Laparoscopic robotic system and control method

Abstract

The application discloses a laparoscope robot system and a control method. The laparoscope robot system comprises a mechanical arm, a detection unit and a control device; the control device is in communication connection with the mechanical arm, the control device controls the movement of the mechanical arm, and the mechanical arm is provided with a laparoscope adapter; the detection unit is used for detecting the visual angle of a laparoscope connected with the laparoscope adapter and feeding back the detection result to the control device; and the control device sets a kinematic parameter limit value according to the detection result, so that the rotation process of the laparoscope driven by the laparoscope adapter does not exceed the kinematic parameter limit value corresponding to the visual angle.

Description

Technical Field

[0001] This application 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 typical laparoscopic robotic system includes a control unit and a robotic arm, which are connected via communication. The control unit transmits the surgeon's surgical instructions to the robotic arm, which mimics the surgeon's arm movements to insert the laparoscope's tube into the patient's body, thus assisting the surgeon in performing remote surgery. The visible range of the laparoscope is called the field of view, and the angle between the laparoscope's axis and the bisector of the field of view is called the viewing angle. Laparoscopic viewing angles include 0°, 30°, 45°, and 70°.

[0003] In existing technologies, laparoscopes from different manufacturers are not interchangeable. This is because each manufacturer only stores the specifications and models of its own laparoscopes in its 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. This results in a situation where, if a 45° viewing angle laparoscope manufactured by manufacturer B is installed on the robotic arm of a laparoscopic robot manufactured by manufacturer A, and manufacturer A's control device only stores the kinematic parameters for 0° and 30° viewing angle laparoscopes, then manufacturer B's laparoscope will not be able to find its rotational limit position. This will lead to manufacturer B's laparoscope having an excessively large or small rotational range.

[0004] Therefore, a new technical solution is needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] One objective of this application is to provide a new technical solution for a laparoscopic robotic system and control method.

[0006] According to a first aspect of this application, a laparoscopic robot system is provided, the laparoscopic robot 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 adapter.

[0008] The detection unit is used to detect the viewing angle of the laparoscope connected to the laparoscope adapter and to feed the detection results back to the control device.

[0009] The control device sets kinematic parameter limit values ​​based on the detection results, so that the rotation process of the laparoscope driven by the laparoscopic adapter does not exceed the kinematic parameter limit values ​​corresponding to the viewing angle.

[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 adapter is connected to a 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 adapter includes:

[0013] Fixed base;

[0014] A connecting assembly is mounted on the fixed base and has a receiving space therein. A portion of the laparoscope's structure passes through the receiving space to allow for a detachable connection between the laparoscope and the connecting assembly. The connecting assembly includes a constraint member and a transmission member. The constraint member can retract or expand radially. The connecting assembly has a locked state and an unlocked state.

[0015] A first driving member is connected to the constraint member;

[0016] A second driving component is connected to the transmission component;

[0017] When the connecting assembly is in the locked state, the first driving member drives the constraint member to retract radially thereto to lock the laparoscope, or to expand radially thereto to release the laparoscope;

[0018] When the connecting component is in the unlocked state, the second driving member drives the connecting component to rotate through the transmission member, and the connecting component drives the laparoscope to rotate in order to adjust the viewing angle of the laparoscope.

[0019] Optionally, the first driving member includes a knob portion and a connecting portion, the knob portion being fixedly connected to the connecting portion, and the connecting portion being sleeved on the outside of the constraint member;

[0020] The knob is configured to rotate the connecting part under the action of an external force, wherein the connecting part acts on the constraint member to cause the constraint member to contract or expand radially.

[0021] Optionally, the constraint member includes a plurality of telescopic blocks distributed along its circumference, and an expansion joint is provided between two adjacent telescopic blocks;

[0022] When the first driving member acts on the constraint member to bring the plurality of telescopic blocks closer to each other, the constraint member locks the laparoscope;

[0023] When the first driving member acts on the constraint member to move the plurality of telescopic blocks away from each other, the constraint member releases the laparoscope.

[0024] Optionally, the second driving component includes a drive motor and a driving gear, the output shaft of the drive motor is connected to the driving gear, and the transmission component is a driven gear that meshes with the driving gear.

[0025] Optionally, the second driving component further includes a transmission wheel, the output shaft of the drive motor is connected to the transmission wheel, and the transmission wheel is connected to the drive gear.

[0026] Optionally, the transmission wheel is provided with a first positioning protrusion, the transmission wheel is mounted on the fixed base, the fixed base is provided with a second positioning protrusion, and the first positioning protrusion is configured to abut against the second positioning protrusion to identify the zero position of the transmission wheel.

