Surgical robotic control systems, methods, electronic devices, and storage media

Abstract

The application provides a surgical robot control system, method, surgical robot, electronic device and storage medium, the surgical robot comprising a master end and a slave end in communication connection, the master end comprising an operation master hand, the slave end comprising at least one mechanical arm, the control system comprising a key assembly arranged on the operation master hand and a controller in communication connection with the key assembly; the key assembly is configured to input control instructions by an operator and transmit the control instructions input by the operator to the controller; the controller is configured to control the master end to perform corresponding operations according to the received control instructions. The application can realize the control of the surgical robot without the doctor's head leaving the intraoperative visual field image, so as to improve the convenience and continuity of the doctor's operation process, avoid the operation being frequently interrupted, and improve the operation experience of the doctor.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a surgical robot control system, method, surgical robot, electronic device, and storage medium. Background Technology

[0002] Surgical robots are designed to perform complex surgical procedures with minimal invasiveness and precision. Recognizing the limitations of traditional surgery, surgical robots have been developed to replace it. Surgical robots overcome the limitations of the human eye, employing 3D imaging technology to present internal organs more clearly to the operator. In areas previously inaccessible by hand, robotic arms can perform 360-degree rotation, movement, swinging, and gripping, while avoiding tremors. Surgical robots offer advantages such as smaller incisions, less bleeding, and faster recovery, significantly shortening postoperative hospital stays and improving patient survival and recovery rates. As a high-end medical device, surgical robots are favored by both doctors and patients and are widely used in various clinical surgeries.

[0003] The surgical robot comprises a master robot and a slave robot. The master robot is operated by the surgeon to generate and transmit necessary signals; the slave robot receives signals from the master robot to perform actual procedures on the patient. Furthermore, the master robot is equipped with a master hand, which the surgeon can manipulate to control the robotic arms mounted on the slave robot and the surgical instruments attached to the ends of the robotic arms.

[0004] Most existing surgical robots lack a button control system for their operator hand, requiring control via foot pedals or voice commands to an assistant. Foot pedal control is inconvenient, while voice commands often require multiple exchanges due to significant voice interference, disrupting the surgeon's workflow. This is especially true during remote surgeries, where voice communication becomes even more disruptive.

[0005] It should be noted that the information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a surgical robot control system, method, surgical robot, electronic device, and storage medium, which enables doctors to control the surgical robot during continuous surgical operations, thereby improving the convenience and continuity of the surgical operation.

[0007] To achieve the above objectives, the present invention provides a surgical robot control system. The surgical robot includes a master end and a slave end that are connected in communication. The master end includes an operating master hand, and the slave end includes at least one robotic arm. The control system includes a button assembly disposed on the operating master hand and a controller that is connected in communication with the button assembly.

[0008] The button assembly is configured to allow the operator to input control commands and to transmit the control commands input by the operator to the controller;

[0009] The controller is configured to control the master terminal to perform corresponding operations based on the received control commands.

[0010] Optionally, the button assembly includes a main button and at least one adjustment button, wherein the main button is configured for the operator to confirm control commands, and the adjustment button is configured for the operator to select control commands.

[0011] Optionally, the control commands include any one or more of the following: instrument replacement command, master-slave speed ratio setting command, master-slave clutch command, master-slave arm switching command, master-slave posture rematching command, and master-slave optimal position reset command.

[0012] Optionally, the instrument replacement instruction includes the name of the robotic arm corresponding to the instrument to be replaced and the name of the instrument to be replaced;

[0013] The controller is configured to control the master terminal to send corresponding prompt information to the slave terminal according to the received instrument replacement instruction.

[0014] Optionally, the master-slave speed ratio setting instruction includes any one or more of the following: fast master-slave ratio, normal speed master-slave ratio, and slow master-slave ratio;

[0015] The controller is configured to control the master to send corresponding prompt information to the slave based on the received master-slave speed ratio setting instruction.

[0016] Optionally, the master-slave clutch command includes a dual master clutch command and / or a single master clutch command;

[0017] If the control command input by the operator is a dual master hand clutch command, the controller is configured to control each of the master hands to enter the clutch state according to the received dual master hand clutch command, so that the operator can adjust the position of each master hand.

[0018] If the control command input by the operator is a single master hand clutch command, the controller is configured to control the corresponding master hand to enter the clutch state according to the received single master hand clutch command, so that the operator can adjust the position of the master hand.

[0019] Optionally, the master-slave arm switching instruction includes the names of the two robotic arms to be switched;

[0020] The controller is configured to control the corresponding master hand to switch to the corresponding robotic arm for master-slave control according to the received master-slave arm switching command.

[0021] Optionally, the master-slave posture rematching instruction includes a single master hand posture rematching instruction and / or a dual master hand posture rematching instruction;

[0022] If the control command input by the operator is a single master hand posture rematching command, the controller is configured to adjust the position of each posture joint of the corresponding master hand according to the received single master hand posture rematching command, so as to adjust the position of each posture joint of the master hand to the corresponding target position.

[0023] If the control command input by the operator is a dual-master hand posture rematching command, the controller is configured to adjust the position of each posture joint of each master hand according to the received dual-master hand posture matching command, so as to adjust the position of each posture joint of the master hand to the corresponding target position.

[0024] Optionally, the controller is configured to obtain the target positions of each posture joint of the operator's main hand through the following process;

[0025] Obtain the position information of each posture joint of the robotic arm corresponding to the main operating hand;

[0026] Based on the position information of each joint of the robotic arm, the posture information of the robotic arm is obtained;

[0027] Based on the posture information of the robotic arm and the master-slave posture mapping relationship between the robotic arm and the master hand, the posture information of the master hand is obtained;

[0028] Based on the posture information of the master hand and the pre-set optimal posture combination control strategy of the master end, the target positions of each posture joint of the master hand are obtained.

[0029] Optionally, the controller is configured to adjust the positions of each joint of the operator's main hand to the corresponding target positions through the following process:

[0030] For each joint of the main hand, the motion trajectory of the joint is planned according to its current position and target position. Based on the planned motion trajectory, the joint is controlled to perform corresponding movements to adjust its position to the target position.

[0031] Optionally, the master-slave optimal position reset command includes a single master hand optimal position reset command and / or a dual master hand optimal position reset command;

[0032] If the control command input by the operator is a single master hand optimal position reset command, then the controller is configured to adjust the position of the corresponding master hand according to the received single master hand optimal position reset command, so as to adjust the position of the master hand to the corresponding target position.

[0033] If the control command input by the operator is a dual-master hand optimal position reset command, then the controller is configured to adjust the position of each master hand according to the received dual-master hand optimal position reset command, so as to adjust the position of the master hand to the corresponding target position.

[0034] Optionally, the controller is configured to adjust the position of the operator's hand to the corresponding target position through the following process:

[0035] Obtain the target position of the main operator;

[0036] Based on the current position and target position of the main operating hand, plan the movement trajectory of the main operating hand;

[0037] According to the planned movement trajectory, the main operating hand is controlled to perform corresponding movements to adjust the position of the main operating hand to the corresponding target position.

[0038] Optionally, the controller is configured to obtain the target position of the operator based on the pre-acquired correspondence between the operating scenario and the optimal operating position.

[0039] Optionally, the control system further includes a display module communicatively connected to the controller, the display module being configured to display a control instruction menu and / or control instructions input by the operator.

[0040] Optionally, the control system further includes a storage module for storing instrument type information and / or the optimal position information of the operator's hand.

[0041] To achieve the above objectives, the present invention also provides a surgical robot control method, wherein the surgical robot includes a master end and a slave end connected in communication, the master end includes an operating master hand, the slave end includes at least one robotic arm, the operating master hand is provided with a button assembly, and the control method includes:

[0042] The button assembly receives control commands input by the operator.

[0043] The master terminal is controlled to perform corresponding operations based on the received control instructions.

[0044] Optionally, the control commands include any one or more of the following: instrument replacement command, master-slave speed ratio setting command, master-slave clutch command, master-slave arm switching command, master-slave posture rematching command, and master-slave optimal position reset command.

