Surgical robotic system and control processing device

Abstract

The application relates to a surgical robot system and a control processing device, the surgical robot system comprising a surgical operation mechanical unit, an operation control unit and the control processing device; the control processing device receives an operation signal from the operation control unit and controls the surgical operation mechanical unit to move from a current position and a current posture to an expected position and an expected posture according to the operation signal; in the case that the surgical operation mechanical unit is in a locked state and the surgical operation mechanical unit moves in a direction close to a target direction, the control processing device controls the surgical operation mechanical unit to move from the current position and the current posture to the expected position and the expected posture; in the case that the surgical operation mechanical unit is in the locked state and the surgical operation mechanical unit moves in a direction away from the target direction, the control processing device controls the surgical operation mechanical unit to keep the locked state and generates prompt information about the surgical operation mechanical unit keeping the locked state.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a surgical robot system and control processing device. Background Technology

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

[0003] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. A minimally invasive surgical robot typically includes an operation control unit and a surgical operating mechanism. The operation control unit sends control commands to the surgical operating mechanism via a control processing device based on the surgeon's instructions. The surgical operating mechanism responds to these commands and performs the corresponding surgical procedures. However, if the surgical operating mechanism moves beyond a predetermined position while responding to the control commands, the connection between the surgical operating mechanism and the control processing device will be directly disconnected, affecting the operator's control over the surgical operating mechanism and compromising safety. Summary of the Invention

[0004] One objective of this application is to provide a new technical solution for a surgical robot system and control processing device.

[0005] According to a first aspect of this application, a surgical robot system is provided, including a surgical operation mechanical unit;

[0006] Operation control unit; and

[0007] A control processing device receives operation signals from the operation control unit and controls the surgical operation mechanical unit to move from the current position and current posture to the expected position and expected posture according to the operation signals;

[0008] When the surgical operating mechanical unit is in a locked state and moves towards the target direction, the control processing device controls the surgical operating mechanical unit to move from its current position and current posture to a desired position and desired posture; the target direction is the direction that meets the unlocking conditions.

[0009] When the surgical operating mechanical unit is in a locked state and the surgical operating mechanical unit is moving away from the target direction, the control processing device controls the surgical operating mechanical unit to remain in the locked state and generates a prompt message regarding the surgical operating mechanical unit remaining in the locked state.

[0010] Optionally, the unlocking conditions include at least one of the following:

[0011] The attitude deviation between the current attitude and the expected attitude of the surgical operation mechanical unit is less than a preset deviation threshold.

[0012] The intended posture of the surgical operation mechanical unit is within its limit posture;

[0013] The first parameter of the surgical robot system is less than a preset parameter, wherein the first parameter is a parameter used to measure the singularity of the surgical robot system.

[0014] Optionally, the surgical manipulation mechanical unit includes multiple joints;

[0015] The intended posture of the surgical operation mechanical unit is within its limit posture, including:

[0016] The expected posture of any joint of the surgical operation mechanical unit is within the limit posture.

[0017] Optionally, the prompt parameters of the prompt information are proportional to the target value.

[0018] Optionally, the target value includes at least one of the following:

[0019] The first posture deviation value of the surgical operation mechanical unit, wherein the first posture deviation value is the posture deviation value between the current posture and the expected posture of the surgical operation mechanical unit;

[0020] The first posture of the surgical operation mechanical unit, wherein the first posture is a posture outside the extreme posture among the expected postures of the surgical operation mechanical unit;

[0021] The second parameter of the surgical robot system, wherein the second parameter is a parameter in the first parameter that is greater than or equal to a preset parameter.

[0022] Optionally, the control processing device includes a display device for displaying the prompt information.

[0023] Optionally, the operation control unit includes a force feedback device, and the prompt information includes force feedback information;

[0024] The force feedback device receives the force feedback information and generates force feedback.

[0025] Optionally, when the surgical operation mechanical unit is in a locked state, the force feedback information includes first force feedback information, and the force feedback device includes a damper;

[0026] The damping value of the damper is proportional to the target value.

[0027] Optionally, when the surgical operation mechanical unit is in the unlocked state, the force feedback information includes second force feedback information, and the force feedback device includes a traction device;

[0028] The traction device guides the operation control unit to move based on the second force feedback information.