[0027] Optionally, the laparoscopic adapter further includes a locking component mounted on the fixed base. The locking component is configured to connect with the transmission member to lock the connection component, or to disengage from the transmission member to unlock the connection component.

[0028] Optionally, the locking assembly includes a locking element and a control element; the locking element has a first engaging portion, and the transmission element has a second engaging portion;

[0029] The control element is connected to the locking element and drives the locking element to switch between a first position and a second position;

[0030] When the locking member is in the first position, the first latching part and the second latching part engage and the connecting assembly is in a locked state.

[0031] When the locking member is in the second position, the first latching part is separated from the second latching part, and the connecting component is in an unlocked state.

[0032] Optionally, the control component includes a push rod and a spring, the fixed base has a receiving groove, the locking member is located outside the receiving groove, and a portion of the push rod is located inside the receiving groove; the push rod and the locking member are connected in a push-fitting manner.

[0033] The spring is disposed in the receiving groove, and one end of the spring along its elastic deformation direction abuts against the fixed base and the other end abuts against the top rod;

[0034] The push rod is configured to push the locking member under the action of an external force to switch the locking member from a first position to a second position.

[0035] Optionally, the fixed base includes a base body and a plate body, wherein the base body and the plate body are detachably connected;

[0036] The base has a first through hole, and the plate has a second through hole; when the base and the plate are connected, the first through hole and the second through hole communicate with each other to form a through hole for the connecting component to pass through.

[0037] According to a second aspect of this application, a laparoscopic robot control method is provided, the control method comprising:

[0038] The viewing angle of the laparoscope connected to the robotic arm of the laparoscopic robot is detected;

[0039] Based on the aforementioned perspective, the kinematic parameters of the laparoscopy are set to their limit values;

[0040] The system detects whether the laparoscope reaches the limit value of the kinematic parameters during movement. If it does, the rotation of the laparoscope is stopped.

[0041] Optionally, the control method further includes:

[0042] The laparoscope's viewing angle is checked to see if it has changed; if so, the kinematic parameter limits are reset.

[0043] The laparoscopic robot system provided in this application embodiment can ensure that the movement of the laparoscope driven by the robotic arm through the laparoscope adapter is within the allowable field of view limit of the laparoscope; thus avoiding adverse effects on the safety of the operation due to the movement of the laparoscope exceeding the field of view limit.

[0044] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0046] Figure 1 This is a structural block diagram of a laparoscopic robotic system according to an embodiment of this application;

[0047] Figure 2 This is an exploded view of the laparoscopic adapter in a laparoscopic robot system according to an embodiment of this application;

[0048] Figure 3 This is a partial structural diagram of a laparoscopic adapter in a laparoscopic robotic system according to an embodiment of this application. Figure 1 ;

[0049] Figure 4 This is a partial structural diagram of a laparoscopic adapter in a laparoscopic robotic system according to an embodiment of this application. Figure 2 ;

[0050] Figure 5 This is a partial structural diagram of a laparoscopic adapter in a laparoscopic robotic system according to an embodiment of this application. Figure 3 ;

[0051] Figure 6 This is a partial structural diagram of a laparoscopic adapter in a laparoscopic robotic system according to an embodiment of this application. Figure 4 ;

[0052] Figure 7 This is an exploded structural diagram of the locking assembly of the laparoscopic adapter in a laparoscopic robot system according to an embodiment of this application;

[0053] Figure 8 This is a schematic diagram showing the connection between the laparoscope adapter and the laparoscope in a laparoscopic robot system according to an embodiment of this application;

[0054] Figure 9 This is a flowchart illustrating the steps of a laparoscopic robot control method according to an embodiment of this application.

[0055] Explanation of reference numerals in the attached figures:

[0056] 001. Laparoscopic robotic system; 01. Robotic arm; 02. Detection unit; 03. Control device;

[0057] 1. Laparoscope adapter; 11. Fixing base; 111. Base body; 1110. First through hole; 112. Plate body; 1120. Second through hole; 100. Second positioning protrusion; 101. Sliding groove; 12. Connecting assembly; 121. Constraint member; 1211. Telescopic block; 1210. Expansion joint; 122. Transmission member; 1220. Second snap-fit ​​part; 123. Connecting shaft; 124. First bearing; 120. Patterned structure; 13. First driving member; 131. Knob part; 132. 14. Connecting part; 14. Second driving component; 141. Drive gear; 142. Transmission wheel; 1420. First positioning protrusion; 1421. First wheel body; 1422. Second wheel body; 143. Second bearing; 15. Locking assembly; 151. Locking component; 1510. First snap-fit ​​part; 1511. Sliding part; 152. Control component; 1521. Push rod; 1501. First boss; 1502. Second boss; 1500. Snap-fit ​​ring groove; 1522. Spring; 1523. Snap ring;

[0058] 2. Laparoscopy. Detailed Implementation

[0059] Various exemplary embodiments of the present application 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 present application.

