Control method and device of surgical robot and surgical robot

Abstract

The present disclosure relates to a surgical robot control method, device and surgical robot, and belongs to the technical field of surgical robots. The method comprises: receiving an operation signal output by an operation control unit; in the case where a response action of a first component on which the operation signal is mapped exceeds a set limit position and is locked, determining an unlocking action of a second component corresponding to the response action of the first component; wherein the first component and the second component are components of a surgical operation mechanical unit; generating a first display instruction according to the response action of the first component; wherein the first display instruction is used to control a display device to display a first prompt picture that the first component exceeds the set limit position and is locked in a set first display area; generating a second display instruction according to the unlocking action of the second component; wherein the second display instruction is used to control the display device to display a second prompt picture of the unlocking action of the second component in a set second display area.

Description

TECHNICAL FIELD

[0001] The embodiment of the present disclosure relates to the technical field of surgical robots, and more particularly, to a control method and device of a surgical robot and the surgical robot. BACKGROUND

[0002] With the rapid development of surgical robots, the surgical robot includes a surgical operation mechanical unit and an operation control unit. A user can control the operation control unit, so that the surgical operation mechanical unit can perform different actions. The display device configured by the surgical robot can display the action of the surgical operation mechanical unit. In the prior art, the display device can display the action under the real scene of the surgical mechanical unit, but it is difficult to instruct the user to perform the unlocking operation when the surgical mechanical unit is locked beyond the limit position. SUMMARY

[0003] One object of the embodiment of the present disclosure is to provide a new technical solution of a control method and device of a surgical robot and the surgical robot.

[0004] According to a first aspect of the present disclosure, a control method of a surgical robot is provided, which comprises:

[0005] receiving an operation signal output by an operation control unit;

[0006] in the case that a response action of a first component to which the operation signal is mapped exceeds a set limit position and is locked, determining an unlocking action of a second component corresponding to the response action of the first component; wherein the first component and the second component are components of a surgical operation mechanical unit;

[0007] generating a first display instruction according to the response action of the first component; wherein the first display instruction is used to control a display device to display a first prompt picture that the first component is locked beyond the set limit position in a set first display area;

[0008] generating a second display instruction according to the unlocking action of the second component; wherein the second display instruction is used to control the display device to display a second prompt picture of the unlocking action of the second component in a set second display area.

[0009] Optionally, after receiving the operation signal output by the operation control unit, the method further comprises:

[0010] determining a response action of a first component to which the operation signal is mapped according to a preset mapping relationship;

[0011] determining a first view angle of the surgical operation mechanical unit displayed in a first display area of the display device according to a direction and an amplitude of the response action of the first component.

[0012] generate a third display instruction according to the direction and the amplitude of the response action of the first component under the first visual angle; wherein the third display instruction is used to control the display device to display a display picture of the first component under the first visual angle in a set first display area.

[0013] Optionally, the display picture is a picture displaying the relative position of the first component on the surgical operating mechanical unit under the first visual angle and the moving track of the response action of the first component; wherein the moving track of the response action reflects the direction and the amplitude of the response action.

[0014] Optionally, the second component is a plurality of second components;

[0015] The generating of the second display instruction according to the unlocking action of the second component comprises:

[0016] determining a second visual angle of each of the second components displayed in a second display area by the display device according to the relative position of each of the second components on the surgical operating mechanical unit;

[0017] generating a second display instruction according to the unlocking sequence corresponding to the unlocking action of each of the second components and the relative position of each of the second components under the second visual angle.

[0018] Optionally, the unlocking action of the third component is determined in response to a selection instruction of the third component in the second display area output by the operation control unit; wherein the second component comprises the third component;

[0019] generating a fourth display instruction according to the unlocking action of the third component; wherein the fourth display instruction is used to control the display device to display an unlocking demonstration picture corresponding to the unlocking action of the third component in a set second display area.