[0029] According to a second aspect of this application, 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 execute the processing steps of the control processing device described in the first aspect of this application when the control processing device is running.

[0030] One beneficial effect of this application embodiment is that the current position and current posture of the surgical operating mechanical unit are known. Based on the current position and current posture of the surgical operating mechanical unit, and the operation signal output by the operation control unit, the expected position and expected posture of the surgical operating mechanical unit can be determined. When the surgical operating mechanical unit is in a locked state, if the operation signal indicates that the surgical operating mechanical unit moves in a direction that meets the unlocking conditions of the surgical operating mechanical unit, the control processing device controls the surgical operating mechanical unit to move according to the operation signal. If the operation signal indicates that the surgical operating mechanical unit moves in a direction that does not meet the unlocking conditions of the surgical operating mechanical unit, the control processing device controls the surgical operating mechanical unit to remain locked and generates a prompt message to remind the operator that the surgical operating mechanical unit is in a locked state. This prevents the operator from continuing to operate the surgical operating mechanical unit in a direction that does not meet the unlocking conditions while the surgical operating mechanical unit is locked, ensuring the reliability of the connection between the surgical operating mechanical unit and the control processing device, and does not affect the operator's normal operation of the surgical operating mechanical unit, thus ensuring good safety.

[0031] Other features and advantages of the embodiments of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0032] 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 embodiments of the present application.

[0033] Figure 1 This is a structural block diagram of a surgical robot system provided in one embodiment of this application;

[0034] Figure 2 This is a schematic diagram of the composition structure of the surgical robot system provided in the embodiments of this application;

[0035] Figure 3 This is one of the schematic diagrams of the composition structure of the surgical operation mechanical unit provided in the embodiments of this application;

[0036] Figure 4 This is a second schematic diagram of the composition of the surgical operation mechanical unit provided in the embodiments of this application;

[0037] Figure 5 This is a schematic diagram of the composition structure of the operation control unit provided in the embodiments of this application;

[0038] Figure 6 This is a structural block diagram of a surgical robot system provided in another embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the control and processing device provided in the embodiments of this application. Detailed Implementation

[0040] Various exemplary embodiments of this 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 invention.

[0041] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] Figure 1 This is a structural block diagram of a surgical robot system provided in one embodiment of this application. For example... Figures 1 to 6As shown, the surgical robot system includes a surgical operation mechanical unit 100, an operation control unit 300, and a control processing device 200. The control processing device 200 receives operation signals from the operation control unit 300 and controls the surgical operation mechanical unit 100 to move from the current position and current posture to the expected position and expected posture according to the operation signals.

[0046] When the surgical operation mechanical unit 100 is in a locked state and moves towards the target direction, the control processing device 200 controls the surgical operation mechanical unit 100 to move from the current position and current posture to the expected position and expected posture; the target direction is the direction that meets the unlocking conditions.

[0047] When the surgical operating mechanical unit 100 is in a locked state and the surgical operating mechanical unit 100 is moving in a direction away from the target direction, the control processing device 200 controls the surgical operating mechanical unit 100 to remain in the locked state and generates a prompt message about the surgical operating mechanical unit 100 remaining in the locked state.

[0048] In this embodiment, the operation control unit 300 may include an operator hand 310, which is used for the operator to grasp. The operator grasps the operator hand 310 and controls the operation of the operator hand 310. During the operation of the operator hand 310, an operation signal is generated according to the operation performed by the operator on the operator hand 310, and the operation signal is sent to the control processing device 200.

[0049] In this embodiment, the control processing device 200 can be directly electrically connected to the operation control unit 300, or it can communicate with the operation control unit 300 via wireless means such as Bluetooth. The operation control unit 300 outputs operation signals to the control processing device 200. The control processing device 200 processes the operation signals to generate corresponding control commands, and controls the surgical operation mechanical unit 100 to move from its current position and posture to a desired position and posture through the control commands. This allows the surgical operation mechanical unit 100 to perform surgery on the patient at the desired position and posture. The surgical procedure may include suturing wounds, removing lumps, or other surgical procedures.

[0050] In this embodiment, the control processing device 200 can be directly electrically connected to the surgical operating mechanical unit 100, or it can communicate with the surgical operating mechanical unit 100 via wireless means such as Bluetooth.