[0060] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0061] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0062] 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.

[0063] 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.

[0064] Reference Figure 1 As shown, according to one embodiment of this application, a laparoscopic robot system 001 is provided. The laparoscopic robot system 001 includes: a robotic arm 01, a detection unit 02, and a control device 03; the control device 03 is communicatively connected to the robotic arm 01, and the control device 03 controls the movement of the robotic arm 01. The robotic arm 01 is equipped with a laparoscopic adapter 1.

[0065] The detection unit 02 is used to detect the angle of view of the laparoscope connected to the laparoscope adapter 1, and to feed back the detection result to the control device 03;

[0066] The control device 03 sets the kinematic parameter limit value according to the detection result, so that the rotation process of the laparoscope driven by the laparoscopic adapter 1 does not exceed the kinematic parameter limit value corresponding to the viewing angle.

[0067] In the laparoscopic robot system 001 provided in this application embodiment, firstly, the laparoscope and the robotic arm 01 are connected through the laparoscope adapter 1. The laparoscope adapter 1 is a structure independent of the laparoscope. The laparoscope adapter 1 can not only install the laparoscope in a detachable connection, but also drive the laparoscope to rotate to adjust the laparoscope's viewing angle, thereby improving the laparoscope's assembly applicability and ease of use.

[0068] Furthermore, the detection unit 02 can detect the specific angle of the laparoscopy and transmit the detection results back to the control device 03.

[0069] Because the control device 03 and the robotic arm 01 are connected, the control device 03 can control the robotic arm 01 to simulate the surgeon's arm movements according to the surgeon's surgical operation information, thereby assisting the surgeon in performing the operation. That is, the control device 03 can transmit the surgeon's surgical operation information to the robotic arm 01, so that the robotic arm 01 can simulate the surgeon's arm movements and insert the laparoscope tube into the patient's body, achieving the purpose of assisting the surgeon in performing the operation.

[0070] Because laparoscopes from different manufacturers have varying viewing angles, they are not universally compatible. However, the laparoscopic robot system 001 provided in this application overcomes the limitations caused by these viewing angle differences.

[0071] For example, if a laparoscope has a maximum viewing angle of 45°, when the laparoscope is installed on the laparoscope adapter 1 in the laparoscopic robot system 001 provided in this application embodiment, the detection unit 02 will detect the viewing angle of the laparoscope. After the detection unit 02 detects that the maximum viewing angle of the laparoscope is 45°, it will feed back the detection result to the control device 03. The control device 03 then sets the kinematic parameter limit value for the movement of the robotic arm 01 based on the 45° viewing angle, thereby ensuring that during the control of the movement of the robotic arm 01, the range of motion of the laparoscope driven by the robotic arm 01 through the laparoscope adapter 1 does not exceed the kinematic parameter limit value corresponding to the 45° viewing angle range.

[0072] In summary, the laparoscopic robot system 001 provided in this application embodiment can ensure that the movement of the laparoscope driven by the robotic arm 01 through the laparoscope adapter 1 is within the allowable viewing angle limit of the laparoscope; thus avoiding adverse effects on the safety of the surgery caused by the movement of the laparoscope exceeding the viewing angle limit.

[0073] Therefore, the laparoscopic robot system 001 provided in this application embodiment controls the movement of the robotic arm 01 through the cooperation of the detection unit 02 and the control device 03, thereby adapting to different specifications of laparoscopes. It can adjust the kinematic parameter limit values ​​of the laparoscopes according to the viewing angle range of different laparoscopes, thereby improving the safety of the operation.

[0074] In one embodiment, the robotic arm 01 is connected to the control device 03 via remote communication.

[0075] In this specific example, the robotic arm 01 is connected to the control device 03 via remote communication. The control device 03 can then remotely transmit the surgeon's surgical instructions to the robotic arm 01, enabling the robotic arm 01 to simulate the surgeon's arm movements and insert the laparoscope's tube into the patient's body, thus assisting the surgeon in performing remote surgery. Remote surgery allows surgeons to personally perform procedures on remote patients, bringing great convenience to patients.

[0076] In one embodiment, the detection unit 02 is further used to detect whether the laparoscopic adapter 1 is connected to a laparoscope. When the detection result is yes, the detection unit 02 sends a writable signal to the control device 03. After receiving the writable signal, the control device 03 allows the kinematic parameter limit values ​​to be reset.

