Surgical robot system and control processing device for a surgical robot system

Abstract

The present disclosure relates to the technical field of medical instruments, in particular to a surgical robot system and a control processing device of the surgical robot system. The system comprises: a surgical operation mechanical unit, comprising an arm joint mechanical structure, a sliding table mechanism and an instrument joint mechanical structure connected in sequence, wherein the arm joint mechanical structure can drive the sliding table mechanism and the instrument joint mechanical structure to move, and the instrument joint mechanical structure can move along the sliding table mechanism; an operation control unit; and a control processing device, wherein 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, the operation including a first adjustment operation on the position of the instrument joint and a second adjustment operation on the posture of the instrument joint, and in the case of locking the operation of the instrument joint, the control processing device is configured to control the surgical operation mechanical unit to perform the corresponding first adjustment operation and lock the second adjustment operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical robot system and a control processing device of the surgical robot system. BACKGROUND

[0002] With the progress of science and technology and the development of robot technology, medical robots capable of assisting doctors in surgical operations are increasingly widely used in the medical field. They can improve surgical precision and stability, reduce the work intensity and fatigue of surgeons, and improve surgical safety.

[0003] In the use process of the surgical robot system, multiple mechanical arms of the surgical robot are usually used for simultaneous operation, for example, the working ends of multiple mechanical arms are connected to endoscopes, surgical knives and hemostatic forceps surgical instruments, and the surgical instruments are used to cooperate with each other to complete the surgery. However, in the prior art, if the slave end of the surgical robot system exceeds the limit, the connection between the master and the slave will be disconnected, and personnel need to manually operate to reset the slave end of the surgical robot to a suitable position, and then re-map the master and the slave. However, this process has the problem of long operation process time, which will also interrupt the doctor's surgical operation and has certain safety hazards. If the master-slave connection is not disconnected, there will be certain safety risks when the surgical instruments are unlocked and restored. SUMMARY

[0004] The embodiments of the present disclosure provide a surgical robot system and a control processing device of the surgical robot system. The problem of safety risk during unlocking of the surgical robot system in the surgical process can be solved.

[0005] In a first aspect, the embodiments of the present application provide a surgical robot system, comprising: a surgical operation mechanical unit, comprising an arm joint mechanical structure, a sliding table mechanism and an instrument joint mechanical structure connected in sequence, wherein the arm joint mechanical structure can drive the sliding table mechanism and the instrument joint mechanical structure to move, and the instrument joint mechanical structure can move along the sliding table mechanism; an operation control unit; and a control processing device, wherein 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, the operation including a first adjustment operation on the position of the instrument joint and a second adjustment operation on the attitude of the instrument joint, wherein in the case of locking the operation of the instrument joint, the control processing device is configured to control the surgical operation mechanical unit to perform the corresponding first adjustment operation and lock the second adjustment operation.

[0006] Optionally, in the case of locking the operation of the instrument joint, the control processing device is further configured to: determine, based on the operation signal, a first state of the operation control unit; determine a first difference between a current state of the instrument joint and the first state; determine an unlocking condition based on the first difference; and start unlocking the operation of the instrument joint based on the unlocking condition.

[0007] Optionally, the first state comprises a pose of the operation control unit, and the first difference comprises a difference between the pose of the operation control unit and a current pose of the instrument joint.

[0008] Optionally, the pose of the operation control unit is represented by a first pose matrix, and the current pose of the instrument joint is represented by a second pose matrix, wherein the first difference comprises a pose difference between the first pose matrix and the second pose matrix.

[0009] Optionally, the unlocking condition comprises that the first difference is less than a first preset limit.

[0010] Optionally, in the case of locking the operation of the instrument joint, the control processing device is further configured to: determine a singularity degree, wherein the singularity degree is used to represent a parameter of proportional relationship between a speed of a corresponding joint in the surgical operation mechanical unit and a change speed of a target position in the instrument joint mechanical structure; determine an unlocking condition based on the singularity degree; and start unlocking the operation of the instrument joint based on the unlocking condition.

[0011] Optionally, the unlocking condition comprises that the singularity degree is less than a second preset limit.

