the output speed of the motor; when the force F A When the force F acting on the arm 61 is less than the preset value, the output speed of the motor is reduced to zero; otherwise, when the force F acting on the arm 61 is A When it is greater than or equal to the preset value, the control unit continues to control the motor to output.

[0111] The specific structure of the surgical robot and the force F in the free drag mode and the adaptive mode A The output speed mapping process to the motor can be described with reference to the above embodiment and will not be repeated here.

[0112] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A slave operating device comprising a connected mechanical arm and a manipulator arm, wherein the manipulator arm comprises a holding arm; the mechanical arm comprises a plurality of joints for moving the manipulator arm, and a motor assembly for driving the joints; characterized in that: The slave operating device further comprises a force sensing unit and a control unit connected to each other, wherein the force sensing unit is provided on the robotic arm and is used to detect the force applied to the robotic arm; The control unit is connected to the motor assembly, and is used to control the motor assembly to drive and adjust the joint according to the force applied to the robotic arm; The robotic arm includes an upper bracket and a lower bracket connected to each other. The upper bracket is coupled to the robotic arm. A concave cavity is provided at one end of the lower bracket facing the upper bracket. The force sensing unit is provided in the concave cavity and connected to the upper bracket.

2. The slave operating device according to claim 1, wherein: The joint includes a first rotational joint, a first movable joint and a second movable joint, and the motor assembly includes a first motor, a second motor and a third motor, which are used to drive and adjust the first rotational joint, the first movable joint and the second movable joint respectively.

3. The slave operating device according to claim 1, wherein: The joint includes a first movable joint and a second movable joint, and the motor assembly includes a first motor and a second motor, which are used to drive and adjust the first movable joint and the second movable joint respectively.

4. The slave operating device according to claim 1, wherein: The manipulator arm also includes a connecting rod mechanism connected between the holding arm and the mechanical arm, and a second rotation joint is provided at the connection between the holding arm and the connecting rod mechanism for driving the holding arm to rotate; the force sensing unit is provided between the holding arm and the second rotation joint.

5. The slave operating device according to claim 1, wherein: The control unit is further used to control the joints to be locked and unlocked respectively.

6. The slave operating device according to claim 1, wherein: A trigger key for locking and unlocking the joint is also provided on a side of the lower bracket opposite to the mechanical arm.

7. The slave operating device according to claim 1, wherein: The slave operating device has a free drag mode for pre-operative use; In the free drag mode, the force sensing unit is used to collect the drag force F exerted on the robotic arm. A The control unit is used to convert the dragging force F A The speed is mapped to the output speed of the motor assembly until the robotic arm moves to the target point.

8. The slave operating device according to claim 1, wherein: The slave operating device has an adaptive mode for intraoperative use; In the adaptive mode, the force sensing unit is used to collect the force F applied to the robotic arm. A , the control unit is used to map the force applied to the robotic arm into the output speed of the motor assembly; When the force acting on the robotic arm is less than a preset value, the output speed of the motor assembly is reduced to zero.

9. The slave operating device according to claim 7 or 8, characterized in that: The control unit is used to convert the force F exerted on the robotic arm A Transformed into the force F under the base coordinates of the robotic arm O , and the force F O Mapped to the motor's output speed V J .

10. The slave operating device according to claim 9, wherein: The force F A To the force F O The transformation is achieved through the following formula: F O =( A J O ) T F A ; in, A J O Represents the Jacobian matrix between the coordinate system of the force sensing unit and the base coordinate system; ( A J O ) T is the transposed matrix of the Jacobian matrix; The force F O to V J The mapping is achieved through the following formula: V J =(J r ) T (k*F O ); Among them, V J is the output speed of the motor in the motor assembly; k is the conversion coefficient; J r The mechanical Jacobian matrix defined for the joint.

11. The slave operating device according to any one of claims 1 to 8, characterized in that: The manipulator arm further includes an angle sensor provided on the holding arm, wherein the angle sensor is communicatively connected with the control unit and is used for detecting the posture of the holding arm.

12. A method for controlling movement of a surgical robot, the surgical robot comprising a slave operating device according to any one of claims 1 to 11, characterized in that: The movement control method comprises: When the lower bracket of the robotic arm is subjected to an action force, the force sensing unit provided on the robotic arm outputs the magnitude and direction of the action force to the control unit; The control unit controls the motor assembly provided on the robotic arm to drive the robotic arm to move.

13. The movement control method according to claim 12, wherein: The robotic arm includes multiple joints, the motor assembly includes multiple motors for driving the joints, the force sensing unit is used to collect the force acting on the robotic arm, and the control unit is used to map the force fed back by the force sensing unit to the output speed of the motor until the force acting on the robotic arm detected by the force sensing unit is zero.

14. The movement control method according to claim 12, wherein: The robotic arm includes a plurality of joints, the motor assembly includes a plurality of motors for driving the joints, the force sensing unit is used to collect the force applied to the robotic arm, and the control unit is used to map the force fed back by the force sensing unit to the output speed of the motor; When the force acting on the robotic arm is less than a preset value, the output speed of the motor is reduced to zero.

15. A surgical robot, characterized in that: The utility model comprises a slave operating device according to any one of claims 1 to 11, and a master console communicatively connected to the slave operating device.

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