[0077] In this specific example, the detection unit 02 only sends a writable signal to the control device 03 after detecting that the laparoscopic adapter 1 has been connected to the laparoscope. This allows the control device 03 to set the kinematic parameter limits based on the writable signal. If the detection unit 02 does not detect that the laparoscopic adapter 1 is connected to the laparoscope, it will not send a writable signal to the control device 03, and the control device 03 will not reset the kinematic parameter limits. This improves the reliability of the laparoscopic robot system 001 and avoids unnecessary resource waste due to misoperation.

[0078] Reference Figures 2-8 As shown, in one embodiment, the laparoscopic adapter 1 includes a fixed base 11, a connecting assembly 12, a first driving member 13, and a second driving member 14. The connecting assembly 12 is mounted on the fixed base 11 and has a receiving space. A portion of the laparoscope's structure passes through the receiving space to allow the laparoscope to be detachably connected to the connecting assembly 12. The connecting assembly 12 includes a constraint member 121 and a transmission member 122. The constraint member 121 can retract or expand radially. The connecting assembly 12 has a locked state and an unlocked state. The first driving member 13 is connected to the constraint member 121. The second driving member 14 is connected to the transmission member 122.

[0079] When the connecting assembly 12 is in the locked state, the first driving member 13 drives the constraint member 121 to retract radially thereto lock the laparoscope, or to expand radially thereto release the laparoscope.

[0080] When the connecting component 12 is in the unlocked state, the second driving member 14 drives the connecting component 12 to rotate through the transmission member 122, and the connecting component 12 drives the laparoscope to rotate in order to adjust the viewing angle of the laparoscope.

[0081] The laparoscopic adapter provided in this application embodiment can be used to install a laparoscope and connect to a robotic arm. Through the adapter function of the laparoscopic adapter, the laparoscope and the robotic arm can be connected.

[0082] First, the laparoscope is installed in the receiving space of the connecting component 12 of the laparoscope adapter 1, specifically, the laparoscope tube is installed in the receiving space of the connecting component 12. At this time, the connecting component 12 is in a locked state. The first driving member 13 drives the constraint member 121 to contract radially to lock the laparoscope tube, thereby installing the laparoscope in place.

[0083] After the laparoscope is installed on the laparoscope adapter 1, the laparoscope adapter 1 is connected to the robotic arm. Once the laparoscope adapter 1 is connected to the robotic arm, the connecting component 12 switches from the locked state to the unlocked state. Then, the connecting component 12 can be rotated by the driving action of the second driving member 14. The connecting component 12 then drives the laparoscope to rotate in order to adjust the viewing angle of the laparoscope.

[0084] In summary, the laparoscopic adapter 1 enables detachable connection between the laparoscope and robotic arms of different models and specifications. For different connection requirements, only the adapter needs to be replaced, without requiring adjustments to the laparoscope's structure, thus improving its adaptability. Furthermore, the adapter 1 allows the laparoscope to rotate, adjusting its viewing angle and facilitating surgical procedures.

[0085] Reference Figure 2 As shown, in one embodiment, the first driving member 13 includes a knob portion 131 and a connecting portion 132, the knob portion 131 being fixedly connected to the connecting portion 132, and the connecting portion 132 being sleeved on the outside of the constraint member 121;

[0086] The knob 131 is configured to drive the connecting part 132 to rotate under the action of an external force, wherein the connecting part 132 acts on the constraint member 121 to cause the constraint member 121 to contract or expand radially.

[0087] In this specific example, the connecting portion 132 of the first driving member 13 is used to connect with the constraint member 121. For example, the connecting portion 132 is sleeved on the outside of the constraint member 121. The knob portion 131 is used to drive the connecting portion 132 to rotate under the action of external force. For example, the operator holds the knob portion 131 and rotates it to drive the connecting portion 132 to rotate. The rotation of the connecting portion 132 then acts on the constraint member 121. For example, the operator holds the knob portion 131 and rotates it clockwise, causing the connecting portion 132 to rotate and drive the constraint member 121 to retract radially, thereby locking the laparoscope; the operator holds the knob portion 131 and rotates it counterclockwise, causing the connecting portion 132 to rotate and drive the constraint member 121 to unfold radially, thereby releasing the laparoscope. The aforementioned first driving member 13 is not only simple in structure but also convenient and quick to operate.

