Surgical robotic system and control processing device

Abstract

The present disclosure relates to a surgical robot system and a control processing device, belonging to the technical field of robots, the system comprising: a surgical operation mechanical unit; an operation control unit; and a control processing device, wherein, in a master-slave mode, the control processing device receives an operation signal from the operation control unit and controls the surgical operation mechanical unit to perform corresponding operations, wherein, in a lock mode, the operation of the surgical operation mechanical unit is locked, wherein the control processing device comprises a display device, which is configured to display the moving track of the surgical operation mechanical unit in the master-slave mode in a first display mode, and display the moving track of the surgical operation mechanical unit in the lock mode in a second display mode, wherein the first display mode is different from the second display mode.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of robotics, and more particularly, to a surgical robot system and a control processing device. BACKGROUND

[0002] With the rapid development of medical devices, some surgical robots have also begun to gradually popularize. The surgical robot usually includes a surgical operation mechanical unit, an operation control unit, and a control processing device, and the surgical robot can be preset with a master-slave mode and a lock mode. In the master-slave mode, the operator can control the operation control unit to act, so that the control processing device outputs an operation signal to the surgical operation mechanical unit, and then the surgical operation mechanical unit can follow the operation control unit to act. When the operation control unit has an excessively large action amplitude, the surgical robot enters the lock mode, and in the lock mode, the operator continues to act the operation control unit, and the surgical operation mechanical unit cannot follow the action. In the actual operation process of the operator, it is difficult to determine that the surgical robot switches from the master-slave mode to the lock mode. SUMMARY

[0003] An object of embodiments of the present disclosure is to provide a new technical solution of a surgical robot system and a control processing device.

[0004] According to a first aspect of the present disclosure, a surgical robot system is provided, the system comprising:

[0005] a surgical operation mechanical unit;

[0006] an operation control unit; and

[0007] a control processing device,

[0008] wherein in the master-slave mode, the control processing device receives an operation signal from the operation control unit and controls the surgical operation mechanical unit to perform a corresponding operation,

[0009] wherein in the lock mode, the operation of the surgical operation mechanical unit is locked,

[0010] wherein the control processing device comprises a display device, the display device being configured to:

[0011] display a movement trajectory of the surgical operation mechanical unit in the master-slave mode in a first display mode; and

[0012] display a movement trajectory of the surgical operation mechanical unit in the lock mode in a second display mode,

[0013] wherein the first display mode is different from the second display mode.

[0014] Optionally, the first display method is a real-scene display method, and the second display method is a method of displaying a virtual movement trajectory through trajectory lines.

[0015] Optionally, the display device displays the master-slave area corresponding to the master-slave mode and the lock area corresponding to the lock mode in different display modes.

[0016] Optionally, the master-slave region includes a first master-slave region adjacent to the locked region and a second master-slave region located outside the first master-slave region, wherein the display device displays the first master-slave region and the second master-slave region in different display modes.

[0017] Optionally, the control processing device automatically causes the display device to display the object in the first master-slave area in a magnified manner when it determines that the surgical operation mechanical unit is located at a position corresponding to the first master-slave area.

[0018] Optionally, the operation control unit includes a brake and an acceleration sensor.

[0019] The control processing device is configured to send a first braking signal to the brake when it detects that the acceleration value represented by the acceleration information generated by the acceleration sensor is greater than a first acceleration threshold.

[0020] The brake stops the movement of the operation control unit based on the first braking signal.

[0021] Optionally, the operation control unit includes a brake and a position sensor.

[0022] The control processing device determines the speed information of the operation control unit based on the position information.

[0023] The control processing device is configured to generate a second braking signal when the speed indicated by the speed information is greater than a first speed threshold.

[0024] The brake stops the movement of the operation control unit based on the second braking signal.

[0025] According to a second aspect of this disclosure, a control processing device for a surgical robot system is also provided, including a processor and a memory, the memory storing instructions, and the instructions controlling the processor to perform the processing of the control processing device as described in the first aspect when the control processing device is running.

[0026] One beneficial effect of the embodiments of the present disclosure is that, in the master-slave mode, the display device can display the movement trajectory of the surgical operating mechanical unit in a first display mode. In the lock mode, the display device can display the movement trajectory of the surgical operating mechanical unit in a second display mode. The two different display modes correspond to different modes, which improves the recognition of the master-slave mode and the lock mode by the operator during the actual operation, so as to facilitate the operator to determine the current mode and perform different operations for different modes.