[0051] In this embodiment, the surgical manipulation unit 100 may include an instrument joint 110, an arm joint 120, a slide 130, and an end effector 140. The instrument joint 110 includes a pitch joint 111, a rotation joint 112, and a yaw joint 113. The arm joint 120 includes an arm rotation joint 121 and a parallelogram joint 122. The arm rotation joint 121 is used to adjust the orientation of the parallelogram joint 122, and the parallelogram joint 122 is used to adjust the deflection angle of the end effector 140. The slide 130 is used to adjust the distance the end effector 140 penetrates into the patient's body. The end effector 140 may be a forceps or a gripping tool for treating the patient's wound. The various components and their connections in the surgical manipulation unit 100 described here are all prior art and will not be elaborated upon further.

[0052] In this embodiment, the control processing device 200 receives an operation signal from the operation control unit 300. The operation signal includes movement information regarding the operation control unit. The movement information may include a steering operation signal and a movement operation signal. The steering operation signal may be a large-amplitude rotation signal for the arm rotation joint 121, the parallelogram joint 122, or the end effector 140; the movement operation signal may be a movement signal for the slide table 130, the arm rotation joint 121, the parallelogram joint 122, or the end effector 140.

[0053] In this embodiment, the current position and orientation of the surgical operating mechanical unit 100 are known. Based on the current position and orientation of the surgical operating mechanical unit 100 and the operation signal output by the operation control unit 300, the expected position and orientation of the surgical operating mechanical unit 100 can be determined. When the surgical operating mechanical unit 100 is in a locked state, if the operation signal instructs the surgical operating mechanical unit 100 to move in a direction that meets the unlocking conditions of the surgical operating mechanical unit 100, the control processing device 200 controls the surgical operating mechanical unit 100 to move according to the operation signal; if the operation signal instructs the surgical operating mechanical unit 100 to move in a direction that meets the unlocking conditions of the surgical operating mechanical unit 100, the control processing device 200 controls the surgical operating mechanical unit 100 to move according to the operation signal. If the surgical operating mechanical unit 100 moves in a direction that does not meet the unlocking conditions, the control processing device 200 will keep the surgical operating mechanical unit 100 locked and generate a prompt message to inform the operator that the surgical operating mechanical unit 100 is in a locked state. This prevents the operator from continuing to operate the surgical operating mechanical unit in a direction that does not meet the unlocking conditions while the surgical operating mechanical unit 100 is locked, ensuring the reliability of the connection between the surgical operating mechanical unit 100 and the control processing device 200, and does not affect the operator's normal operation of the surgical operating mechanical unit, thus ensuring good safety.

[0054] In one embodiment, the unlocking condition includes at least one of the following: the posture deviation between the current posture and the expected posture of the surgical manipulation mechanical unit is less than a preset deviation threshold; the expected posture of the surgical manipulation mechanical unit is within the limit posture; and the first parameter of the surgical robot system is less than a preset parameter, wherein the first parameter is a parameter used to measure the singularity of the surgical robot system.

[0055] In this embodiment, it should be noted that when the surgical operation mechanical unit 100 is in a locked state, if the posture deviation between the expected posture and the current posture of the surgical operation mechanical unit 100 is less than a preset deviation value, or the expected posture of the surgical operation mechanical unit 100 is within the limit posture, or the first parameter of the surgical robot system is less than the preset parameter, it indicates that the surgical operation mechanical unit 100 moves in the unlocking direction of the surgical operation mechanical unit 100 according to the operation signal.

[0056] In this embodiment, when the surgical operation mechanical unit 100 moves toward the unlocking direction of the surgical operation mechanical unit 100, the control processing device 200 can control the surgical operation mechanical unit 100 to move from the current position and current posture to the expected position and expected posture according to the operation information, so as to unlock the surgical operation mechanical unit 100.

[0057] In this embodiment, the preset parameters can be set by the operator, and this embodiment does not impose any specific limitations on this.

[0058] In one embodiment, the surgical manipulation unit includes multiple joints; the expected posture of the surgical manipulation unit is within the limit posture, including: the expected posture of any joint of the surgical manipulation unit is within the limit posture.