[0045] To achieve the above objectives, the present invention also provides a surgical robot, including a master end, a slave end, and the surgical robot control system described above, which are connected in communication.

[0046] Optionally, the slave robotic arm is equipped with an indicator light that communicates with the controller.

[0047] To achieve the above objectives, the present invention also provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the surgical robot control method described above is implemented.

[0048] To achieve the above objectives, the present invention also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the surgical robot control method described above.

[0049] Compared with existing technologies, the surgical robot control system, method, surgical robot, electronic device, and storage medium provided by this invention have the following advantages: This invention provides a button assembly on the master hand of the surgical robot's main end. This button assembly allows the operator to input control commands, and the main end can then be controlled to perform corresponding operations based on the operator's input commands. Therefore, this invention enables the input of various control commands through the button assembly, allowing the surgical robot to be controlled without the surgeon's head leaving the intraoperative visual field. This improves the convenience and continuity of the surgeon's operation, avoids frequent interruptions, and enhances the surgeon's experience. Furthermore, this invention ensures that the surgeon's information at the master end can be successfully transmitted to the slave end, improving the safety and stability of the surgical process. Attached Figure Description

[0050] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the structure of an operating table cart provided according to an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of the structure of a doctor's control console provided in one embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of master-slave operation control of a surgical robot according to an embodiment of the present invention;

[0054] Figure 5 A schematic diagram illustrating an application scenario of a surgical instrument provided in one embodiment of the present invention;

[0055] Figure 6 A block diagram illustrating the structure of a surgical robot control system according to an embodiment of the present invention;

[0056] Figure 7 This is a schematic diagram of the control command menu interface provided in one embodiment of the present invention;

[0057] Figure 8 This is a schematic diagram of the structure of a button assembly provided in one embodiment of the present invention;

[0058] Figure 9 A schematic diagram of the interface for selecting device replacement instructions provided in one embodiment of the present invention;

[0059] Figure 10 A schematic diagram of the interface display for device replacement prompt information provided in one embodiment of the present invention;

[0060] Figure 11 A partial structural schematic diagram of a robotic arm provided according to an embodiment of the present invention;

[0061] Figure 12 A schematic diagram of the interface for setting the master-slave speed ratio according to an embodiment of the present invention;

[0062] Figure 13 A schematic diagram of the interface display for a master-slave speed ratio setting prompt information provided in an embodiment of the present invention;

[0063] Figure 14 A schematic diagram of the interface for selecting master / slave clutch commands provided in one embodiment of the present invention;

[0064] Figure 15 A schematic diagram of the interface display of master-slave clutch prompt information provided according to an embodiment of the present invention;

[0065] Figure 16A schematic diagram of the interface display for selecting master-slave arm switching instructions provided in one embodiment of the present invention;

[0066] Figure 17 A schematic diagram of the interface display for master-slave switching prompt information provided in one embodiment of the present invention;

[0067] Figure 18 A flowchart illustrating the process of confirming the names of two robotic arms that are switched, as provided in another embodiment of the present invention.

[0068] Figure 19 A schematic diagram of the interface for selecting master-slave posture and rematching instructions provided in one embodiment of the present invention;

[0069] Figure 20 A schematic diagram of the interface display for master-slave attitude rematching prompt information provided in one embodiment of the present invention;

[0070] Figure 21 A schematic diagram illustrating the specific process of master-slave posture rematching provided in one embodiment of the present invention;

[0071] Figure 22a This is a schematic diagram of T-shaped acceleration trajectory planning provided as a specific example of the present invention;

[0072] Figure 22b This is a schematic diagram of T-shaped velocity trajectory planning provided as a specific example of the present invention;

[0073] Figure 22c This is a schematic diagram of T-shaped position trajectory planning provided as a specific example of the present invention;

[0074] Figure 23 A schematic diagram of the interface for selecting the optimal master-slave position reset command according to an embodiment of the present invention;

[0075] Figure 24 A schematic diagram of the interface display for master-slave optimal position reset prompt information provided in one embodiment of the present invention;

[0076] Figure 25 This is a flowchart illustrating a surgical robot control method according to an embodiment of the present invention.

[0077] Figure 26 This is a block diagram of an electronic device provided according to an embodiment of the present invention.

[0078] The accompanying figure is labeled as follows:

[0079] Slave end-200; Image carriage-210; Surgical carriage-220; First base-221; Robotic arm-222; Surgical instrument-230; Actuator-231; Instrument lever-232; Instrument operating end-233; Puncture device-240; Fixed point-250; Tool carriage-260; Auxiliary components-270; Signal light-280;

[0080] Main terminal - 100; Doctor's console - 110; Second base - 111; Adjustment component - 112; Main operating hand - 113; Display component - 114; Controller - 120; Button assembly - 130; Main button - 131; Adjustment button - 132; Display module - 140; Storage module - 150;

[0081] Processor-310; Communication interface-320; Memory-330; Communication bus-340. Detailed Implementation

[0082] The surgical robot control system, method, surgical robot, electronic device, and storage medium proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clarify the illustration of the embodiments of this invention. Please refer to the drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this invention. Any modifications to the structure, changes in proportions, or adjustments to the size, provided that the effects and objectives achieved by this invention are the same or similar, should still fall within the scope of the technical content disclosed in this invention.

[0083] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0084] Furthermore, in the description of this specification, the reference to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] The core idea of ​​this invention lies in providing a surgical robot control system, method, surgical robot, electronic device, and storage medium, enabling surgeons to control the surgical robot during continuous surgical procedures, thereby improving the convenience and continuity of the surgical process. It should be noted that, as those skilled in the art will understand, regarding the "slave end," the term "proximal end" refers to the end furthest from the lesion, and the term "terminal end" refers to the end closest to the lesion; regarding the "master end," the term "proximal end" refers to the end furthest from the operator, and the term "terminal end" refers to the end closest to the operator. Furthermore, it should be noted that, as those skilled in the art will understand, the term "multiple" may include two instances, and the term "multiple types" may include two instances.

[0086] Additionally, it should be noted that, as those skilled in the art will understand, the surgical robot control method provided by this invention can be applied to the electronic device provided by this invention. This electronic device can be configured on the surgical robot of the embodiments of this invention. The electronic device can be a computer, a mobile terminal, etc., and the mobile terminal can be a hardware device with various operating systems, such as a mobile phone or a tablet computer.

[0087] Example 1

[0088] To achieve the above objectives, this embodiment provides a surgical robot control system. Please refer to... Figure 1 The diagram illustrates an application scenario of the surgical robot provided in the first embodiment of this work. Figure 1 As shown, the surgical robot includes a master terminal 100 and a slave terminal 200 connected by communication. The slave terminal 200 includes an image carriage 210 and a surgical carriage 220, and the master terminal 100 includes a doctor's console 110.

[0089] Please continue to refer to this. Figure 2 The diagram illustrates the structure of the surgical cart 220 provided in the first embodiment of this work. Figure 2As shown, the surgical cart 220 includes a first base 221 and at least one robotic arm 222 mounted on the first base 221. Preferably, the surgical cart 220 includes at least two robotic arms 222, wherein a surgical instrument 230 is mounted at the end of at least one robotic arm 222, and an endoscope is mounted at the end of at least one robotic arm 222. Specifically, the surgical instrument 230 and the endoscope can be inserted into the patient's body through a puncture hole on the patient's surface. The endoscope can collect image information inside the patient's body, specifically including acquiring surgical environment image information such as human tissues and organs, surgical instruments 230, blood vessels, and body fluids. The collected image information is transmitted to the display screen of the image cart 210 for display. During the operation, the operator (i.e., the doctor) can manipulate the surgical instrument 230 and the endoscope by operating the main end 100, thereby completing the corresponding surgical operation.