[0027] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0029] Figure 1 is a schematic diagram of a constituent structure of a surgical robot system to which a surgical operating mechanical unit according to one embodiment can be applied;

[0030] Figure 2 is a schematic diagram of a constituent structure of a surgical operating mechanical unit according to another embodiment;

[0031] Figure 3 is a schematic diagram of a structure of a display device and a master operating hand according to another embodiment;

[0032] Figure 4 is a structural block diagram of a surgical robot system according to another embodiment;

[0033] Figure 5 is a schematic diagram of a hardware structure of an electronic device according to another embodiment. DETAILED DESCRIPTION

[0034] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.

[0035] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the present disclosure or its applications or uses.

[0036] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0037] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Thus, other examples of the example embodiments can have different values.

[0038] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and once an item is defined in one drawing, it is not necessary to discuss it further in subsequent drawings.

[0039] Figure 1 is a schematic diagram of a configuration structure of a surgical robot system according to an embodiment. As shown in Figures 1 to 4 , the system includes a surgical operation mechanical unit 100, a control processing device 200, an operation control unit 300, and a display device 400, and can be applied to a scenario of a surgical robot.

[0040] The operation control unit 300 can include a master operation hand 310 for an operator to grip and convert the gripping action of the operator into an operation signal output.

[0041] The surgical operation mechanical unit 100 can include an arm rotation joint 110, a parallelogram joint 120, a sliding table 130, and an end effector 140. The arm rotation joint 110 is used to adjust the orientation of the parallelogram joint 120, the parallelogram joint 120 is used to adjust the deflection angle of the end effector 140, the sliding table 130 is used to adjust the distance of the end effector 140 deep into the patient's body, and the end effector 140 can be a forceps or a gripping tool to treat the wound of a patient on a surgical table 150. The components in the surgical operation mechanical unit 100 and their respective connection relationships are all prior art, and will not be elaborated here.

[0042] The control processing device 200 can be directly electrically connected with the operation control unit 300, or can be communicatively connected with the operation control unit 300 through a wireless radio such as Bluetooth. The control processing device 200 can process the operation signal input by the operation control unit 300 and generate a corresponding operation instruction, and the control processing device 200 outputs the operation instruction to the surgical operation mechanical unit 100, so that the surgical operation mechanical unit 100 performs corresponding operations such as suturing a wound, removing a tumor, etc. The control processing device 200 can be directly connected with the surgical operation mechanical unit 100, or can be communicatively connected with the surgical operation mechanical unit 100 through a wireless radio such as Bluetooth.

[0043] The display device 400 can include a screen arranged at the operation control unit 300 and facilitating the operator to view, and a screen associated with the endoscope arranged on the certain sliding platform 130. The screen can be one or multiple, which is not limited here. The screen can display the operation state of the surgical operation mechanical unit by the signal output by the control processing device 200, can display the connection state of the operation control unit 300, or can display the picture of the endoscope arranged on the certain sliding platform 130.

[0044] In the embodiments of the present disclosure, the memory of the control processing device is configured to store a computer program for controlling the processor of the control processing device to operate to implement the processing of the control processing device according to any embodiment. The computer program can be designed by the skilled person according to the scheme of the embodiments of the present disclosure. How the computer program controls the processor to operate is known in the art, and thus will not be described in detail here.

[0045] In one embodiment, the surgical robot system includes: a surgical operation mechanical unit; an operation control unit; and a control processing device, wherein in the master-slave mode, the control processing device receives the operation signal from the operation control unit and controls the surgical operation mechanical unit to perform the corresponding operation, wherein in the lock mode, the operation of the surgical operation mechanical unit is locked, wherein the control processing device includes a display device, which is configured to: display the movement trajectory of the surgical operation mechanical unit in the master-slave mode in a first display mode; and display the movement trajectory of the surgical operation mechanical unit in the lock mode in a second display mode, wherein the first display mode is different from the second display mode.

[0046] The control processing device is pre-configured with the first display mode and the second display mode, the first display mode corresponds to the master-slave mode of the surgical robot system, and the second display mode corresponds to the lock mode of the surgical robot system.

[0047] The end of each part of the surgical operation mechanical unit can be provided with a light strip, and the light strip can emit light of different colors. Correspondingly, the first display mode and the second display mode can correspond to the light of different colors on the light strip. For example, in the master-slave mode, the first display mode can be that the light strip of the corresponding part displays green light, and in the lock mode, the second display mode can be that the light strip of the corresponding part displays red light.

[0048] The operation control unit can also be configured with a corresponding audio output unit. Correspondingly, in the master-slave mode, the first display mode can be that the light strip of the corresponding part displays green light, and the second display mode can be that the audio output unit outputs a prompt voice of locking the corresponding part and the light strip of the corresponding part displays red light.