[0020] Optionally, the first prompt picture comprises a moving track of the first component displayed in a set first display mode; wherein the set first display mode comprises that a track line representing the moving track of the first component is displayed in a first set line color and / or a first set line type;

[0021] the second prompt picture comprises a moving track of the second component displayed in a set second display mode; wherein the set second display mode comprises that a track line representing the moving track of the second component is displayed in a second set line color and / or a second set line type;

[0022] The first set line color is different from the second set line color, and the first set line type is different from the second set line type.

[0023] According to a second aspect of the present disclosure, a control device of a surgical robot is also provided, which comprises:

[0024] An operation signal receiving module is configured to receive an operation signal output by an operation control unit;

[0025] An unlocking action determining module is configured to determine an unlocking action of a second component corresponding to a response action of a first component in a case where the response action of the first component exceeds a set limit position and is locked.

[0026] A first display instruction generating module is configured to generate a first display instruction according to the response action of the first component.

[0027] A second display instruction generating module is configured to generate a second display instruction according to the unlocking action of the second component.

[0028] According to a third aspect of the present disclosure, a control device of a surgical robot is also provided, which comprises a memory and a processor.

[0029] According to a fourth aspect of the present disclosure, a computer readable storage medium is also provided, which stores a computer program.

[0030] According to a fifth aspect of the present disclosure, a surgical robot is also provided, which comprises:

[0031] A control device as described in the second aspect or the third aspect;

[0032] An operation control unit is configured to output an operation signal to the control device;

[0033] A surgical operation mechanical unit is configured to respond to a control instruction output by the control device to control actions of components; and

[0034] a display device for displaying the action of each component of the surgical operation mechanical unit in response to the display instruction output by the control device.

[0035] Optionally, the display device comprises a first display device and a second display device, the first display device is configured to display a first display region set, and the second display device is configured to display a second display region set.

[0036] One beneficial effect of the embodiment of the present disclosure is that when the response action on the first component to which the operation signal output by the operation control unit is mapped is locked beyond the limit position, the unlocking action of the second component corresponding to the response action of the first component is determined. On the display device, the first prompt picture that the first component is locked can be displayed, and the second prompt picture that the unlocking action of the second component is displayed can be displayed to provide the user with a display instruction of unlocking, and further facilitate the user to unlock the locked component, thereby improving the experience of the user.

[0037] Other features and advantages of the embodiments of the present disclosure will become clear from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0039] Figure 1 is a schematic diagram of the composition structure of a control system of a surgical robot capable of applying a control method of a surgical robot according to an embodiment;

[0040] Figure 2 is a schematic diagram of the flow of a control method of a surgical robot according to an embodiment;

[0041] Figure 3 is a schematic diagram of a picture displayed by a display device according to a third display instruction according to an embodiment;

[0042] Figure 4 is a schematic diagram of a picture displayed by a display device according to a first display instruction according to an embodiment;

[0043] Figure 5 is a schematic diagram of a picture displayed by a display device according to a second display instruction according to an embodiment;

[0044] Figure 6 is a schematic diagram of a picture embodying the display of a third display region according to an embodiment;

[0045] Figure 7is a block diagram of a control device according to an embodiment;

[0046] Figure 8 is a hardware configuration diagram of a control device according to an embodiment. DETAILED DESCRIPTION

[0047] 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 illustrative only and do not limit the scope of the present disclosure unless otherwise specifically stated.

[0048] 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 disclosure and its applications or uses.

[0049] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered part of the specification, where appropriate.

[0050] In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not limiting. Thus, other examples of the exemplary embodiments can have different values.

[0051] Note that like references and letters designate like items throughout the several views, and thus once an item is defined in one view, it should not require further discussion in subsequent views.