[0090] Please continue to refer to this. Figure 3 The diagram illustrates the structure of the doctor's control console 110 provided in the first embodiment of this work. Figure 3 As shown, the doctor's console 110 includes a second base 111 and an adjustment component 112, a master operating hand 113, and a display component 114 mounted on the second base 111. The second base 111 has casters (not shown) for movement and fixation as needed. Furthermore, the second base 111 has a foot switch (not shown) to detect on / off control signals from the operator. As those skilled in the art will understand, the adjustment component 112 can electrically adjust the positions of the master operating hand 113 and the display component 114, i.e., the adjustment component 112 has a human-machine parameter adjustment function. The image carriage 210 located at the slave end 200 can transmit image information acquired by the endoscope within the patient's body to the display component 114 for display, thereby providing the operator with reliable image information. During the operation, the operator sitting at the master end 100 controls the surgical instruments 230 and the endoscope located at the slave end 200 by manipulating the master operating hand 113. Furthermore, the doctor's console 110 includes two main operating hands 113. The operator observes the transmitted images of the patient's body through the display unit 114 and controls the movement of the robotic arm 222 and instruments (including surgical instruments 230 and endoscopes) of the slave end 200 through hand movements to complete various operations, thereby achieving the purpose of performing surgery on the patient. At the same time, the operator can control some actions through a foot switch, such as inputting related operations such as electrocautery and electrocoagulation through the foot switch.

[0091] Please continue to refer to this. Figure 4 This schematically illustrates the master-slave operation control diagram of the surgical robot provided in the first embodiment of this diagram. Figure 4 As shown, during normal surgical procedures, the operator at the master end 100, guided by images of the patient's body captured by the endoscope, can control the end-effector pose and clamping state of the instruments (including surgical instruments 230 and the endoscope) at the slave end 200 through master-slave teleoperation. It should be noted that those skilled in the art can understand the component structure and principles of the surgical robot based on existing technology.

[0092] Please continue to refer to this. Figure 5 The diagram illustrates an application scenario of the surgical instrument 230 provided in the first embodiment of this work. Figure 5 As shown, the surgical instrument 230 includes an actuator 231, an instrument rod 232, and an instrument operating end 233. Typically, the surgical instrument 230 is inserted into the lesion area of ​​the patient's body by a trocar 240 mounted on the robotic arm 222 at the slave end 200. The trocar 240 is fixed at the patient's surgical port, i.e., at a fixed point 250. The surgical instrument 230 can move around the fixed point 250 to perform various surgical operations, such as traction, cutting, and suturing. It should be noted that, as those skilled in the art will understand, Figure 5 The surgical instrument 230 shown is merely an example. In actual use, the surgical instrument 230 may have other structures, and the present invention does not limit it.

[0093] Please continue to refer to this. Figure 1 ,like Figure 1 As shown, in one exemplary embodiment, the slave end 200 is further provided with a tool cart 260 for storing surgical instruments 230 and auxiliary components 270 (including a ventilator and an anesthesia machine) for use during surgery. It should be noted that, as those skilled in the art will understand, they can select and configure these auxiliary components 270 according to existing technology, and therefore will not be described in detail here.

[0094] Please continue to refer to this. Figure 6 The diagram illustrates the block structure of the surgical robot control system provided in the first embodiment of this work. Figure 6As shown, the surgical robot control system includes a button assembly 130 mounted on the master operator 113 and a controller 120 communicatively connected to the button assembly 130. The button assembly 130 is configured to allow the operator to input control commands and transmit these commands to the controller 120. The controller 120 is configured to control the master operator 100 to perform corresponding operations based on the received control commands. Therefore, the robot control system provided in this embodiment can realize the input of various control commands through the button assembly 130, thereby enabling the control of the surgical robot without the operator's head leaving the intraoperative visual field. This improves the convenience and continuity of the surgical procedure, avoids frequent interruptions, and enhances the operator's experience. Furthermore, the surgical robot control system provided in this embodiment can also ensure that the master operator's information is successfully transmitted to the slave operator 200, thereby improving the safety and stability of the surgical process. It should be noted that, as those skilled in the art will understand, the controller 120 is communicatively connected to the doctor's console 110. The controller 120 can be integrated with the doctor's console 110 or set up separately from the doctor's console 110. The present invention does not limit this.

[0095] In one exemplary embodiment, the control commands include any one or more of the following: instrument change command, master-slave speed ratio setting command, master-slave clutch command, master-slave arm switching command, master-slave posture rematch command, and master-slave optimal position reset command. Therefore, through the surgical robot control system provided in this embodiment, the operator can select from multiple control commands by operating the button assembly 130 without leaving the intraoperative field of vision, thereby further improving the convenience and continuity of the operator's surgical procedures.

[0096] Please continue to refer to this. Figure 6 ,like Figure 6 As shown, in one exemplary embodiment, the control system further includes a display module 140 communicatively connected to the controller 120. The display module 140 is configured to display a control command menu and / or control commands input by the operator. Specifically, the operator can access the control command menu by operating the button assembly 130. Please continue to refer to... Figure 7 The diagram illustrates the control command menu interface provided in the first embodiment of this diagram. Figure 7As shown, the control command menu sequentially displays various control commands, including instrument change command, master-slave speed ratio setting command, master-slave clutch command, master-slave arm switching command, master-slave posture rematch command, and master-slave optimal position reset command. Therefore, by displaying these control commands in a menu list format, it is easier for the operator to select control commands by browsing the menu, thus facilitating the input of desired control commands. It should be noted that, as those skilled in the art will understand, the display module 140 is integrated into the doctor's console 110; furthermore, the display module 140 and the display component 114 on the doctor's console 110 described above can be the same device.

[0097] Please refer to Figure 8 The diagram illustrates the structure of the button assembly 130 provided in the first embodiment of this diagram. Figure 8 As shown, in one exemplary embodiment, the button assembly 130 includes a main button 131 and at least one adjustment button 132. The main button 131 is configured for the operator to confirm a control command, and the adjustment button 132 is configured for the operator to select a control command. Specifically, when the operator needs to input a control command, they can first use the main button 131 to retrieve the control command menu, then use the adjustment button 132 to browse the control command menu up and down to select the desired control command. After selecting the desired control command, they can then confirm it using the main button 131.

[0098] Furthermore, such as Figure 8 As shown, the button assembly 130 includes two adjustment buttons 132. One adjustment button 132 allows users to select control commands from the control command menu by browsing downwards, while the other adjustment button 132 allows users to select control commands from the control command menu by browsing upwards. Therefore, by providing two adjustment buttons 132, the operator can quickly find the desired control command, further improving the user experience.

[0099] In one exemplary implementation, such as Figure 8 As shown, the button assembly 130 is mounted on the end joint (i.e., the pinch joint) of the operating master hand 113. Therefore, by mounting the button assembly 130 on the end joint of the operating master hand 113, it is easier for the operator to input control commands through the button assembly 130.

[0100] Furthermore, as a preferred embodiment, both of the two operating hands 113 of the main terminal 100 are provided with the button assembly 130. Therefore, by providing the button assembly 130 on both of the operating hands 113 of the main terminal 100, it is easier for the operator to input control commands.

[0101] In one exemplary embodiment, the instrument replacement instruction includes the name of the robotic arm 222 corresponding to the instrument to be replaced and the name of the instrument to be replaced.

[0102] Correspondingly, the controller 120 is configured to control the master terminal 100 to send corresponding prompt information to the slave terminal 200 according to the received instrument replacement instruction.

[0103] Therefore, the operator can input instrument replacement instructions through the button component 130, and the corresponding instrument replacement instructions can be accurately transmitted to the slave end 200 through the controller 120. This eliminates the need for voice transmission, effectively solving the problem of inaccurate information transmission or the need for multiple exchanges caused by interference during voice transmission, and further improving the continuity of the doctor's surgical operation.