[0049] The display device can also include a screen that displays a movement trajectory reflecting changes in the pose of the surgical operating mechanical unit. Accordingly, in the master-slave mode, the first display mode can be that the control processing device generates a corresponding movement trajectory according to the movement amplitude of the operation signal and displays the movement trajectory on the screen. When the movement amplitude of the operation control unit is too large to cause the surgical operating mechanical unit to move beyond the limit, the surgical robot enters the lock mode, and the second display mode can be that the control processing device generates a corresponding simulation trajectory according to the movement amplitude of the operation signal, and displays the opposite trajectory of the simulation trajectory as a retreat trajectory back to the master-slave mode, and simultaneously displays the simulation trajectory and the retreat trajectory on the screen.

[0050] In general, the surgical robot system can be configured with at least one of the above lamp strip, audio output unit, and screen to achieve that the first display mode is different from the second display mode, thereby improving the recognition of the operator for different modes.

[0051] Specifically, in the master-slave mode, the operator manipulates the active operation hand of the operation control unit to act, so that the operation control unit outputs an operation signal to the control processing device, and the control processing device receives the operation signal output by the control processing device. The control processing device can control the surgical operating mechanical unit to perform corresponding operations. For example, the control processing device receives the operation signal corresponding to the gripping action of the active operation hand grasped by the operator, and in the master-slave mode, the control processing device controls the end effector of the surgical operating mechanical unit to perform a corresponding gripping action. At this time, the display device can display the action and movement trajectory of the end effector through one or more screens, and the lamp strip on the end effector can display green light. In the lock mode, the control processing device identifies that the movement amplitude of the end effector is too large to exceed the limit, and the control processing device displays red light through the lamp strip on the end effector, displays the simulation trajectory and the retreat trajectory of the end effector on one or more screens of the display device, and outputs corresponding prompt voice through the audio output unit to remind the operator that the surgical robot system has switched from the master-slave mode to the lock mode.

[0052] In one embodiment, the first display mode is a real scene display mode, and the second display mode is a mode of displaying a virtual movement trajectory through a trajectory line.

[0053] The real scene display can display the action of each part of the surgical operating mechanical unit captured by the camera and display it through the screen, and the virtual movement trajectory can be a corresponding virtual movement trajectory generated by the operation control unit through different sensing devices such as pose sensors and infrared sensors to obtain the pose changes of each part of the surgical operating mechanical unit.

[0054] Specifically, the screen displaying the movement trajectory can display the movement trajectory reflecting the pose change of the surgical operating mechanical unit in a first display mode or a second display mode. For example, the control processing device determines whether the surgical operating mechanical unit is out of limit according to the motion amplitude of the master operating hand. When the motion amplitude of the pose change reflected by the movement trajectory is not out of limit, the surgical operating mechanical unit enters the master-slave mode, and the display device displays in the first display mode. The display device can directly display a picture and display the movement trajectory of the surgical operating mechanical unit on the picture. The color of the trajectory line of the movement trajectory can be green, and the type of the trajectory line can be a solid line, so as to assist the user in operation. When the control processing device identifies that the motion amplitude of the master operating hand is out of limit, the control processing device switches from the master mode to the lock mode. At this time, part or all of the components of the surgical operating mechanical unit no longer follow the operation of the control unit. That is, one or more components will be locked in the case of out-of-limit motion amplitude, and the screen displays that the components are locked. The display mode of the locked components can be that the color and / or brightness of the identification of the components on the screen changes. The association between components can be set by human, which is not limited here. At the same time, the pose change of each component of the surgical operating mechanical unit is reflected according to the motion amplitude of the master operating hand, and the corresponding simulation trajectory is displayed on the display device. The color of the trajectory line of the simulation trajectory can be gray, and the type of the trajectory line can be a dashed line. The retreat line of the above-mentioned retreat trajectory can be green, and the type of the trajectory line can be a dotted line. In other words, different trajectory lines correspond to different modes, which further improves the recognition of the master-slave mode and the lock mode, so as to improve the smoothness of the operation of the operator.

[0055] In one embodiment, the display device displays the master-slave region corresponding to the master-slave mode and the lock region corresponding to the lock mode in different display modes.