[0012] Optionally, the slide table mechanism comprises a slide table and a slide rail, the slide table is movable along the slide rail, and the instrument joint mechanical structure is arranged on the slide table, wherein, in the case of locking the operation of the instrument joint, the control processing device is configured to control the slide table mechanism to make the slide table leave an upper limit position range of the slide rail, wherein the upper limit position range of the slide rail comprises a range from an upper limit position of the slide rail to a first position, and the first position is a first predetermined distance away from the upper limit position.

[0013] In a second aspect, an embodiment of the present application provides a control processing device for a surgical robot system, comprising a processor and a memory, the memory stores instructions, and when the control processing device runs, the instructions control the processor to perform the processing of the control processing device described in the first aspect.

[0014] One beneficial effect of the embodiments of the present disclosure is that the surgical robot system in the embodiments of the present application includes a surgical operation mechanical unit, an operation control unit and a control processing device, wherein the control processing device can receive an operation signal of the operation control unit and control the surgical operation mechanical unit to perform corresponding operations, specifically including a first adjustment operation on the position of the instrument joint and a second adjustment operation on the posture, and when the surgical operation mechanical unit is locked, the control processing device can control the surgical operation mechanical unit to perform the adjustment operation on the position and lock the adjustment operation on the posture. In this way, after the surgical operation mechanical unit is locked, the position of the instrument joint of the surgical operation mechanical unit can be adjusted first, such as being adjusted to a position away from the patient by a certain distance, so as to avoid damage to the patient when the posture of the instrument joint is adjusted subsequently. The safety of unlocking is improved.

[0015] 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

[0016] 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.

[0017] Figure 1 A block diagram of a surgical robot system according to an embodiment of the present disclosure is shown.

[0018] Figure 2 A schematic diagram of an example of a surgical robot system according to an embodiment of the present disclosure is shown.

[0019] Figure 3 A block diagram of a control processing device of a surgical robot system according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0020] 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.

[0021] 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 and its applications or uses.

[0022] 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.

[0023] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0024] 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.

[0025] It should be noted that all the actions of obtaining signals, information or data in this application are carried out in accordance with the corresponding data protection regulations and policies of the country where the application is located, and with the authorization of the corresponding device / account owner.

[0026] As Figure 1 shown, the embodiment of the application discloses a surgical robot system 100, which comprises a surgical operation mechanical unit 103, including an arm joint mechanical structure, a sliding table mechanism and an instrument joint mechanical structure connected in turn, wherein the arm joint mechanical structure can drive the sliding table mechanism and the instrument joint mechanical structure to move, the instrument joint mechanical structure can move along the sliding table mechanism; an operation control unit 101, and a control processing device 102. Among them, 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, the operation includes the first adjustment operation of the position of the instrument joint and the second adjustment operation of the attitude of the instrument joint, wherein in the case of locking the operation of the instrument joint, the control processing device is set to: control the surgical operation mechanical unit to perform the corresponding first adjustment operation and lock the second adjustment operation.

[0027] In one example of the embodiment, the surgical operation mechanical unit is the slave hand part of the surgical robot system, that is, the mechanical arm and the instrument part. As Figure 2 shown, the arm joint mechanical structure is the mechanical structure of various joints of the mechanical arm, which can include elbow joint structure, rotary joint structure and parallelogram joint structure connected in turn, etc. Among them, the elbow joint structure can be used to control the mechanical arm to adjust the pitch direction, the rotary joint is used to control the mechanical arm to rotate in the roll direction, and the parallelogram joint includes three joints, which are always kept in parallelogram with the part contacting the instrument and the patient. The arm joint structure will connect the sliding table mechanism and drive the sliding table mechanism and the instrument joint mechanism to move. The sliding table mechanism can fix different surgical instruments, and the up and down movement of the surgical instrument is realized by the up and down sliding of the sliding table mechanism. The instrument joint mechanical structure on the surgical instrument is used to control the joint of the surgical instrument.

[0028] In one example of the embodiment, the operation control unit is the master part of the surgical robot system, i.e. the part controlled by the doctor. The doctor controls the slave part by controlling the operation control unit, and when the doctor controls the operation control unit, the corresponding operation signal is sent to the control processing device in the surgical robot system.

[0029] In one example of the embodiment, the control processing device can receive the operation signal sent by the operation control unit, and control the surgical operation mechanical unit to perform the corresponding operation according to the operation signal. Specifically, the corresponding action of the surgical operation mechanical unit corresponding to the operation signal of the operation control unit can be determined through the pre-stored mechanical model.