[0059] In this embodiment, the surgical manipulation unit 100 includes a pitch joint 111, a rotation joint 112, a yaw joint 113, an arm rotation joint 121, a parallelogram joint 122, a slide 130, and an end effector 140. The expected posture of the surgical manipulation unit 100 being within its limit posture means that the expected posture of the pitch joint 111 is within its limit posture, the expected posture of the rotation joint 112 is within its limit posture, the expected posture of the yaw joint 113 is within its limit posture, the expected posture of the arm rotation joint 121 is within its limit posture, the expected posture of the parallelogram joint 122 is within its limit posture, the expected posture of the slide 130 is within its limit posture, and the expected posture of the end effector 140 is also within its limit posture.

[0060] In one embodiment, the prompt parameter of the prompt information is proportional to the target value.

[0061] In one embodiment, the target value includes at least one of the following: a first posture deviation value of the surgical manipulation mechanical unit, wherein the first posture deviation value is the posture deviation value between the current posture and the expected posture of the surgical manipulation mechanical unit; a first posture of the surgical manipulation mechanical unit, wherein the first posture is a posture outside the extreme posture among the expected postures of the surgical manipulation mechanical unit; and a second parameter of the surgical robot system, wherein the second parameter is a parameter among the first parameters that is greater than or equal to a preset parameter.

[0062] In this embodiment, the prompt parameters may include parameters such as the font size and volume of the prompt message.

[0063] In this embodiment, during actual use, the prompt parameters of the prompt message are proportional to the target value. For example, the larger the first posture deviation value, the louder the font and sound of the prompt message; the smaller the first posture deviation value, the softer the font and sound of the prompt message.

[0064] In this embodiment, by setting the prompt parameters of the prompt information to be directly proportional to the target value, it is convenient to provide operators with different levels of prompts according to the size of the target value.

[0065] In one embodiment, the control processing device includes a display device for displaying the prompt information.

[0066] In this embodiment, the control processing device 200 further includes a display device 210, which may include a display screen arranged at the operation control unit 300 and convenient for the operator to view. There may be one or more display screens, which is not limited here.

[0067] In this embodiment, the display screen can be used to display a prompt message indicating that the surgical operating mechanical unit 100 is in a locked state, to display the operating status of the surgical operating mechanical unit 100, and to display the connection status of the operating control unit 300.

[0068] In one embodiment, the operation control unit 300 includes a force feedback device 320, and the prompt information includes force feedback information; wherein, the force feedback device 320 receives the force feedback information and generates force feedback.

[0069] In this embodiment, the operation control unit 300 also includes a force feedback device 320. When the operator grasps the operating hand 310 and manipulates its movement, the control processing device 200 can acquire the movement information of the operation control unit 300. This movement information can be the position and direction of movement of the operating hand 310 manipulated by the operator. The control processing device 200 can generate force feedback information based on this movement information and output it to the force feedback device 320, allowing the force feedback device 320 to provide force feedback to the operator's hand. This force feedback can be provided by the force feedback device 320, mounted on the operating hand 310, to the operator, thereby improving the accuracy of the operation. Similarly, the force feedback device 320 can also adjust the force feedback of the buttons and joints on the operating hand 310. In this case, the force feedback is resistance. When the resistance of the buttons or joints on the operating hand 310 is adjusted to its maximum, the operator's manipulation of the operation control unit can be restricted, preventing the corresponding parts of the surgical operation mechanical unit from moving, thus improving the safety of the surgical robot during actual operation.

[0070] In one embodiment, when the surgical operating mechanical unit is in a locked state, the force feedback information includes first force feedback information, and the force feedback device includes a damper; wherein the damping value of the damper is proportional to the target value.

[0071] In this embodiment, the force feedback device 320 includes a damper 321. When the surgical operation mechanical unit 100 is in a locked state, the control processing device 200 generates first force feedback information based on the movement information. The first force feedback information is used to instruct the damper 321 to provide resistance to the operator, so that the damper 321 configured on the operator hand 310 can increase the damping of the operation control unit 300 based on the first force feedback information, limiting the range of motion of the operator manipulating the operator hand 310, thereby further improving the safety of the surgical robot in actual operation.

[0072] In one embodiment, when the surgical operation mechanical unit is in an unlocked state, the force feedback information includes second force feedback information, and the force feedback device includes a traction device; wherein the traction device guides the operation control unit to move based on the second force feedback information.