[0056] Specifically, the different display modes can be that different areas of the screen are displayed, different colors of the light strips on the surgical operating mechanical units are displayed, and the like, which are not limited here. Correspondingly, the screen in the display device that displays the moving track can have the function of displaying different areas. For example, the control processing device can determine the master-slave area and the lock area corresponding to the limit position of each part of the surgical operating mechanical unit according to the limit position of each part of the surgical operating mechanical unit, that is, when the moving track reaches the limit position, the master-slave mode is switched to the lock mode, and the part of the screen displaying the simulated track is located in the lock area. When the limit position is not reached, the screen displays the moving track in the master-slave area in the master-slave mode. The master-slave area corresponding to the master-slave mode and the lock area corresponding to the lock mode are determined by the different colors of the light strips, for example, the control processing device can display the light strip of the part of the surgical operating mechanical unit corresponding to the moving track in green when the moving track does not reach the limit position according to the limit position of the active mechanical hand, and display the light strip in red when the moving track reaches the limit position. In other words, by displaying the corresponding master-slave area and lock area through the above different display modes, the operator can effectively obtain the information of the mode change, thereby improving the accuracy of the operator's operation in the actual operation process.

[0057] In one embodiment, the master-slave area includes a first master-slave area adjacent to the lock area and a second master-slave area located outside the first master-slave area, and the display device displays the first master-slave area and the second master-slave area in different display modes.

[0058] Specifically, the master-slave area of the screen that displays different areas can include a first master-slave area adjacent to the lock area and a second master-slave area located outside the first master-slave area. The control processing device can set different colors for the first master-slave area, the second master-slave area, and the lock area, respectively, so that the screen can display the first master-slave area, the second master-slave area, and the lock area corresponding to different colors, respectively, for example, the screen can display green in the range corresponding to the first master-slave area, display yellow in the range corresponding to the second master-slave area, and display gray in the range corresponding to the lock area. Different areas correspond to different display modes, so that the operator can actively adjust the movement amplitude of the active mechanical hand according to the range corresponding to each area.

[0059] In one example, the screen of the control processing device also displays an indication representing each component of the surgical operating mechanical unit. The control processing device can set the first master-slave region, the second master-slave region and the lock region to be the same color, and in the case that each component of the surgical operating mechanical unit moves in different master-slave regions, the screen displays the indication of the corresponding component of the surgical operating mechanical unit in different colors. For example, in the case that each component of the surgical operating mechanical unit moves in the first master-slave region, the indication corresponding to each component is displayed in green on the screen. In the case that one or more components of the surgical operating mechanical unit move in the second master-slave region, the indication corresponding to the component is displayed in yellow on the screen. In other words, by displaying each component of the surgical operating mechanical unit differently, the operator can more intuitively determine whether the surgical operating mechanical unit is out of limits.

[0060] In one embodiment, the control processing device automatically causes the display device to display the object in the first master-slave region in an enlarged manner in the case that it is determined that the surgical operating mechanical unit is located in a position corresponding to the first master-slave region.

[0061] Specifically, the display device is configured with a screen associated with an endoscope on one of the carriages, and the endoscope can be inserted into the patient's body and display the condition inside the patient's body. At the same time, the endoscope has a zooming function, and the operator can control the operation control unit to change the magnification of the endoscope, or the control processing device can be pre-set with the corresponding magnification. The control processing device determines that the surgical operating mechanical unit is located in a position corresponding to the first master-slave region to control the endoscope to automatically zoom in the corresponding magnification, and the screen associated with the endoscope can display the zoomed-in local condition of the patient's body in the first master-slave region. In other words, when the surgical operating mechanical unit moves into the first master-slave region, the patient can be treated, and the control processing device automatically zooms in the local condition of the patient's body to reduce the situation that the active operating hand deviates from the operator's manual adjustment of the endoscope, thereby further improving the accuracy of the operator in the actual operation process.

[0062] In one embodiment, the operation control unit comprises a brake and an acceleration sensor, and the control processing device is configured to: when it is detected that the acceleration value represented by the acceleration information generated by the acceleration sensor is greater than a first acceleration threshold, send a first brake signal to the brake, and the brake stops the movement of the operation control unit based on the first brake signal.

[0063] Specifically, the operation control unit comprises a brake and an acceleration sensor, the acceleration sensor can be arranged on the surgical operation mechanical unit and used to output corresponding acceleration information to the control processing device according to the movement amplitude of each part of the surgical operation mechanical unit. The acceleration information can be output to the control processing device in the form of an electrical signal, and the control processing device can determine the acceleration value represented by the acceleration information according to the received acceleration information. The control processing device is also pre-configured with a first acceleration threshold value. When the control processing device identifies that the acceleration value corresponding to a part of the surgical operation mechanical unit exceeds the corresponding first acceleration threshold value, the control processing device can consider that the acceleration of the part is out of limit, and send a first brake signal to the brake to make the brake stop the movement of the operation control unit based on the first brake signal. In other words, by setting the acceleration sensor and the brake, the possibility of the surgical operation mechanical unit damaging the patient due to excessive movement amplitude is effectively reduced.