[0104] For details, please refer to Figure 9 The diagram illustrates the interface for selecting the device replacement command provided in the first embodiment of this text. Figure 9 As shown, once the operator determines that the desired control command is related to instrument replacement, the control command menu will display a two-level list related to the instrument replacement command. The first-level list is the list of robotic arms 222 (each robotic arm 222 has a unique name, such as robotic arm 1, robotic arm 2, robotic arm 3, and robotic arm 4 in the figure). The second-level list is the list of instrument names. The operator can select the robotic arm 222 of the instrument to be replaced from the list of robotic arms 222 using the adjustment button 132 mentioned above. After selecting the robotic arm 222, the operator can confirm it using the main button 131 mentioned above. After confirming the robotic arm 222, the operator can then select the name of the instrument to be replaced from the instrument type list using the adjustment button 132. After selecting the name of the instrument to be replaced, the operator can confirm it using the main button 131. In this way, the specific instrument replacement command can be input. Figure 9 As shown in the diagram, the selected instrument change instruction is for robotic arm #3 to change the duckbill pliers. It should be noted that, although... Figure 9 The following description uses an operating table 220 at end 200 that includes four robotic arms 222 as an example. However, as those skilled in the art will understand, the number of robotic arms 222 included in the operating table 220 is not limited to four. Furthermore, it should be noted that, as those skilled in the art will understand, Figure 9The device names shown in the device name list are merely illustrative; in actual use, they can be set according to specific circumstances, and this invention does not impose any limitations on them. It should also be noted that, although... Figure 9 The robotic arm 222 is named with a number, but as those skilled in the art will understand, in some other embodiments, the robotic arm 222 may be named in other ways, that is, in some other embodiments, the name of the robotic arm 222 may be represented in other ways besides the number, and the present invention does not limit this.

[0105] In one exemplary embodiment, the master terminal 100 can send corresponding interactive text or interactive icons to the slave terminal 200 to indicate to the slave terminal 200 the name of the robotic arm 222 whose equipment needs to be replaced and the name of the equipment to be replaced. Please refer to... Figure 10 This illustration shows the interface display of the device replacement prompt information provided in the first embodiment of this invention. Specifically, as shown... Figure 10 As shown, the prompts for instrument replacement sent by the master end 100 to the slave end 200 can be displayed on the image carriage 210 of the slave end 200 via interactive text. Thus, the doctor at the slave end 200 can use the prompts to replace the surgical instrument 230 on the corresponding robotic arm 222 with the surgical instrument 230 to be replaced, for example, replacing the surgical instrument 230 on the robotic arm 3 with a duckbill forceps.

[0106] Please continue to refer to this. Figure 11 The diagram illustrates a partial structural schematic of the robotic arm 222 provided in the first embodiment of this work. Figure 11 As shown, indicator lights are installed on the robotic arm 222. Therefore, the master terminal 100 can also send signal lights 280 to the corresponding robotic arm 222. For example, if the operator inputs a control command to replace the duckbill pliers on robotic arm 3, the master terminal 100 will send signal lights 280 to robotic arm 3. Specifically, this can be achieved by controlling the color or flashing frequency of the signal lights 280 on the robotic arm 222.

[0107] In one exemplary implementation, the master-slave speed ratio setting instruction includes any one or more of fast master-slave ratio, normal speed master-slave ratio, and slow master-slave ratio.

[0108] Correspondingly, the controller 120 is configured to control the master terminal 100 to send corresponding prompt information to the slave terminal 200 according to the received master-slave speed ratio setting instruction.

[0109] Specifically, the master-slave speed ratio refers to the ratio between the movement speed of the master device 100 and the movement speed of the slave device 200. The operator can control the response speed and control fineness of the slave device 200 by setting the master-slave speed ratio. Please refer to [reference needed]. Figure 12 The diagram illustrates the interface for setting the master-slave speed ratio according to the first embodiment of this text. Figure 12 As shown, once the operator determines that the desired control command is related to the master-slave speed ratio setting, the control command menu will display a list of master-slave speed ratio parameters related to the setting. The operator can select the desired master-slave speed ratio parameter from the list using the adjustment button 132 mentioned above. After selecting the master-slave speed ratio parameter, confirmation can be made using the master button 131 mentioned above. This completes the input of the specific master-slave speed ratio setting command. Figure 12 As shown in the figure, the selected master-slave speed ratio setting command sets the master-slave speed ratio to slow mode (i.e., the master-slave speed ratio is set to 3 / 1). It should be noted that, as those skilled in the art will understand, Figure 12 The master-slave speed ratio parameters (3 / 2, 2 / 1, 3 / 1) shown in the master-slave speed ratio parameter list are only illustrative examples. In actual use, they can be set according to specific circumstances. This invention does not limit them.

[0110] In one exemplary implementation, the master terminal 100 can send corresponding interactive text or interactive icons to the slave terminal 200 to indicate the master-slave speed ratio parameters set by the slave terminal 200. Please refer to... Figure 13 This illustration shows the interface display of the master-slave speed ratio setting prompt information provided in the first embodiment of this work. Specifically, as shown... Figure 10 As shown, the prompt information regarding the master-slave speed ratio setting sent by the master terminal 100 to the slave terminal 200 can be displayed on the image trolley 210 of the slave terminal 200 through interactive text.

[0111] In one exemplary implementation, the master-slave clutch command includes a dual master clutch command and / or a single master clutch command.

[0112] Correspondingly, if the control command input by the operator is a dual master hand clutch command, the controller 120 is configured to control each of the master hand 113 to enter the clutch state according to the received dual master hand clutch command, so that the operator can adjust the position of each of the master hand 113.

[0113] If the control command input by the operator is a single master hand clutch command, the controller 120 is configured to control the corresponding master hand 113 to enter the clutch state according to the received single master hand clutch command, so that the operator can adjust the position of the master hand 113.

[0114] Therefore, during master-slave control, the doctor (operator) can adjust the position of the master hand 113 by inputting dual master hand clutch commands or single master hand clutch commands, so that the master hand 113 can be in a comfortable operating space, which makes it easier for the doctor to operate.

[0115] For details, please refer to Figure 14 The diagram illustrates the interface for selecting master / slave clutch commands provided in the first embodiment of this diagram. Figure 14 As shown, once the operator determines that the desired control command is related to the master-slave clutch, the control command menu will display a clutch mode selection list related to the master-slave clutch. The operator can select the desired clutch mode from the clutch mode selection list using the adjustment button 132 mentioned above. After selecting the desired clutch mode, confirmation can be made using the main button 131 mentioned above, thus completing the input of the specific master-slave clutch command. Figure 14 For example, if the operator selects the single master hand clutch command, only the selected master hand 113 (i.e., the master hand 113 where the button component 130 currently operated by the operator is located) enters the clutch state, while the other master hand 113 enters the standby state. The operator can manually adjust the position of the master hand 113 in the clutch state using the foot switch described above. If the operator selects the dual master hand clutch command, both master hands 113 enter the clutch state simultaneously, allowing the operator to adjust their positions. It should be noted that, as those skilled in the art will understand, in some other embodiments, for the single master hand clutch mode, a next-level selection list including the left master hand 113 and the right master hand 113 can be set. Thus, after confirming the single master hand clutch, the doctor can continue to select whether the left or right master hand 113 enters the clutch state from the next-level selection list. Figure 14 As shown in the figure, the selected master-slave clutch command is left operation master 113 to enter the clutch state.

[0116] In one exemplary embodiment, the controller 120 is further configured to control the master terminal 100 to send corresponding prompt information to the slave terminal 200 based on the received master-slave disengagement command. Thus, the doctor at the slave terminal 200 can use this prompt information to know which operation's master hand 113 is about to enter the master-slave disengagement mode. Specifically, the master terminal 100 can send corresponding interactive text or interactive icons to the slave terminal 200 to prompt the doctor at the slave terminal 200 which operation's master hand 113 is about to enter the master-slave disengagement mode. Please refer to [reference needed]. Figure 15 The diagram illustrates the interface display of the master-slave engagement / disengagement prompt information provided in the first embodiment of this text. Figure 15 As shown, the master terminal 100 sends the master-slave engagement / disengagement prompts to the slave terminal 200 via interactive text, which can be displayed on the image carriage 210 of the slave terminal 200. For example, according to... Figure 15 The displayed prompt message indicates that the doctor on end 200 will know that the left operating master hand 113 is about to enter the master-slave disengagement mode.

[0117] In one exemplary implementation, the master-slave arm switching instruction includes the names of the two robotic arms 222 to be switched.

[0118] Correspondingly, the controller 120 is configured to control the corresponding master arm 113 to switch to the corresponding robotic arm 222 for master-slave control according to the received master-slave arm switching command.