[0052] <SYSTEM EMBODIMENT>

[0053] Figure 1 is a configuration structure diagram of a control system of a surgical robot to which a control method of a surgical robot according to an embodiment can be applied. As shown in Figure 1 the system includes a surgical operation mechanical unit 100, a control device 200, an operation control unit 300, and a display device 400, and the system can be applied to a scenario of a surgical robot.

[0054] The operation control unit 300 can include an active operation hand for a user to grip and convert the user's gripping, pressing, or moving actions into an operation signal output.

[0055] The surgical operating mechanical unit 100 can include different mechanical joints such as arm rotation joints, parallelogram joints, etc., and also include an end effector and a slide table for controlling the relative position of the end effector, etc. The components required by the surgical operating mechanical unit 100 can be set according to user needs, and no special restrictions are made here. The components in the surgical operating mechanical unit 100 and their respective connection relationships are all prior art, and will not be described in detail here.

[0056] The control 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 device 200 outputs the operation instruction to the surgical operating mechanical unit 100, so that the surgical operating mechanical unit 100 can perform corresponding actions on the operating table 150, such as suturing wounds, removing lumps, etc. The control device 200 can be directly connected with the surgical operating mechanical unit 100, or can be communicatively connected with the surgical operating mechanical unit 100 through a wireless radio such as Bluetooth.

[0057] The display device 400 can include a screen arranged at the operation control unit 300 for the user to view, which can be associated with an endoscope deployed on a certain slide table to display a live picture through the endoscope. The screen can be one or multiple, which is not limited here. The screen displays different display instructions obtained by the control device 200 to show the operation state of the surgical operating mechanical unit, which can show the connection state of the operation control unit 300, or the picture of the endoscope installed on a certain slide table. These pictures can be displayed synchronously, or can be switched according to different time sequences according to user needs, which is not specially limited here. In one example, the display device 400 can include a first display device and a second display device, the first display device is used to display a set first display area, and the second display device is used to display a set second display area.

[0058] In the embodiments of the present disclosure, the memory of the control device 200 is used to store a computer program for controlling the processor of the control device 200 to operate to implement the processing of the control method of the surgical robot 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 will not be described in detail here.

[0059] <Method Embodiment>

[0060] Figure 2 is a flowchart of a control method of a surgical robot according to an embodiment. The implementation subject is, for exampleFigure 1 The control processing device 200.

[0061] As Figure 2 indicated, the control method of the surgical robot of the present embodiment can include the following steps S210-S230:

[0062] Step S210, receiving the operation signal output by the operation control unit.

[0063] In one example, the user operates the above-mentioned operation control unit 300 to output the operation signal corresponding to the operation, and the control device can receive the above-mentioned operation signal.

[0064] In one embodiment, after step S210, the following is further included: determining the response action of the operation signal on the first component according to the preset mapping relationship; determining the first perspective at which the display device displays the first display area displaying the surgical operation mechanical unit according to the direction and amplitude of the response action of the first component; generating a third display instruction according to the direction and amplitude of the response action of the first component at the first perspective; wherein the third display instruction is used to control the display device to display the display picture of the first component at the first perspective in the set first display area.

[0065] The control device is preset with a mapping relationship, which is the operation applied to the component of the surgical operation mechanical unit corresponding to the action of the component of the surgical operation mechanical unit. For example: the user drives the left and right operation hands of the operation control unit to approach each other, and the two groups of arm revolute joints and parallelogram joints of the surgical operation mechanical unit 100 move so that the two end effectors approach each other; the user presses the movement control button on the left operation hand, and the slide table of the surgical operation mechanical unit 100 drives the end effector to move. The operation of one or some components of the surgical operation mechanical unit can correspond to the action of one component or some components of the surgical operation mechanical unit. Here, the correspondence between the components of the surgical operation mechanical unit and the components of the surgical operation mechanical unit is not specially limited.