[0073] In this embodiment, the force feedback device 320 includes a traction device 322. When the surgical operation mechanical unit 100 is in the unlocked state, the control processing device 200 generates second force feedback information based on the movement information. The second force feedback information is used to instruct the traction device 322 to provide traction force to the operator, so that the traction device 322 configured on the operator hand 310 can provide a traction force to the operation control unit 300 based on the second force feedback information, guiding the operator to manipulate the operator hand 310, thereby further improving the accuracy of the actual operation of the surgical robot.

[0074] like Figure 7 As shown, the control processing device 700 includes a processor 710 and a memory 720. The memory 720 is used to store an executable computer program, and the processor 710 is used to execute the processing steps of the control processing device as described above, according to the control of the computer program.

[0075] In this embodiment, the control processing device 700 may be the control processing device 200 described above.

[0076] In the embodiments of this disclosure, the memory 720 of the control processing device 700 is used to store a computer program for controlling the processor 710 of the control processing device 700 to operate and implement the processing steps of the control processing device according to any embodiment. Those skilled in the art can design computer programs based on the schemes of the embodiments of this disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

[0077] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0078] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0079] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0080] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0081] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0082] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0083] Computer-readable program instructions may 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, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0084] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation in a combination of software and hardware are equivalent.

[0085] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A surgical robot system, characterized in that, include: Surgical operating mechanical unit; Operation control unit; as well as A control processing device receives operation signals from the operation control unit and controls the surgical operation mechanical unit to move from the current position and current posture to the expected position and expected posture according to the operation signals; When the surgical operating mechanical unit is in a locked state and the surgical operating mechanical unit is moving in a direction closer to the target, the control processing device controls the surgical operating mechanical unit to move from the current position and current posture to the expected position and expected posture. The target direction is the direction that meets the unlocking conditions; When the surgical operating mechanical unit is in a locked state and the surgical operating mechanical unit is moving away from the target direction, the control processing device controls the surgical operating mechanical unit to remain in the locked state and generates a prompt message regarding the surgical operating mechanical unit remaining in the locked state.

2. The surgical robot system according to claim 1, characterized in that, The unlocking conditions include at least one of the following: The attitude deviation between the current attitude and the expected attitude of the surgical operation mechanical unit is less than a preset deviation threshold. The intended posture of the surgical operation mechanical unit is within its limit posture; The first parameter of the surgical robot system is less than a preset parameter, wherein the first parameter is a parameter used to measure the singularity of the surgical robot system.

3. The surgical robot system according to claim 1, characterized in that, The surgical operation mechanical unit includes multiple joints; The intended posture of the surgical operation mechanical unit is within its limit posture, including: The expected posture of any joint of the surgical operation mechanical unit is within the limit posture.

4. The surgical robot system according to claim 2, characterized in that, The prompt parameters of the prompt information are proportional to the target value.

5. The surgical robot system according to claim 4, characterized in that, The target value includes at least one of the following: The first posture deviation value of the surgical operation mechanical unit, wherein the first posture deviation value is the posture deviation value between the current posture and the expected posture of the surgical operation mechanical unit; The first posture of the surgical operation mechanical unit, wherein the first posture is a posture outside the extreme posture among the expected postures of the surgical operation mechanical unit; The second parameter of the surgical robot system, wherein the second parameter is a parameter in the first parameter that is greater than or equal to a preset parameter.

6. The surgical robot system according to claim 1, characterized in that, The control processing device includes a display device for displaying the prompt information.

7. The surgical robot system according to claim 1, characterized in that, The operation control unit includes a force feedback device, and the prompt information includes force feedback information; The force feedback device receives the force feedback information and generates force feedback.

8. The surgical robot system according to claim 7, characterized in that, When the surgical operation mechanical unit is in a locked state, the force feedback information includes first force feedback information, and the force feedback device includes a damper; The damping value of the damper is proportional to the target value.

9. The surgical robot system according to claim 7, characterized in that, When the surgical operation mechanical unit is in the unlocked state, the force feedback information includes second force feedback information, and the force feedback device includes a traction device; The traction device guides the operation control unit to move based on the second force feedback information.

10. A control processing device for a surgical robot system, comprising a processor and a memory, the memory storing instructions, and the instructions controlling the processor to execute the processing steps of the control processing device as described in claim 1 when the control processing device is running.

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