[0119] Therefore, by inputting the master-slave arm switching command, during master-slave control, the operator can select which robotic arm 222 is controlled by the left master hand 113 and which is controlled by the right master hand 113, thereby improving the convenience of surgical operations. For details, please refer to... Figure 16 The diagram illustrates the interface display of the master-slave switching command provided in the first embodiment of this work. Figure 16 As shown, once the operator determines that the desired control command is related to master-slave arm switching, the control command menu will display a list of robotic arms 222 to be switched. The operator can select the names of the two robotic arms 222 to be switched from the list using the adjustment button 132 mentioned above, and then confirm using the main button 131 mentioned above. This completes the input of the specific master-slave arm switching command. Taking a slave end 200 with four robotic arms 222 as an example... Figure 16As shown, if the operator inputs a command to switch between robotic arms 1 and 2, the left master hand 113 can switch between robotic arms 1 and 2 to achieve master-slave control of the corresponding robotic arm 222; if the operator inputs a command to switch between robotic arms 3 and 4, the right master hand 113 can switch between robotic arms 3 and 4 to achieve master-slave control of the corresponding robotic arm 222.

[0120] Furthermore, the controller 120 is also configured to control the master end 100 to send corresponding prompt information to the slave end 200 according to the received master-slave arm switching command. Thus, the doctor at the slave end 200 can know through this prompt information which two robotic arms 222 will be switched. Specifically, the master end 100 can send corresponding interactive text or interactive icons to the slave end 200 to prompt the doctor at the slave end 200 which two robotic arms 222 will be switched. Please refer to [reference needed]. Figure 17 This illustration shows a schematic diagram of the interface display for the master-slave arm switching prompt information provided in the first embodiment of this work. Figure 17 As shown, the master-slave arm switching prompts sent by the master 100 to the slave 200 can be displayed on the image trolley 210 of the slave 200 via interactive text, for example, according to... Figure 18 The prompt message shown indicates that the doctor at end 200 will know that the left operating master hand 113 will switch between robotic arm 1 and robotic arm 2.

[0121] Please continue to refer to this. Figure 18 This schematically illustrates a flowchart of the process for confirming the names of the two robotic arms 222 that are being switched, provided in another embodiment of this invention. For example... Figure 18 As shown, in this embodiment, after the operator determines that the control command to be input is related to master-slave arm switching, the controller 120 determines the names of the two robotic arms 222 that need to be switched based on the name of the robotic arm 222 where the endoscope is located. Therefore, by determining the names of the two robotic arms 222 that need to be switched based on the name of the robotic arm 222 where the endoscope is located, it is easier for the operator to input the master-slave arm switching command, making the operation more convenient.

[0122] Specifically, taking the slave end 200 having four robotic arms 222 as an example, such as Figure 18 As shown, when the endoscope is located on robotic arm 222, which is robotic arm 3, the left operating master hand 113 can switch robotic arm 222 between robotic arm 1 and robotic arm 2; when the endoscope is located on robotic arm 222, which is robotic arm 222, the right operating master hand 113 can switch robotic arm 222 between robotic arm 3 and robotic arm 4.

[0123] In one exemplary implementation, the master-slave posture rematching instruction includes a single master hand posture rematching instruction and / or a dual master hand posture rematching instruction.

[0124] Correspondingly, if the control command input by the operator is a single master hand posture rematching command, the controller 120 is configured to adjust the position of each posture joint of the corresponding master hand 113 according to the received single master hand posture rematching command, so as to adjust the position of each posture joint of the master hand 113 to the corresponding target position.

[0125] If the control command input by the operator is a dual master hand posture rematching command, then the controller 120 is configured to adjust the position of each posture joint of each master hand 113 according to the received dual master hand posture matching command, so as to adjust the position of each posture joint of the master hand 113 to the corresponding target position.

[0126] Therefore, when the master-slave postures no longer match after a robotic arm switch, or when the current master hand 113 is inconvenient for the operator to operate, the operator can automatically re-match the master-slave postures to the optimal matching position by inputting a single master hand posture rematch command or a dual master hand posture rematch command. This eliminates the need to re-plug and re-plug the device for master-slave posture rematch. Specifically, when the operator selects a single master hand posture rematch command or a dual master hand posture rematch command, the controller 120 will automatically calculate the optimal target positions of each posture joint of the master hand 113 based on the posture of the corresponding slave end 200 robotic arm 222, while keeping the posture of the slave end 200 robotic arm 222 unchanged, and adjust the positions of each posture joint of the master hand 113 to the corresponding optimal target positions.

[0127] For details, please refer to Figure 19 The diagram illustrates the interface for selecting master-slave posture rematching instructions provided in the first embodiment of this work. Figure 19 As shown, once the operator determines that the desired control command is related to master-slave attitude rematching, the control command menu will display a matching mode selection list related to master-slave attitude rematching. The operator can select the desired matching mode from the matching mode selection list using the adjustment button 132 mentioned above. After selecting the desired matching mode, confirmation can be made using the main button 131 mentioned above, thus completing the input of the specific master-slave attitude rematching command. Figure 19For example, if the operator selects the single master hand posture rematching mode, only the selected master hand 113 (i.e., the master hand 113 where the button component 130 currently operated by the operator is located) will undergo master-slave posture rematching. If the operator selects the dual master hand posture rematching mode, both master hands 113 will undergo master-slave posture rematching simultaneously. It should be noted that, as those skilled in the art will understand, in some other embodiments, for the single master hand posture rematching mode, a next-level selection list including the left master hand 113 and the right master hand 113 can be set. Thus, after confirming the single master hand posture rematching, the doctor can continue to select in the next-level selection list whether the left master hand 113 or the right master hand 113 will undergo master-slave posture rematching. Figure 19 As shown in the figure, the selected master-slave attitude rematching instruction is for the two master operators 113 to perform master-slave attitude rematching simultaneously.

[0128] It should be noted that, as those skilled in the art will understand, during master-slave control, the master end 100 operates and the slave end 200 follows. Therefore, the posture of the master end 100 is consistent with that of the slave end 200 (i.e., the posture of the master operating hand 113 located at the master end 100 is consistent with the posture of the robotic arm 222 of the slave end 200 which has a master-slave control relationship with it (i.e., the posture of the device installed at the end of the robotic arm 222)). Since the master operating hand 113 located at the master end 100 is a 7-DOF redundant arm and the robotic arm 222 located at the slave end 200 is a 6-DOF arm, for one posture of the slave end 200, the master end 100 has multiple corresponding solutions (i.e., the master operating hand 113 of the master end 100 has multiple mechanical configurations to correspond to it). Furthermore, it should be noted that, as those skilled in the art will understand, the master hand 113 has a plurality of position joints for adjusting the position of the master hand 113 and a plurality of posture joints for adjusting the posture of the master hand 113; the robotic arm 222 located at the slave end 200 has a plurality of position joints for adjusting the position of the robotic arm 222 and a plurality of posture joints for adjusting the posture of the robotic arm 222.

[0129] In one exemplary embodiment, the controller 120 is further configured to control the master terminal 100 to send corresponding prompt information to the slave terminal 200 based on the received master-slave posture rematching instruction. Thus, the doctor at the slave terminal 200 can use this prompt information to know which operation the master hand 113 will require master-slave posture rematching. Specifically, the master terminal 100 can send corresponding interactive text or interactive icons to the slave terminal 200 to prompt the doctor at the slave terminal 200 which operation the master hand 113 will require master-slave posture rematching. Please refer to [reference needed]. Figure 20 This schematically illustrates the interface display diagram of the master-slave attitude rematch prompt information provided in the first embodiment of this diagram. For example... Figure 20 As shown, the prompt information about master-slave posture rematching sent by the master terminal 100 to the slave terminal 200 can be displayed on the image carriage 210 of the slave terminal 200 through interactive text. For example, according to the prompt information shown in Figure 22, the doctor of the slave terminal 200 can know that both operation master hands 113 will be rematched in master-slave posture.