[0088] Furthermore, the reason why it is necessary to keep the connecting assembly 12 locked during the process of the first driving member 13 driving the constraint member 121 to retract or expand in its radial direction is to prevent the constraint member 121 from rotating with the first driving member 13. If the constraint member 121 rotates with the first driving member 13, then the first driving member 13 will not be able to act on the constraint member 121 to achieve the purpose of causing the constraint member 121 to retract or expand in its radial direction.

[0089] Furthermore, the first drive member 13 also has a receiving space, through which the laparoscope tube passes in sequence through the receiving space of the first drive member 13 and the receiving space of the connecting assembly 12.

[0090] Reference Figure 2 , Figure 3 As shown, in one embodiment, the constraint member 121 includes a plurality of telescopic blocks 1211 distributed along its circumference, and an expansion joint 1210 is provided between two adjacent telescopic blocks 1211.

[0091] When the first driving member 13 acts on the constraint member 121 to bring the plurality of telescopic blocks 1211 closer to each other, the constraint member 121 locks the laparoscope; when the first driving member 13 acts on the constraint member 121 to move the plurality of telescopic blocks 1211 away from each other, the constraint member 121 releases the laparoscope.

[0092] In this specific example, a constraint member 121 is formed by multiple expansion blocks 1211 distributed circumferentially and having expansion joints 1210 between them; the expansion and contraction control of the constraint member 121 is simple and relatively reliable.

[0093] Reference Figure 2 , Figure 5As shown, in one embodiment, the second driving member 14 includes a driving motor and a driving gear 141. The output shaft of the driving motor is connected to the driving gear 141, and the transmission member 122 is a driven gear that meshes with the driving gear 141.

[0094] In this specific example, the rotation of the drive motor (not shown in the figure) can drive the drive gear 141 to rotate, and the drive gear 141 in turn drives the driven gear (i.e. the transmission component 122) that meshes with it to rotate. Since the connecting component 12 is in the unlocked state, the connecting component 12 as a whole can drive the laparoscope to rotate under the driving action of the drive motor to adjust the viewing angle of the laparoscope.

[0095] It is understandable that when the connecting component 12 rotates under the action of the second driving member 14, the first driving member 13 rotates together with the connecting component 12.

[0096] Furthermore, the connecting assembly 12 has a connecting shaft 123 located on the side of the transmission member 122 away from the constraint member 121; that is, along the axial direction of the connecting assembly 12, the transmission member 122 is located between the constraint member 121 and the connecting shaft 123. The connecting shaft 123 is mounted on the fixed base 11 by a pair of first bearings 124.

[0097] Specifically, the fixed base 11 includes a base body 111 and a plate body 112, wherein the base body 111 and the plate body 112 are detachably connected; the base body 111 has a first through hole 1110, and the plate body 112 has a second through hole 1120; when the base body 111 and the plate body 112 are connected, the first through hole 1110 and the second through hole 1120 communicate to form a through hole for the connecting assembly 12 to pass through. Therefore, the connecting shaft 123 is mounted on the through hole of the fixed base 11 via a pair of first bearings 124.

[0098] For example, the base 111 and the plate 112 can be detachably connected by snap-fit; dividing the fixed base 11 into two parts, the base 111 and the plate 112, makes it easy to install the connecting component 12, the first driving component 13 and the second driving component 14, and to disassemble them when maintenance or replacement of parts is required.

[0099] In addition, the free end sidewall of the connecting shaft 123 away from the transmission member 122 is provided with a patterned structure 120, which facilitates the operator to hold the connecting assembly 12 for installation and disassembly. Optionally, the connecting assembly 12 is a one-piece structure, that is, the constraint member 121, the transmission member 122 and the connecting shaft 123 are connected as a single piece.

[0100] Reference Figure 2As shown, in one embodiment, the second driving member 14 further includes a transmission wheel 142, the output shaft of the driving motor is connected to the transmission wheel 142, and the transmission wheel 142 is connected to the drive gear 141.

[0101] In this specific example, the output shaft of the drive motor is connected to the drive gear 141 via the transmission wheel 142; the drive motor drives the transmission wheel 142 to rotate, and the transmission wheel 142 in turn drives the drive gear 141 to rotate.

[0102] Optionally, the transmission wheel 142 includes a first wheel body 1421 and a second wheel body 1422, which are snap-fitted together. The first wheel body 1421 is connected to the output shaft of the drive motor, and the second wheel body 1422 has a shaft portion on the side away from the first wheel body 1421. The drive gear 141 is mounted on the shaft portion of the second wheel body 1422 via a pair of second bearings 143.

[0103] Reference Figure 2 , Figure 4 As shown, in one embodiment, the transmission wheel 142 is provided with a first positioning protrusion 1420, the transmission wheel 142 is mounted on the fixed base 11, the fixed base 11 is provided with a second positioning protrusion 100, and the first positioning protrusion 1420 is configured to abut against the second positioning protrusion 100 to identify the zero position of the transmission wheel 142.