[0030] In one example of the embodiment, the mechanical model is a model of controlling the action of the slave part by the signal of the master part. The control processing device can maintain a mapping relationship between the pre-stored mechanical model and the surgical operation mechanical unit, i.e. the mapping relationship between the operation control unit and the surgical operation mechanical unit in the surgical robot system is maintained through the pre-stored mechanical model of the control processing device.

[0031] In one example of the embodiment, when the operation of the surgical operation mechanical unit is locked, the control processing device can maintain the correspondence between the pre-stored mechanical model and the surgical operation mechanical unit, i.e. maintain the mapping relationship between the operation control unit and the surgical operation mechanical unit. It should be noted that although the control processing device maintains the mapping relationship between the operation control unit and the surgical operation mechanical unit, since the surgical operation mechanical unit is in the locked state, the control operation control unit will not trigger the corresponding operation of the surgical operation mechanical unit before the locked state is released.

[0032] In one example of the embodiment, the control processing device can always receive the operation signal sent by the operation control unit, and when the received operation signal is a signal for controlling the state of the surgical operation mechanical unit to return to within the preset limit, the control processing device can start to automatically release the lock of the operation of the surgical operation mechanical unit, and restore the control of the surgical operation mechanical unit based on the mapping relationship, i.e. control the surgical operation mechanical unit to match the state of the operation control unit, so that the doctor can continue the operation.

[0033] In one example of the embodiment, the process of releasing the lock of the surgical operation mechanical unit can be that the doctor controls the operation control unit to return the operation control unit to within the preset limit, and the operation control unit sends a signal to the control processing device that the operation control unit has returned to within the preset limit. After receiving the operation signal, the control processing device controls the surgical operation mechanical unit to release the lock, and controls the surgical operation mechanical unit to move to the position matched with the operation control unit according to the mechanical model.

[0034] In one example of the embodiment, the control processing device controls the surgical operation mechanical unit to perform the corresponding operation including a first adjustment operation on a position of the instrument joint and a second adjustment operation on a posture of the instrument joint. The position of the instrument joint is the specific position of the instrument joint in space. The posture of the instrument joint is the angle of the instrument joint in space. In one example, the adjustment operation on the position and the posture of the instrument joint can be an adjustment operation on the position and the posture of the tip of the instrument joint.

[0035] In one example of the embodiment, in the case of locking the instrument joint, the control processing device can control the surgical operation mechanical unit to adjust the position of the instrument joint, and at the same time, lock the posture of the instrument joint. After the first adjustment operation is completed, the second adjustment operation is performed. Because the surgical instrument is fixed on the slide table, the position adjustment of the instrument joint needs to be performed through the arm joint or the slide table joint. Specifically, for example, in the surgical operation mechanical unit, only when the instrument joint is locked, the position of the instrument joint can be adjusted by adjusting the arm joint and the slide table joint in the surgical operation mechanical unit. After the instrument joint is moved away from the patient's body, the instrument joint is unlocked, and the posture of the instrument joint, i.e., the angle of the instrument joint, is adjusted to avoid damage to the patient caused by the surgical instrument connected to the instrument joint. In another example, for example, in the surgical operation mechanical unit, in the case where multiple joints are locked, due to the structural characteristics of the surgical operation mechanical unit, the arm joint mechanical structure can be unlocked first, then the slide table joint is unlocked, and finally the instrument joint is unlocked.

[0036] In one example of the embodiment, in the case of locking the instrument joint, the control processing device is further configured to: determine a first state of the operation control unit based on the operation signal; determine a first difference between the current state of the instrument joint and the first state; determine an unlocking condition based on the first difference; and start to release the locking of the operation of the instrument joint based on the unlocking condition.

[0037] In one example of the embodiment, in the case of locking the instrument joint, the operation control unit of the surgical robot system and the action of the surgical operation mechanical unit can be mismatched, at this time, the control processing device can further determine the current state of the operation control unit, i.e., the first state, based on the current operation signal of the operation control unit, and further, can determine the difference between the current state of the operation control unit and the current state of the instrument joint.

[0038] In one example of the embodiment, the first state includes the posture of the operation control unit, and the first difference includes the difference between the posture of the operation control unit and the current posture of the instrument joint.