[0130] Further, please refer to Figure 21 This schematically illustrates the specific process of master-slave posture rematching provided in the first embodiment of this diagram. Figure 21 As shown, the controller 120 is configured to obtain the target positions of each posture joint of the master hand 113 through the following process;

[0131] Obtain the position information of each posture joint of the robotic arm 222 corresponding to the main operating hand 113;

[0132] Based on the position information of each posture joint of the robotic arm 222, the posture information of the robotic arm 222 is obtained;

[0133] Based on the posture information of the robotic arm 222 and the master-slave posture mapping relationship between the robotic arm 222 and the master hand 113, the posture information of the master hand 113 is obtained;

[0134] Based on the posture information of the master hand 113 and the pre-set optimal posture combination control strategy of the master terminal 100, the target positions of each posture joint of the master hand 113 are obtained.

[0135] Specifically, the optimal solution (i.e., the target position of each posture joint) is selected based on the posture information of the main operating hand 113 and the pre-set optimal posture combination control strategy of the main end 100. The selection of the optimal solution means that, without changing the posture, the main operating hand is placed in the most comfortable operating position through compensation of posture redundant joints. Further, the optimal posture combination control strategy of the main end 100 includes: (1) keeping the yaw and pitch joints of the main operating hand 113 as vertical as possible; (2) making the position of the posture joints of the main operating hand 113 most convenient for the doctor to operate; (3) making the weighted average motion of the pitch, yaw, and rotation joints of the main operating hand 113 as small as possible; and (4) making the motion of the posture redundant joints relative to the zero position as small as possible. It should be noted that, as those skilled in the art can understand, the pitch joint, yaw joint, rotation joint, and posture redundant joint are all posture joints.

[0136] Furthermore, such as Figure 21As shown, the controller 120 is configured to adjust the positions of each posture joint of the master hand 113 to the corresponding target positions through the following process:

[0137] For each posture joint of the main operating hand 113, the motion trajectory of the posture joint is planned according to the current position and the target position of the posture joint, and the posture joint is controlled to perform corresponding movements according to the planned motion trajectory, so as to adjust the position of the posture joint to the target position.

[0138] Specifically, the motion trajectory of the attitude joint can be planned according to existing S-shaped trajectory planning strategies, T-shaped trajectory planning strategies, B-spline trajectory planning strategies, or multiple interpolation trajectory planning strategies. Taking the T-shaped trajectory planning strategy as an example, the T-shaped motion trajectory includes three stages: uniform acceleration, uniform velocity, and uniform deceleration. In the uniform acceleration stage (0≤t≤t...),... c ), with a constant acceleration a max Acceleration increases the speed from 0 to vmax; during the constant speed phase (t... c ≤t≤t f -t s ), at a constant speed V max Uniform motion; during the uniform deceleration phase (t f -t s <t≤t f With a constant acceleration -a max Decelerate, so that the speed changes from V max Reduced to 0. Therefore, for each posture joint, its position trajectory satisfies the following relationship:

[0139]

[0140] In the formula:

[0141]

[0142]

[0143]

[0144] q(t) represents the position of a joint at time t; q i This indicates the current position of the joint in this posture; q f Indicates the target position of the joint in this posture; This indicates the acceleration of the joint in that posture; This indicates the maximum velocity of the joint in this posture; t c t represents the total time of joint acceleration in this posture; f t represents the total time of joint movement in this posture;s This indicates the time when the joint begins to decelerate in this posture.

[0145] Please refer to Figures 22a to 22c ,in Figure 22a A schematic diagram of T-shaped acceleration trajectory planning provided in a specific example of this embodiment is given; Figure 22b A schematic diagram of T-shaped velocity trajectory planning provided in a specific example of this embodiment is given; Figure 22c A schematic diagram illustrating the T-shaped position trajectory planning provided in a specific example of Embodiment 1 is given. It should be noted that, as those skilled in the art will understand, Figures 22a to 22c The acceleration values, maximum speed, total time of acceleration, total time of uniform motion, and total time of deceleration shown are illustrative and do not constitute a limitation on the invention.

[0146] In one exemplary implementation, the master-slave optimal position reset command includes a single master hand optimal position reset command and / or a dual master hand optimal position reset command.

[0147] Correspondingly, if the control command input by the operator is a single master hand optimal position reset command, the controller 120 is configured to adjust the position of the corresponding master hand 113 according to the received single master hand optimal position reset command, so as to adjust the position of the master hand 113 to the corresponding target position.

[0148] If the control command input by the operator is a dual-master hand optimal position reset command, then the controller 120 is configured to adjust the position of each master hand 113 according to the received dual-master hand optimal position reset command, so as to adjust the position of the master hand 113 to the corresponding target position.

[0149] Therefore, by inputting a single-hand optimal position reset command or a dual-hand optimal position reset command, the controller 120 automatically controls the corresponding master hand 113 to automatically reset to an optimal operating space position (i.e., the target position). Compared to the existing technology where the doctor (operator) manually adjusts the position of the master hand 113 by pressing the clutch pedal, this invention effectively reduces the complexity of the doctor's operation. It should be noted that, for the single-hand optimal position reset command, when calculating the target position of the master hand 113 to be reset, the controller also needs to consider the current position of the other master hand 113 to avoid collision between the master hand 113 to be reset and the other master hand 113 during the reset to the target position.

[0150] For details, please refer to Figure 23The diagram illustrates the interface for selecting the optimal master-slave position reset command provided in the first embodiment of this work. Figure 23 As shown, once the operator determines that the desired control command is related to master-slave optimal position reset, the control command menu will display a reset mode selection list related to master-slave optimal position reset. The operator can select the desired reset mode from the reset mode selection list using the adjustment button 132 mentioned above. After selecting the desired reset mode, confirmation can be made using the main button 131 mentioned above, thus completing the input of the specific master-slave optimal position reset command. Figure 23 For example, if the operator selects the single master hand optimal position reset mode, only the selected master hand 113 (i.e., the master hand 113 where the button component 130 currently operated by the operator is located) will perform the master-slave optimal position reset. If the operator selects the dual master hand optimal position reset mode, both master hands 113 will perform the master-slave optimal position reset simultaneously. It should be noted that, as those skilled in the art will understand, in some other embodiments, for the single master hand optimal position reset mode, a next-level selection list including the left master hand 113 and the right master hand 113 can be set. Thus, after confirming the single master hand optimal position reset, the doctor can continue to select in the next-level selection list whether the left master hand 113 or the right master hand 113 will perform the master-slave optimal position reset. Figure 23 As shown in the figure, the selected master-slave optimal position reset instruction is for both master operators 113 to simultaneously perform master-slave optimal position reset.

[0151] Furthermore, the controller 120 is configured to adjust the position of the master operator 113 to a corresponding target position through the following process:

[0152] Obtain the target position of the main operating hand 113;

[0153] Based on the current position and target position of the main operating hand 113, the movement trajectory of the main operating hand 113 is planned;

[0154] According to the planned movement trajectory, the main operating hand 113 is controlled to perform corresponding movements to adjust the position of the main operating hand 113 to the corresponding target position.

[0155] Specifically, based on the target position of the master hand 113, the target positions of each joint of the master hand 113 can be calculated using a robot inverse kinematics algorithm. Then, for each joint of the master hand 113, the motion trajectory of the joint is planned according to its current position and target position. The joint is then controlled to move according to the planned motion trajectory, thereby adjusting the position of the master hand 113 to its target position.

[0156] Furthermore, the controller 120 is configured to obtain the target position of the main operator 113 based on the pre-acquired correspondence between the operating scenario and the optimal operating position.

[0157] Specifically, the correspondence between the operating scenario and the optimal operating position can be pre-set by the doctor, or it can be derived by the controller 120 through statistical analysis of relevant recorded data on the doctor's operating habits. Thus, based on the pre-acquired correspondence between the operating scenario and the optimal operating position, the doctor's most habitual operating position (i.e., the target position of the main operating hand 113) in the current operating scenario can be determined.