[0104] In this specific example, when installing the second drive component 14, the transmission wheel 142 is rotated until its first positioning protrusion 1420 abuts against the second positioning protrusion 100 and can no longer rotate, thus reaching the zero point position for installation; this can help the second drive component 14 to be installed quickly and improve installation efficiency.

[0105] Reference Figure 2 , Figure 3 , Figure 5 , Figure 6 As shown, in one embodiment, the laparoscopic adapter further includes a locking component 15, which is mounted on the fixed base 11. The locking component 15 is configured to connect with the transmission member 122 to lock the connection component 12, or to disengage from the transmission member 122 to unlock the connection component 12.

[0106] In this specific example, the locking component 15 controls the switching between locked and unlocked states of the connecting component 12. When the locking component 15 is connected to the transmission component 122, the connecting component 12 is in the locked state; when the locking component 15 is disengaged from the transmission component 122, the connecting component 12 is in the unlocked state.

[0107] Reference Figure 2 , Figure 3 , Figure 5 As shown, in one embodiment, the locking assembly 15 includes a locking member 151 and a control member 152; the locking member 151 has a first engaging portion 1510, and the transmission member 122 has a second engaging portion 1220; the control member 152 is connected to the locking member 151 and drives the locking member 151 to switch between a first position and a second position.

[0108] When the locking member 151 is in the first position, the first latching part 1510 and the second latching part 1220 engage and the connecting component 12 is in a locked state; when the locking member 151 is in the second position, the first latching part 1510 and the second latching part 1220 disengage and the connecting component 12 is in an unlocked state.

[0109] In this specific example, the connecting assembly 12 is locked by the snap-fit ​​connection between the locking member 151 and the transmission member 122. Optionally, the first snap-fit ​​portion 1510 provided on the locking member 151 can be, for example, a snap-fit ​​protrusion, while the second snap-fit ​​portion 1220 provided on the transmission member 122 can be a snap-fit ​​groove; of course, the first snap-fit ​​portion 1510 can also be a snap-fit ​​groove, and correspondingly, the second snap-fit ​​portion 1220 can be a snap-fit ​​protrusion.

[0110] When the control element 152 acts on the locking element 151 and causes the locking element 151 to reach the first position, the first latching part 1510 and the second latching part 1220 engage, and the connecting assembly 12 is in a locked state. When the control element 152 acts on the locking element 151 and causes the locking element 151 to reach the second position, the first latching part 1510 and the second latching part 1220 disengage, and the connecting assembly 12 is in an unlocked state.

[0111] As described above, the transmission member 122 is a driven gear that meshes with the driving gear 141. When the connecting assembly 12 is in the locked state, the transmission member 122 cannot rotate in its circumferential direction. Through the engagement of the first engaging part 1510 and the second engaging part 1220, the rotation of the transmission member 122 in its circumferential direction can be reliably prevented. The switching movement of the locking member 151 between the first position and the second position can be, for example, a movement in the axial direction of the transmission member 122.

[0112] Reference Figure 2 , Figure 3 , Figure 5As shown, in one embodiment, the control element 152 includes a push rod 1521 and a spring 1522. The fixed base 11 has a receiving groove, the locking element 151 is located outside the receiving groove, and a part of the push rod 1521 is located inside the receiving groove. The push rod 1521 and the locking element 151 are connected in a push-fitting manner.

[0113] The spring 1522 is disposed in the receiving groove, and one end of the spring 1522 along its elastic deformation direction abuts against the fixed base 11 and the other end abuts against the push rod 1521; the push rod 1521 is configured to push the locking member 151 under the action of external force so that the locking member 151 switches from the first position to the second position.

[0114] In this specific example, the receiving groove provided on the fixed base 11 is not only used to install the push rod 1521, but also guides the movement of the push rod 1521 when it is subjected to external force and drives the locking member 151 to move. The elastic force of the spring 1522 allows the push rod 1521 to be stably installed and moved in the receiving groove; optionally, a first boss 1501 is provided on the push rod 1521, and one end of the spring 1522 along its elastic deformation direction abuts against the fixed base 11, and the other end abuts against the first boss 1501. Specifically, the receiving groove is provided on the plate 112 of the fixed base 11.