[0039] In one example of the embodiment, the posture of the operation control unit is the posture of the master part operated by the surgeon, and the posture of the operation control unit can be the angle of the operation control unit, for example, the control hand in space. When the surgical operation mechanical unit is locked, the posture of the operation control unit will be different from the current posture of the corresponding instrument joint, i.e., the first difference.

[0040] In one example of the embodiment, the posture of the operation control unit is represented by a first posture matrix, and the current posture of the instrument joint is represented by a second posture matrix, wherein the first difference includes the posture difference between the first posture matrix and the second posture matrix.

[0041] In one example of the embodiment, the current posture of the operation control unit or the instrument joint can be determined in the form of a posture matrix, and specifically, the posture difference between the operation control unit and the instrument joint can be calculated by the posture matrix.

[0042] In one example of the embodiment, after the first difference is determined, the unlocking condition of the instrument joint can be determined based on the first difference. In one example, the unlocking condition can be that the first difference is less than a first preset limit. The first preset limit can be set according to actual conditions. When the first difference is less than the preset limit, the locking of the operation of the instrument joint can be started to be released. It should be noted that the unlocking condition determined based on the first difference can be only one of all unlocking conditions. When all the unlocking conditions are met, the instrument joint is unlocked.

[0043] In one example of the embodiment, when the operation of the instrument joint is locked, the control processing device is configured to: determine a singularity degree, wherein the singularity degree is a parameter for representing the proportional relationship between the speed of the corresponding joint in the surgical operation mechanical unit and the change speed of the target position in the mechanical structure of the instrument joint; determine an unlocking condition based on the singularity degree; and start to release the locking of the operation of the instrument joint based on the unlocking condition.

[0044] In one example of the embodiment, in the case of locking the operation of the instrument joint. At this time, the control processing device can obtain the moving speed of the corresponding joint, and the moving speed of the target position in the instrument joint structure, specifically, the corresponding joint can be any joint in the arm joint mechanical structure. The target position in the instrument joint structure is the position in the instrument joint structure corresponding to the joint, for example, it can be the end position of the instrument joint, the speed of the target position can include the position change speed and the attitude change speed, etc., according to the proportional relationship between the moving speed of the corresponding joint and the change speed of the target position, the singularity degree is determined. Further, the unlocking condition is determined based on the singularity degree, for example, the unlocking condition can include that the singularity degree is less than a second preset limit. The second preset limit can be flexibly set according to the actual situation, when the actual singularity degree is less than the preset limit, the locking of the surgical operation mechanical unit can be started.

[0045] In this example, due to the difference between the surgical operation mechanical unit and the human arm structure, when the instrument joint is unlocked, the action of moving to the position matched with the operation control unit may cause the speed of one side of the arm joint structure or the instrument joint structure to be too large, thereby causing a safety hazard to the patient, therefore, the unlocking condition can be set based on the singularity degree to constrain each joint of the surgical operation mechanical unit, to avoid the safety hazard caused by too fast speed when unlocking.

[0046] In one example of the embodiment, the sliding table mechanism includes a sliding table and a sliding rail, the sliding table can move along the sliding rail, and the instrument joint mechanical structure is arranged on the sliding table, wherein, in the case of locking the operation of the instrument joint, the control processing device is configured to: control the sliding table mechanism to make the sliding table leave the upper limit position range of the sliding rail, wherein the upper limit position range of the sliding rail includes the range from the upper limit position of the sliding rail to the first position, and the first position is a first predetermined distance away from the upper limit position.

[0047] In one example of the embodiment, the instrument joint mechanical structure can include various surgical medical instruments, which can be fixed on the sliding table and moved longitudinally by the sliding of the sliding table on the sliding rail.

[0048] In one example of the embodiment, before the unlocking of the instrument joint, the position of the instrument joint is adjusted to move the instrument joint away from the patient, so that a certain range is reserved on the sliding table for adjusting the position of the instrument joint. The control processing device can control the sliding table mechanism to move the sliding table out of the upper limit range of the sliding rail, and the upper limit range is a range including the upper limit position of the sliding rail to a predetermined position, and the predetermined position is a first predetermined distance away from the upper limit position. In one example, the first predetermined distance is greater than or equal to one fourth of the length of the sliding rail. In addition, when adjusting the position of the sliding table, the arm joint structure and the sliding table can be controlled to move simultaneously to ensure that the position of the instrument joint does not change when the position of the sliding table is adjusted, thereby avoiding safety hazards to the patient.