[0158] In one exemplary embodiment, the controller 120 is further configured to control the master terminal 100 to send corresponding prompt information to the slave terminal 200 based on the received master-slave optimal position reset command. Thus, the doctor at the slave terminal 200 can use this prompt information to know which operation the master hand 113 will be performing a master-slave optimal position reset. Specifically, the master terminal 100 can send corresponding interactive text or interactive icons to the slave terminal 200 to prompt the doctor at the slave terminal 200 which operation the master hand 113 will be performing a master-slave optimal position reset. Please refer to [reference needed]. Figure 24 This illustration shows the interface display diagram of the master-slave optimal position reset prompt information provided in the first embodiment of this example. Figure 24 As shown, the prompt information regarding the master-slave optimal position reset sent by the master terminal 100 to the slave terminal 200 can be displayed on the image trolley 210 of the slave terminal 200 via interactive text, for example, according to... Figure 24 The prompt message shown indicates that the doctor at end 200 will know that both operations on the master hand 113 will be performed to reset the master and slave optimal positions.

[0159] Please continue to refer to this. Figure 6 ,like Figure 6As shown, the control system also includes a storage module 150, which stores instrument type information and / or the optimal position information of the master operator 113. Therefore, by storing relevant information for various instrument types in the storage module 150, it becomes easier for the operator to send instrument change information to the slave terminal 200. Furthermore, by storing the optimal position information of the master operator 113 in the storage module 150, it becomes easier for the controller 120 to obtain the correspondence between the operating scenario and the optimal operating position, thereby better achieving master-slave optimal position reset.

[0160] Example 2

[0161] Corresponding to the surgical robot control system described above, this embodiment provides a surgical robot control method. The surgical robot includes a master terminal 100 and a slave terminal 200 connected by communication. The master terminal 100 includes an operating master hand 113, and the slave terminal 200 includes at least one robotic arm 222. The operating master hand 113 is equipped with a button assembly 130. Please refer to... Figure 25 The diagram illustrates the flow chart of the surgical robot control method provided in the first embodiment of this text. Figure 25 As shown, the surgical robot control method includes the following steps:

[0162] Step S100: Receive control commands input by the operator through the button assembly 130.

[0163] Step S200: Control the master terminal 100 to perform corresponding operations according to the received control command.

[0164] Therefore, the robot control method provided in this embodiment receives various control commands through the button component 130, enabling control of the surgical robot without the operator's head leaving the intraoperative visual field. This improves the convenience and continuity of the surgical procedure, avoids frequent interruptions, and enhances the operator's experience. Furthermore, the surgical robot control method provided in this embodiment ensures that the operator's information is successfully transmitted to the slave device 200, improving safety and stability during the surgery. It should be noted that further details regarding the surgical robot can be found in the description of Embodiment 1 above, and will not be repeated here.

[0165] In one exemplary embodiment, the control commands include any one or more of the following: instrument change command, master-slave speed ratio setting command, master-slave clutch command, master-slave arm switching command, master-slave posture rematching command, and master-slave optimal position reset command.

[0166] In one exemplary embodiment, if the control command is a device replacement command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0167] Based on the received instrument replacement instruction, the master terminal 100 is controlled to send corresponding prompt information to the slave terminal 200.

[0168] In one exemplary embodiment, if the control command is a master-slave speed ratio setting command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0169] Based on the received master-slave speed ratio setting instruction, the master terminal 100 is controlled to send corresponding prompt information to the slave terminal 200.

[0170] In one exemplary embodiment, the master-slave clutch command includes a dual master clutch command and / or a single master clutch command;

[0171] If the control command is a dual-master clutch command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0172] According to the received dual master hand clutch command, each of the master hand 113 is controlled to enter the clutch state, so that the operator can adjust the position of each of the master hand 113;

[0173] If the control command is a single master clutch command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0174] According to the received single master hand clutch command, the corresponding master hand 113 is controlled to enter the clutch state, so that the operator can adjust the position of the master hand 113.

[0175] In one exemplary embodiment, if the control command is a master-slave switch command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0176] According to the received master-slave arm switching command, the corresponding master hand 113 is controlled to switch to the corresponding robotic arm 222 for master-slave control.

[0177] In one exemplary implementation, the master-slave posture rematching instruction includes a single master hand posture rematching instruction and / or a dual master hand posture rematching instruction.

[0178] If the control command is a single master hand posture rematching command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0179] According to the received single master hand posture rematching instruction, the position of each posture joint of the corresponding master hand 113 is adjusted so as to adjust the position of each posture joint of the master hand 113 to the corresponding target position.

[0180] If the control command is a dual-master hand posture rematching command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0181] According to the received dual master hand posture matching instructions, the position of each posture joint of each master hand 113 is adjusted to the corresponding target position.

[0182] Furthermore, the target positions of each posture joint of the main operating hand 113 are obtained through the following process;

[0183] Obtain the position information of each posture joint of the robotic arm 222 corresponding to the main operating hand 113;

[0184] Based on the position information of each posture joint of the robotic arm 222, the posture information of the robotic arm 222 is obtained;

[0185] Based on the posture information of the robotic arm 222 and the master-slave posture mapping relationship between the robotic arm 222 and the master hand 113, the posture information of the master hand 113 is obtained;

[0186] Based on the posture information of the master hand 113 and the pre-set optimal posture combination control strategy of the master terminal 100, the target positions of each posture joint of the master hand 113 are obtained.

[0187] Furthermore, adjusting the positions of each posture joint of the main operating hand 113 to adjust the positions of each posture joint of the main operating hand 113 to the corresponding target positions includes:

[0188] For each posture joint of the main operating hand 113, the motion trajectory of the posture joint is planned according to the current position and the target position of the posture joint, and the posture joint is controlled to perform corresponding movements according to the planned motion trajectory, so as to adjust the position of the posture joint to the target position.

[0189] In one exemplary implementation, the master-slave optimal position reset command includes any one or more of a single master hand optimal position reset command and a dual master hand optimal position reset command;

[0190] If the control command is a single master hand optimal position reset command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0191] According to the received single master hand optimal position reset command, the position of the corresponding master hand 113 is adjusted to adjust the position of the master hand 113 to the corresponding target position;

[0192] If the control command is a dual-master hand optimal position reset command, then controlling the master terminal 100 to perform corresponding operations according to the received control command includes:

[0193] According to the received dual master hand optimal position reset command, for each of the master hands 113, the position of the master hand 113 is adjusted to the corresponding target position.

[0194] Further, adjusting the position of the main operating hand 113 to the corresponding target position includes:

[0195] Obtain the target position of the main operating hand 113;

[0196] Based on the current position and target position of the main operating hand 113, the movement trajectory of the main operating hand 113 is planned;

[0197] According to the planned movement trajectory, the main operating hand 113 is controlled to perform corresponding movements to adjust the position of the main operating hand 113 to the corresponding target position.

[0198] Furthermore, based on the pre-obtained correspondence between the operating scenario and the optimal operating position, the target position of the main operating hand 113 is obtained.

[0199] Example 3

[0200] Based on the same inventive concept, this embodiment provides a surgical robot, which includes a master terminal 100, a slave terminal 200, and the surgical robot control system described above, all connected in communication. Since the surgical robot provided in this embodiment has a button assembly 130 on the operating hand 113 of its master terminal 100, various control commands can be input through the button assembly 130. This allows the surgeon to control the surgical robot without leaving the intraoperative visual field, improving the convenience and continuity of the surgeon's operation, avoiding frequent interruptions, and enhancing the surgeon's experience. Furthermore, the surgical robot provided in this embodiment ensures that the surgeon's information at the master terminal 100 can be successfully transmitted to the slave terminal 200, improving the safety and stability of the surgical process. It should be noted that further details regarding the surgical robot can be found in the relevant description in Embodiment 1 above, and will not be repeated here.

[0201] Example 4

[0202] Based on the same inventive concept, this embodiment provides an electronic device, please refer to... Figure 26 The diagram illustrates the block structure of the electronic device provided in the first embodiment of this work. Figure 26 As shown, the electronic device includes a processor 310 and a memory 330. The memory 330 stores a computer program, which, when executed by the processor 310, implements the surgical robot control method described above. Since the electronic device provided in this embodiment belongs to the same inventive concept as the surgical robot control method described above, it possesses all the advantages of the surgical robot control method described above. Therefore, the beneficial effects of the electronic device provided in this embodiment will not be described further here.