[0115] Optionally, a snap-fit ​​connection can be used to form a push-fit connection between the push rod 1521 and the locking member 151; that is, one end of the push rod 1521 is snap-fitted to the locking member 151, and the free end of the push rod 1521 away from the locking member 151 is exposed and protrudes from the fixed base 11; when the laparoscopic adapter 1 is installed on the robotic arm, the free end of the push rod 1521 away from the locking member 151 is pushed by the robotic arm and moves closer to the transmission member 122 along the axial direction of the transmission member 122. At the same time, the push rod 1521 lifts up the locking member 151 that is snap-fitted to the transmission member 122, so that the locking member 151 is disengaged from the transmission member 122, thereby switching the connection assembly 12 from the locked state to the unlocked state.

[0116] Reference Figure 7 As shown, the snap-fit ​​connection between the push rod 1521 and the locking member 151 can be specifically as follows: a second boss 1502 is provided on the push rod 1521, and a snap-fit ​​ring groove 1500 is opened at the end of the push rod 1521 used to install the locking member 151. A snap-fit ​​ring 1523 is installed at the snap-fit ​​ring groove 1500, and a snap-fit ​​gap is formed between the snap-fit ​​ring 1523 and the second boss 1502. The locking member 151 is snapped into the snap-fit ​​gap to realize the snap-fit ​​connection between the push rod 1521 and the locking member 151.

[0117] Of course, in other embodiments, the push rod 1521 and the locking member 151 can be connected by an interference fit to achieve a push-fit connection between the push rod 1521 and the locking member 151.

[0118] In addition, the locking member 151 may also include a sliding part 1511, and a sliding groove 101 is formed on the fixed base 11 accordingly. During the process of the push rod 1521 pushing the locking member 151 to move, the sliding part 1511 slides along the sliding groove 101, which plays a guiding role for the movement of the locking member 151.

[0119] According to another embodiment of this application, a laparoscopic endoscope holding system is provided, referring to... Figure 8 As shown, the laparoscopic holding system includes the laparoscopic adapter 1 as described above, as well as a laparoscope 2 and a robotic arm; the laparoscope 2 is detachably connected to the laparoscopic adapter 1, and the laparoscopic adapter 1 is mounted on the robotic arm.

[0120] Because this laparoscopic holding system includes the aforementioned laparoscopic adapter 1, its installation and operation are more convenient and faster.

[0121] According to another embodiment of this application, a control method for a laparoscopic robot is provided, the control method comprising:

[0122] S101. Detect the viewing angle of the laparoscope connected to the robotic arm of the laparoscopic robot;

[0123] S102. Based on the aforementioned perspective, set the limit values ​​of the kinematic parameters of the laparoscopy;

[0124] S103. Detect whether the laparoscope reaches the limit value of the kinematic parameters during the movement. If it does, stop driving the rotation of the laparoscope.

[0125] By adopting this laparoscopic robot control method, it is possible to ensure that the movement of the laparoscope driven by the robotic arm through the laparoscope adapter is within the allowable field of view limit of the laparoscope; thus avoiding the movement of the laparoscope exceeding the field of view limit and adversely affecting the safety of the operation, thereby improving the safety of the operation.

[0126] In one embodiment, the control method further includes:

[0127] The laparoscope's viewing angle is checked to see if it has changed; if so, the kinematic parameter limits are reset.

[0128] In this specific example, when the laparoscopic viewpoint changes, the kinematic parameter limits are promptly reset to prevent the laparoscopic movement from exceeding the viewpoint limits and to ensure the safety of the surgery.

[0129] 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.

[0130] While specific embodiments of this application 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 this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A laparoscopic robotic system, characterized in that, The laparoscopic robot system includes: a robotic arm (01), a detection unit (02), and a control device (03); The control device (03) is communicatively connected to the robotic arm (01), and the control device (03) controls the movement of the robotic arm (01). The robotic arm (01) is equipped with a laparoscopic adapter (1). The detection unit (02) is used to detect the angle of view of the laparoscope connected to the laparoscope adapter (1) and feed the detection result back to the control device (03). The control device (03) sets the kinematic parameter limit value according to the detection result, so that the rotation process of the laparoscope driven by the laparoscope adapter (1) does not exceed the kinematic parameter limit value corresponding to the viewpoint. The laparoscopic adapter (1) includes: Fixed base (11); A connecting assembly (12) is mounted on the fixed base (11). The connecting assembly (12) has a receiving space, through which a portion of the laparoscope's structure passes to allow for detachable connection between the laparoscope and the connecting assembly (12). The connecting assembly (12) includes a constraint member (121) and a transmission member (122). The constraint member (121) can retract or expand radially. The connecting assembly (12) has a locked state and an unlocked state. A first driving member (13) is connected to the constraint member (121); The second driving member (14) is connected to the transmission member (122); When the connecting assembly (12) is in the locked state, the first driving member (13) drives the restraining member (121) to retract radially to lock the laparoscope, or to expand radially to release the laparoscope; When the connecting component (12) is in the unlocked state, the second driving member (14) drives the connecting component (12) to rotate through the transmission member (122), and the connecting component (12) drives the laparoscope to rotate to adjust the viewing angle of the laparoscope.