[0066] In one example, the first component is one or some components of the surgical operation mechanical unit corresponding to the operation signal. In the case where the first component is one joint of the surgical operation mechanical unit, the direction of the response action of the first component can be the rotation direction, and the amplitude of the response action can be the rotation angle. In the case where the first component is one slide table of the surgical operation mechanical unit, the direction of the response action of the first component can be the movement direction, and the amplitude of the response action can be the movement distance.

[0067] The control device also pre-sets a corresponding relationship between the direction and amplitude of the action of different components and different first view angles, for example: a single arm rotation joint rotates at different angles in different rotation directions, corresponding to a side view of the entire surgical operating mechanical unit; two parallelogram joints rotate at different angles in different rotation directions, corresponding to a front view of the entire surgical operating mechanical unit, which can be set according to user needs. The corresponding relationship between the action of different components and different first view angles is not specially limited here.

[0068] In one example, as shown in Figure 3 When it is determined that the operation signal output by the operation control unit is an operation that reflects control of the extension of the telescopic rod 110 of the surgical operating mechanical unit 100, the moving distance of the extension of the telescopic rod 110 and the moving direction corresponding to the extension are determined. According to the above moving distance and moving direction, it is determined to display the surgical operating mechanical unit 100 in the first display area 1 with a top view as the first view angle. The control device can generate a corresponding third display instruction according to the distance of the extension of the telescopic rod 110 in the first view angle, and send the third display instruction to the display device, so that the display device can display a display picture of the moving track of the telescopic rod 110 in the first display area 1.

[0069] In one embodiment, the display picture is a picture that displays the relative position of the first component on the surgical operating mechanical unit and the moving track of the response action of the first component in the first view angle; wherein the moving track of the response action reflects the direction and amplitude of the response action.

[0070] In Figure 3 the embodiment, the moving track of the first component can be displayed to the user in different display modes such as moving animation according to the moving track, arrow representing the moving track, or virtual outline of the first component representing the target position, so as to remind the user that the first component is moving.

[0071] Step S220, in the case where the response action of the first component on which the operation signal is mapped exceeds the set limit position and is locked, determining the unlocking action of the second component corresponding to the response action of the first component; wherein the first component and the second component are components of the surgical operating mechanical unit.

[0072] Wherein each component of the surgical operating mechanical unit is set with a limit position, for example: the slide table has a limit moving distance, the arm rotation joint has a specific limit rotation angle, and the like.

[0073] In one example, the control device can pre-set that the first component in the locked state can be unlocked by the unlocking action of the corresponding second component. Wherein the first component and the second component can be the same component, or different components, which are not specially limited here.

[0074] Step S230, generating a first display instruction according to the response action of the first component; wherein the first display instruction is used to control the display device to display a first prompt picture in which the first component exceeds the set limit position is locked in the set first display area.

[0075] In Figure 4 In the embodiment, when the display device receives the first display instruction for the arm rotation joint 120 exceeding the set limit position, the first prompt picture is displayed in the first display area 1, so as to prompt the user the current state of the surgical operating mechanical unit through the image display. Wherein the first prompt picture can display different display contents such as the mark of prohibiting the movement of the arm rotation joint 120, changing the display color of the corresponding area of the arm rotation joint 120 or flashing the display of the corresponding area of the arm rotation joint 120, which is not specially limited here. The components of the surgical operating mechanical unit displayed by the first prompt picture can be the photographed entity image, the virtual three-dimensional image or the virtual planar image, which is not specially limited here.

[0076] Step S240, generating a second display instruction according to the unlocking action of the second component; wherein the second display instruction is used to control the display device to display a second prompt picture of the unlocking action of the second component in the set second display area.

[0077] Wherein the second display area can be set on the same screen as the first display area, or can be set on different screens.