[0049] Referring to Figure 3 The embodiment provides a control processing device 200 for a surgical robot system, which includes a processor 201 and a memory 202, the memory 202 stores instructions, and when the control processing device is running, the instructions control the processor 201 to perform the processing of each control processing device in the foregoing embodiments.

[0050] Each of the embodiments in the present disclosure is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment mainly describes the difference from other embodiments. Especially, the device and equipment embodiments are basically similar to the method embodiments, so the description is relatively simple, and the related parts can be referred to the part of the method embodiment.

[0051] The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0052] Embodiments of the present disclosure 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 embodiments of the present disclosure.

[0053] Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media 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 computer readable storage media 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 raised structures in a groove having instructions recorded thereon, 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.

[0054] 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.

[0055] Computer readable program instructions for carrying out operations of embodiments of the present disclosure can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or source or object code, 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 a 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 embodiments of the present disclosure.

[0056] 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.

[0057] 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 other data storage device. When the computer readable program instructions are loaded into the computer and other programmable data processing apparatus, a series of operational steps are implemented that provide processes such that the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0058] 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, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0059] 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, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0060] Embodiments of the present disclosure have been described above, and the description is intended to be illustrative, and not restrictive, of the disclosed embodiments. Many modifications and variations of the described embodiments are possible, and all such modifications and variations are intended to be within the scope of the described embodiments. The description used herein is intended to best explain the principles of the various embodiments, the practical application, and the best mode of using the technology in the market, or to enable others skilled in the art to understand the various embodiments disclosed herein.

Claims

1. A surgical robotic system, characterized by, The surgical operating mechanical unit comprises an arm joint mechanical structure, a slide table mechanism and an instrument joint mechanical structure connected in sequence, wherein the arm joint mechanical structure can drive the slide table mechanism and the instrument joint mechanical structure to move, and the instrument joint mechanical structure can move along the slide table mechanism; The operating control unit; and The control processing device receives the operating signal from the operating control unit and controls the surgical operating mechanical unit to perform corresponding operations, which include a first adjustment operation on the position of the instrument joint and a second adjustment operation on the posture of the instrument joint, wherein in the case of locking the operation of the instrument joint, the control processing device is configured to control the surgical operating mechanical unit to perform the corresponding first adjustment operation and lock the second adjustment operation; The surgical operating mechanical unit is a slave part of a surgical robot system, and the operating control unit is a master part of the surgical robot system; In the case of locking the operation of the instrument joint, the control processing device is further configured to: Determine a first state of the operating control unit based on the operating signal; Determine a first difference between the current state of the instrument joint and the first state; Determine an unlocking condition based on the first difference, and start to release the locking of the operation of the instrument joint based on the unlocking condition; The first state includes the posture of the operating control unit, and the first difference includes the difference between the posture of the operating control unit and the current posture of the instrument joint. The posture of the operating control unit is represented by a first posture matrix, and the current posture of the instrument joint is represented by a second posture matrix, wherein the first difference includes the posture difference between the first posture matrix and the second posture matrix.

2. The surgical robotic system of claim 1, wherein, The unlocking condition includes that the first difference is less than a first preset limit.

3. The surgical robotic system of claim 2, wherein, In the case of locking the operation of the instrument joint, the control processing device is configured to:

4. The surgical robotic system of claim 1, wherein, Determine a singularity degree, wherein the singularity degree is used to represent a parameter of proportional relationship between the velocity of the corresponding joint in the surgical operating mechanical unit and the change velocity of the target position in the instrument joint mechanical structure; Determine an unlocking condition based on the singularity degree; Start to release the locking of the operation of the instrument joint based on the unlocking condition. The unlocking condition includes that the singularity degree is less than a second preset limit.

5. The surgical robotic system of claim 4, wherein, The slide table mechanism comprises a slide table and a slide rail, the slide table can move along the slide rail, and the instrument joint mechanical structure is arranged on the slide table, wherein in the case of locking the operation of the instrument joint, the control processing device is configured to control the slide table mechanism to make the slide table leave the upper limit position range of the slide rail, wherein the upper limit position range of the slide rail includes the range from the upper limit position of the slide rail to a first position, and the first position is a first predetermined distance away from the upper limit position.

6. The surgical robotic system of claim 1, wherein, ​ 7. A control processing device for a surgical robotic 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 of any one of claims 1-6.

Images