2. The laparoscopic robotic system according to claim 1, characterized in that, The robotic arm (01) is connected to the control device (03) via remote communication.

3. The laparoscopic robotic system according to claim 1, characterized in that, The detection unit (02) is also used to detect whether the laparoscopic adapter (1) is connected to the laparoscope. When the detection result is yes, the detection unit (02) sends a writable signal to the control device (03). After receiving the writable signal, the control device (03) allows the kinematic parameter limit value to be reset.

4. The laparoscopic robotic system according to claim 1, characterized in that, The first driving member (13) includes a knob part (131) and a connecting part (132). The knob part (131) is fixedly connected to the connecting part (132), and the connecting part (132) is sleeved on the outside of the constraint member (121). The knob (131) is configured to rotate the connecting part (132) under the action of an external force, the connecting part (132) acting on the constraint member (121) to cause the constraint member (121) to contract or expand radially.

5. The laparoscopic robotic system according to claim 1, characterized in that, The constraint member (121) includes a plurality of telescopic blocks (1211) distributed along its circumference, and an expansion joint (1210) is provided between two adjacent telescopic blocks (1211). When the first driving member (13) acts on the constraint member (121) to bring the plurality of telescopic blocks (1211) closer to each other, the constraint member (121) locks the laparoscope; When the first drive member (13) acts on the constraint member (121) to move the plurality of telescopic blocks (1211) away from each other, the constraint member (121) releases the laparoscope.

6. The laparoscopic robotic system according to claim 1, characterized in that, The second driving component (14) includes a driving motor and a driving gear (141). The output shaft of the driving motor is connected to the driving gear (141), and the transmission component (122) is a driven gear that meshes with the driving gear (141).

7. The laparoscopic robotic system according to claim 6, characterized in that, The second driving component (14) further includes a transmission wheel (142), the output shaft of the driving motor is connected to the transmission wheel (142), and the transmission wheel (142) is connected to the drive gear (141).

8. The laparoscopic robotic system according to claim 7, characterized in that, The transmission wheel (142) is provided with a first positioning protrusion (1420), the transmission wheel (142) is mounted on the fixed base (11), the fixed base (11) is provided with a second positioning protrusion (100), and the first positioning protrusion (1420) is configured to abut against the second positioning protrusion (100) to identify the zero position of the transmission wheel (142).

9. The laparoscopic robotic system according to claim 1, characterized in that, The laparoscopic adapter also includes a locking component (15) mounted on the fixed base (11). The locking component (15) is configured to connect with the transmission member (122) to lock the connection component (12), or to disengage from the transmission member (122) to unlock the connection component (12).

10. The laparoscopic robotic system according to claim 9, characterized in that, The locking assembly (15) includes a locking member (151) and a control member (152); the locking member (151) has a first engaging portion (1510), and the transmission member (122) has a second engaging portion (1220). The control element (152) is connected to the locking element (151) and drives the locking element (151) to switch between a first position and a second position; When the locking member (151) is in the first position, the first latching part (1510) and the second latching part (1220) engage and the connecting assembly (12) is in a locked state; When the locking member (151) is in the second position, the first latching part (1510) is separated from the second latching part (1220), and the connecting component (12) is in the unlocked state.

11. The laparoscopic robotic system according to claim 10, characterized in that, The control component (152) includes a push rod (1521) and a spring (1522). The fixed base (11) has a receiving groove. The locking component (151) is located outside the receiving groove, and a part of the push rod (1521) is located inside the receiving groove. The push rod (1521) and the locking component (151) are connected by a push-fitting mechanism. The spring (1522) is disposed in the receiving groove, and one end of the spring (1522) along its elastic deformation direction abuts against the fixed base (11), and the other end abuts against the top rod (1521); The push rod (1521) is configured to push the locking member (151) under the action of an external force to switch the locking member (151) from a first position to a second position.

12. The laparoscopic robotic system according to claim 1, characterized in that, The fixed base (11) includes a base body (111) and a plate body (112), and the base body (111) and the plate body (112) are detachably connected; The base (111) has a first through hole (1110), and the plate (112) has a second through hole (1120). When the base (111) and the plate (112) are connected, the first through hole (1110) and the second through hole (1120) communicate with each other and form a through hole for the connecting assembly (12) to pass through.

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