[0078] In Figure 5 In the embodiment, when the display device receives the second display instruction for the unlocking action of the arm rotation joint 120, the telescopic joint 130, the telescopic rod 110 and the rotating beam 140, the second prompt picture is displayed in the second display area 2. Wherein the second prompt picture can display the amplitude, direction and unlocking sequence of the unlocking action of the arm rotation joint 120, the telescopic joint 130, the telescopic rod 110 and the rotating beam 140, which is not specially limited here, so as to prompt the user to unlock the corresponding components through the second prompt picture. The components of the surgical operating mechanical unit displayed by the second prompt picture can be the photographed entity image, the virtual three-dimensional image or the virtual planar image, which is not specially limited here.

[0079] In Figure 6In an embodiment, the operation control unit can be provided with a sensor which can sense the contact of the user's hand with the operation control unit and output a contact signal. The control device can receive the contact signal and, according to the contact signal, display the connection state of the operation control unit in the third display area 3. In one example, in the case where the user's both hands simultaneously hold the operation control unit, the third display area 3 displays the light corresponding to the both hands to indicate that the both hands are connected with the operation control unit; in the case where the user's left hand holds the operation control unit, the third display area 3 displays the light corresponding to the left hand to indicate that the left hand is connected with the operation control unit. The third display area 3 can be provided on the same screen as the first display area 1 and the second display area 2, or can be provided on a different screen. In other words, the third display area 3 prompts the user whether the user is normally connected with the operation control unit, so as to improve the user experience.

[0080] In one embodiment, the second components are multiple, and accordingly, the step S240 can include the following contents: determining the second view angle of each second component displayed in the second display area according to the relative position of each second component on the surgical operation mechanical unit; and generating the second display instruction according to the unlocking sequence corresponding to the unlocking action of each second component and the relative position of each second component in the second view angle.

[0081] In one example, in the case where the multiple second components are respectively the arm rotation joint, the extension joint, the extension rod and the rotating beam on the same side of the surgical operation mechanical unit, the side view of the surgical operation mechanical unit as a whole is taken as the second view angle; in the case where the multiple second components are two parallelogram joints on different sides, the front view of the surgical operation mechanical unit as a whole is taken as the second view angle. In other words, by setting different second components corresponding to different second view angles, the unlocking actions of all the second components can be more clearly displayed, so as to further improve the user experience.

[0082] In Figure 5 In an embodiment, the multiple second components are respectively the arm rotation joint 120, the extension joint 130, the extension rod 110 and the rotating beam 140,

[0083] In one embodiment, the method further includes the following contents: in response to the selection instruction of the third component in the second display area output by the operation control unit, determining the unlocking action of the third component; wherein the second components include the third component; generating a fourth display instruction according to the unlocking action of the third component; wherein the fourth display instruction is used to control the display device to display the unlocking demonstration picture corresponding to the unlocking action of the third component in the second display area.

[0084] In Figure 5In an embodiment, the user can output a selection instruction for the third component through the control operation control unit. Taking the example of selecting the demonstration picture of the arm rotation joint 120, the display device can display a video of the arm rotation joint 120 being unlocked in the area of the demonstration picture, so as to further improve the experience of the user.

[0085] In another embodiment, the unlocking action of the third component is not unique, i.e., the third component has multiple unlocking actions, and the amplitude and / or sequence of the actions included in each unlocking action are different. Accordingly, the process of generating the fourth display instruction can include: generating a fifth display instruction according to each unlocking action of the third component; wherein the fifth display instruction is used to control the display device to display the unlocking demonstration picture corresponding to the unlocking action of the third component in the set second display area in a set sequence. The set sequence corresponding to each unlocking action can be set artificially, which is not specially limited here. The control device controls the display device to cyclically play the demonstration picture of the unlocking action in response to the selection instruction of the operation control unit for the unlocking action.

[0086] In an embodiment, the first prompt picture includes displaying the movement trajectory of the first component in a set first display mode; wherein the set first display mode includes displaying the trajectory line representing the movement trajectory of the first component in a first set line color and / or a first set line type; the second prompt picture includes displaying the movement trajectory of the second component in a set second display mode; wherein the set second display mode includes displaying the trajectory line representing the movement trajectory of the second component in a second set line color and / or a second set line type; wherein the first set line color is different from the second set line color, and the first set line type is different from the second set line type.