[0064] In one embodiment, the operation control unit comprises a brake and a position sensor, wherein the control processing device determines the speed information of the operation control unit based on the position information, and the control processing device is configured to generate a second brake signal when the speed represented by the speed information is greater than a first speed threshold value, and the brake stops the movement of the operation control unit based on the second brake signal.

[0065] Specifically, the operation control unit comprises a brake and a position sensor, the position sensor can determine the position information of each part of the surgical operation mechanical unit, wherein the position information can include the distance and direction of the movement of each part of the surgical operation mechanical unit. And used to determine the time length of the distance according to the time sensor configured by the operation control unit to obtain corresponding speed information, wherein the speed information can include the speed and direction of each part. The control processing device is also pre-configured with a first speed threshold value. When the control processing device identifies that the speed corresponding to a part of the surgical operation mechanical unit exceeds the corresponding first speed threshold value, the control processing device can consider that the speed of the part is out of limit, and send a second brake signal to the brake to make the brake stop the movement of the operation control unit based on the second brake signal. In other words, by setting the position sensor and the brake, the situation that the surgical operation mechanical unit damages the patient due to excessive movement amplitude is further reduced.

[0066] Figure 5 is a schematic diagram of the hardware structure of the control processing device according to another embodiment.

[0067] As Figure 5 shown, the control processing device 500 comprises a processor 510 and a memory 520 for storing executable computer programs, and the processor 510 is used to execute the method of any method embodiment as described above according to the control of the computer programs.

[0068] The control processing device 500 can be the control processing device 200 described above.

[0069] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present application.

[0070] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or punched tape, a

[0071] The computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0072] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0073] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0074] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or nonvolatile memory, or a suitable combination of the different types of computer readable storage media. The computer readable program instructions can also be downloaded to a computer, other programmable data processing apparatus, or other device from a computer readable storage medium or to an external computer or external storage device via a data signal that can be transmitted for example via a wired medium or a wireless medium such as the Internet or Wireless Application Protocol (WAP) signaling.

[0075] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0076] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logic functions. In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0077] Embodiments of the application have been described above, and the description is intended to be illustrative of the embodiments of the application and not exhaustive. Numerous modifications and adaptations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The scope of the application is defined by the appended claims.

Claims

1. A surgical robot system, comprising: a surgical operation mechanical unit; an operation control unit; and a control processing device, wherein in a master-slave mode, the control processing device receives an operation signal from the operation control unit and controls the surgical operation mechanical unit to perform a corresponding operation, wherein in a lock mode, the operation of the surgical operation mechanical unit is locked, wherein the control processing device includes a display device configured to: display a movement trajectory of the surgical operation mechanical unit in the master-slave mode in a first display manner; and display a movement trajectory of the surgical operation mechanical unit in the lock mode in a second display manner, wherein the first display manner is different from the second display manner; the display device displays a master-slave region corresponding to the master-slave mode and a lock region corresponding to the lock mode in different display manners. the first display manner is a real scene display manner, and the second display manner is a virtual movement trajectory display manner through a trajectory line.

2. The surgical robotic system of claim 1, wherein, the master-slave region includes a first master-slave region adjacent to the lock region and a second master-slave region outside the first master-slave region, 3. The surgical robotic system of claim 1, wherein, wherein the display device displays the first master-slave region and the second master-slave region in different display manners. the control processing device automatically causes the display device to display an object in the first master-slave region in an enlarged manner when it is determined that the surgical operation mechanical unit is located at a position corresponding to the first master-slave region.

4. The surgical robotic system of claim 3, wherein, the operation control unit includes a brake and an acceleration sensor, 5. The surgical robotic system of claim 4, wherein, wherein the control processing device is configured to send a first brake signal to the brake when it is detected that an acceleration value represented by acceleration information generated by the acceleration sensor is greater than a first acceleration threshold value, wherein the brake stops movement of the operation control unit based on the first brake signal. the operation control unit includes a brake and a position sensor, 6. The surgical robotic system of claim 4, wherein, wherein the control processing device determines speed information of the operation control unit based on position information of each part of the surgical operation mechanical unit determined by the position sensor, wherein the control processing device is configured to generate a second brake signal when a speed represented by the speed information is greater than a first speed threshold value, wherein the brake stops movement of the operation control unit based on the second brake signal. 7.A control processing device for a surgical robot system, comprising a processor and a memory, the memory storing instructions, and when the control processing device is running, the instructions control the processor to perform the processing of the control processing device described in claim 1. ​

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