[0203] like Figure 26 As shown, the electronic device also includes a communication interface 320 and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The communication bus 340 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 340 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface 320 is used for communication between the aforementioned electronic device and other devices.

[0204] In this embodiment, the processor 310 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 310 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines.

[0205] The memory 330 can be used to store the computer program. The processor 310 implements various functions of the electronic device by running or executing the computer program stored in the memory 330 and calling the data stored in the memory 330.

[0206] The memory 330 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0207] Example 5

[0208] Based on the same inventive concept, this embodiment provides a readable storage medium storing a computer program. When executed by a processor, the computer program can implement the surgical robot control method described above. Since the readable storage medium provided in this embodiment and the surgical robot control method described above belong to the same inventive concept, the readable storage medium provided in this embodiment possesses all the advantages of the surgical robot control method described above. Therefore, the beneficial effects of the readable storage medium provided in this embodiment will not be described further here.

[0209] The readable storage medium in this embodiment can be any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable computer hard disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.

[0210] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0211] In summary, compared with the prior art, the surgical robot control system, method, surgical robot, electronic device, and storage medium provided by the present invention have the following advantages: The present invention provides a button component on the master hand of the surgical robot, allowing the operator to input control commands. Based on these commands, the master hand can be controlled to perform corresponding operations. Therefore, the present invention enables the input of various control commands through the button component, allowing the surgeon to control the surgical robot without leaving the intraoperative visual field, thus improving the convenience and continuity of the surgeon's operation, avoiding frequent interruptions, and enhancing the surgeon's experience. Furthermore, the present invention ensures that the surgeon's information at the master end can be successfully transmitted to the slave end, improving the safety and stability of the surgical process.

[0212] It should be noted that computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can 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 remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0213] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked 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 a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0214] In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0215] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A surgical robot control system, characterized in that, The surgical robot includes a master end and a slave end connected in communication. The master end includes an operating master hand, and the slave end includes at least one robotic arm. The control system includes a button assembly disposed on the operating master hand and a controller connected in communication with the button assembly. The button assembly is configured to allow the operator to input control commands and to transmit the control commands input by the operator to the controller; The controller is configured to control the master terminal to perform corresponding operations according to the received control instructions; The button assembly includes a main button and at least one adjustment button. The main button is configured to allow the operator to access the control command menu and confirm the control command. The adjustment button is configured to allow the operator to select a control command by browsing the control command menu. The control commands include any one or more of the following: instrument replacement command, master-slave speed ratio setting command, master-slave clutch command, master-slave arm switching command, master-slave posture rematching command, and master-slave optimal position reset command.

2. The surgical robot control system according to claim 1, characterized in that, The instrument replacement instruction includes the name of the robotic arm corresponding to the instrument to be replaced and the name of the instrument to be replaced; The controller is configured to control the master terminal to send corresponding prompt information to the slave terminal according to the received instrument replacement instruction.

3. The surgical robot control system according to claim 1, characterized in that, The master-slave speed ratio setting command includes any one or more of the following: fast master-slave ratio, normal speed master-slave ratio, and slow master-slave ratio; The controller is configured to control the master to send corresponding prompt information to the slave based on the received master-slave speed ratio setting instruction.

4. The surgical robot control system according to claim 1, characterized in that, The master-slave clutch commands include dual master-hand clutch commands and / or single master-hand clutch commands; If the control command input by the operator is a dual master hand clutch command, the controller is configured to control each of the master hands to enter the clutch state according to the received dual master hand clutch command, so that the operator can adjust the position of each master hand. If the control command input by the operator is a single master hand clutch command, the controller is configured to control the corresponding master hand to enter the clutch state according to the received single master hand clutch command, so that the operator can adjust the position of the master hand.

5. The surgical robot control system according to claim 1, characterized in that, The master-slave arm switching command includes the names of the two robotic arms to be switched; The controller is configured to control the corresponding master hand to switch to the corresponding robotic arm for master-slave control according to the received master-slave arm switching command.

6. The surgical robot control system according to claim 1, characterized in that, The master-slave posture rematching instruction includes a single master hand posture rematching instruction and / or a dual master hand posture rematching instruction; If the control command input by the operator is a single master hand posture rematching command, the controller is configured to adjust the position of each posture joint of the corresponding master hand according to the received single master hand posture rematching command, so as to adjust the position of each posture joint of the master hand to the corresponding target position. If the control command input by the operator is a dual-master hand posture rematching command, the controller is configured to adjust the position of each posture joint of each master hand according to the received dual-master hand posture rematching command, so as to adjust the position of each posture joint of the master hand to the corresponding target position.

7. The surgical robot control system according to claim 6, characterized in that, The controller is configured to obtain the target positions of each posture joint of the operator's main hand through the following process; Obtain the position information of each posture joint of the robotic arm corresponding to the main operating hand; Based on the position information of each joint of the robotic arm, the posture information of the robotic arm is obtained; Based on the posture information of the robotic arm and the master-slave posture mapping relationship between the robotic arm and the master hand, the posture information of the master hand is obtained; Based on the posture information of the master hand and the pre-set optimal posture combination control strategy of the master end, the target positions of each posture joint of the master hand are obtained.

8. The surgical robot control system according to claim 6, characterized in that, The controller is configured to adjust the positions of each joint of the master hand to the corresponding target positions through the following process: For each joint of the main hand, the motion trajectory of the joint is planned according to its current position and target position. Based on the planned motion trajectory, the joint is controlled to perform corresponding movements to adjust its position to the target position.

9. The surgical robot control system according to claim 1, characterized in that, The master-slave optimal position reset command includes a single master hand optimal position reset command and / or a dual master hand optimal position reset command. If the control command input by the operator is a single master hand optimal position reset command, then the controller is configured to adjust the position of the corresponding master hand according to the received single master hand optimal position reset command, so as to adjust the position of the master hand to the corresponding target position. If the control command input by the operator is a dual-master hand optimal position reset command, then the controller is configured to adjust the position of each master hand according to the received dual-master hand optimal position reset command, so as to adjust the position of the master hand to the corresponding target position.

10. The surgical robot control system according to claim 9, characterized in that, The controller is configured to adjust the position of the operator's hand to the corresponding target position through the following process: Obtain the target position of the main operator; Based on the current position and target position of the main operating hand, plan the movement trajectory of the main operating hand; According to the planned movement trajectory, the main operating hand is controlled to perform corresponding movements to adjust the position of the main operating hand to the corresponding target position.

11. The surgical robot control system according to claim 10, characterized in that, The controller is configured to obtain the target position of the operator based on the pre-acquired correspondence between the operation scenario and the optimal operation position.

12. The surgical robot control system according to claim 1, characterized in that, The control system further includes a display module that is communicatively connected to the controller, the display module being configured to display a control instruction menu and / or control instructions input by the operator.

13. The surgical robot control system according to claim 1, characterized in that, The control system further includes a storage module for storing instrument type information and / or the optimal position information of the operator's hand.

14. A surgical robot control method, characterized in that, The surgical robot includes a master end and a slave end connected by communication. The master end includes a master hand, and the slave end includes at least one robotic arm. The master hand is equipped with a button assembly. The control method includes: The button assembly receives control commands input by the operator. Based on the received control commands, the master terminal is controlled to perform corresponding operations; The button assembly includes a main button and at least one adjustment button. The main button is configured to allow the operator to access the control command menu and confirm the control command. The adjustment button is configured to allow the operator to select a control command by browsing the control command menu. The control commands include any one or more of the following: instrument replacement command, master-slave speed ratio setting command, master-slave clutch command, master-slave arm switching command, master-slave posture rematching command, and master-slave optimal position reset command.

15. A surgical robot, characterized in that, It includes a master end and a slave end for communication connection, as well as a surgical robot control system according to any one of claims 1 to 13.

16. The surgical robot according to claim 15, characterized in that, The slave end robotic arm is equipped with an indicator light that communicates with the controller.

17. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the surgical robot control method of claim 14.

18. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, implements the surgical robot control method of claim 14.

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