[0087] In an example, the first set line color can be red, and the first set line type can be a solid line, so that the first prompt picture displays a red solid line to represent the movement trajectory of the first component. The first set line color can be green, and the first set line type can be a solid line, so that the first prompt picture displays a green solid line to represent the movement trajectory of the second component. In other words, the display mode is different for representing that the component of the surgical operation mechanical unit is locked or the corresponding unlocking action, which helps the user to determine the accuracy of operating the surgical operation mechanical unit through the image.

[0088] <Device Embodiment One>

[0089] Figure 7 is a principle block diagram of a control device of a surgical robot according to an embodiment. As shown in Figure 7 , the control device 200 can include:

[0090] The operation signal receiving module 710 is configured to receive an operation signal output by the operation control unit;

[0091] The unlocking action determining module 720 is configured to determine an unlocking action of a second component corresponding to a response action of a first component in a case where the response action of the first component on the operation signal exceeds a set limit position and is locked.

[0092] The first display instruction generating module 730 is configured to generate a first display instruction according to the response action of the first component; the first display instruction is used to control the display device to display a first prompt picture in which the first component exceeds the set limit position and is locked in a set first display area.

[0093] The second display instruction generating module 740 is configured to generate a second display instruction according to the unlocking action of the second component; the second display instruction is used to control the display device to display a second prompt picture of the unlocking action of the second component in a set second display area.

[0094] Optionally, the third display instruction generating module is configured to determine the response action of the first component on the operation signal according to a preset mapping relationship; determine a first view angle of the surgical operating mechanical unit displayed in the first display area of the display device according to a direction and an amplitude of the response action of the first component; generate a third display instruction according to the direction and the amplitude of the response action of the first component in the first view angle; the third display instruction is used to control the display device to display a display picture of the first component in the first view angle in the set first display area.

[0095] Optionally, the second display instruction generating module 740 is further configured to determine a second view angle of each second component displayed in the second display area of the display device according to relative positions of the second components on the surgical operating mechanical unit; generate the second display instruction according to an unlocking sequence corresponding to the unlocking action of each second component and the relative positions of the second components in the second view angle.

[0096] Optionally, the fourth display instruction generating module is configured to determine an unlocking action of a third component in response to a selection instruction of the third component output by the operation control unit; the second component includes the third component; generate a fourth display instruction according to the unlocking action of the third component; the fourth display instruction is used to control the display device to display an unlocking demonstration picture corresponding to the unlocking action of the third component in the set second display area.

[0097] <Device Embodiment Two>

[0098] Figure 8is a hardware structure schematic diagram of an electronic device according to another embodiment.

[0099] As shown in the figure, the control device 200 includes a processor 810 and a memory 820 for storing an executable computer program, and the processor 810 is used to execute the method of any method embodiment as above according to the control of the computer program. Figure 8

[0100] Each module of the above control device 200 can be realized by the processor 810 in the embodiment executing the computer program stored in the memory 820, or can be realized by other structures, which is not limited here.

[0101] 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.

[0102] 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, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0103] 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.

[0104] ​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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] Embodiments of the present application have been described above, and the description is intended to be illustrative, and not restrictive, of the various embodiments of the present application. Many modifications and variations of the described embodiments of the present application are possible, given the benefit of the present disclosure, without departing from the scope and spirit of the described embodiments of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A control method of a surgical robot, characterized by, The method comprises: receiving an operation signal output by an operation control unit; in a case where a response action of a first component on which the operation signal is mapped exceeds a set limit position and is locked, determining an unlocking action of a second component corresponding to the response action of the first component; wherein the first component and the second component are components of a surgical operation mechanical unit; generating a first display instruction according to the response action of the first component; wherein the first display instruction is used to control a display device to display a first prompt picture that the first component exceeds the set limit position and is locked in a set first display area; generating a second display instruction according to the unlocking action of the second component; wherein the second display instruction is used to control the display device to display a second prompt picture of the unlocking action of the second component in a set second display area; the second component is multiple; the generating of the second display instruction according to the unlocking action of the second component comprises: determining a second visual angle of each of the second components displayed in the second display area by the display device according to relative positions of each of the second components on the surgical operation mechanical unit; generating the second display instruction according to an unlocking sequence corresponding to the unlocking action of each of the second components and the relative positions of each of the second components in the second visual angle.

2. The method of claim 1, wherein, after the receiving of the operation signal output by the operation control unit, the method further comprises: determining the response action of the first component on which the operation signal is mapped according to a preset mapping relationship; determining a first visual angle of the surgical operation mechanical unit displayed in the first display area by the display device according to a direction and an amplitude of the response action of the first component; generating a third display instruction according to the direction and the amplitude of the response action of the first component in the first visual angle; wherein the third display instruction is used to control the display device to display a display picture of the first component in the first visual angle in the set first display area.

3. The method of claim 2, wherein, the display picture is a picture displaying a relative position of the first component on the surgical operation mechanical unit in the first visual angle and a moving track of the response action of the first component; wherein the moving track of the response action reflects the direction and the amplitude of the response action.

4. The method of claim 1, wherein, the method further comprises: determining the unlocking action of a third component in response to a selection instruction of the third component in the second display area output by the operation control unit; wherein the second component comprises the third component; generating a fourth display instruction according to the unlocking action of the third component; wherein the fourth display instruction is used to control the display device to display an unlocking demonstration picture corresponding to the unlocking action of the third component in the set second display area.

5. The method of claim 1, wherein, the first prompt picture comprises a moving track of the first component displayed in a set first display mode; wherein the set first display mode comprises that a track line representing the moving track of the first component is displayed in a first set line color and / or a first set line type; The second prompt picture comprises a moving track of the second component displayed in a set second display mode; wherein the set second display mode comprises a track line representing the moving track of the second component displayed in a second set line color and / or a second set line type; wherein the first set line color is different from the second set line color, and the first set line type is different from the second set line type.

6. A control device of a surgical robot characterized by comprising: The method comprises: an operation signal receiving module, configured to receive an operation signal output by an operation control unit; a lock release action determining module, configured to determine a lock release action of a second component corresponding to a response action of a first component, in a case that the response action of the first component on the second component exceeds a set limit position locked; a first display instruction generating module, configured to generate a first display instruction according to the response action of the first component; wherein the first display instruction is used to control a display device to display a first prompt picture that the first component exceeds the set limit position locked in a set first display area; a second display instruction generating module, configured to generate a second display instruction according to the lock release action of the second component; wherein the second display instruction is used to control the display device to display a second prompt picture of the lock release action of the second component in a set second display area; the second component is multiple; the second display instruction generating module is further configured to determine a second visual angle of each of the second components in the second display area of the display device according to a relative position of each of the second components on the surgical operation mechanical unit, and generate the second display instruction according to a lock release sequence corresponding to the lock release action of each of the second components and the relative position of each of the second components in the second visual angle.

7. A control device of a surgical robot characterized by comprising: The surgical robot comprises a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the display method of the surgical robot according to any one of claims 1-5.

8. A surgical robot, characterized by The method comprises: a control device, such as the control device according to claim 6 or 7; an operation control unit, configured to output an operation signal to the control device; a surgical operation mechanical unit, configured to respond to a control instruction output by the control device to control the action of each component; and a display device, configured to respond to a display instruction output by the control device to display the action of each component of the surgical operation mechanical unit.

9. The surgical robot as claimed in claim 8, characterised in that, The display device comprises a first display device and a second display device, the first display device is used to display a set first display area, and the second display device is used to display a set second display area.

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