Computer-assisted medical system with gas insufflation device

Abstract

The embodiment of the present application provides a computer-aided medical system, which comprises a master control console, a mechanical arm and a slave operating device, the slave operating device comprises a gas blowing device and a sleeve, the sleeve is connected to the mechanical arm and is inserted into a patient's body cavity through a first remote center of motion, the master control console is remotely connected to the mechanical arm and the gas blowing device; in response to a control signal sent by the master control console, the gas blowing device injects gas into the first sleeve and / or sucks gas from the body cavity through the sleeve, and in response to a control signal sent by the master control console, the mechanical arm drives the sleeve to rotate around the remote center of motion to adjust the pose of the distal end of the sleeve, so that the position of the gas leaving or being sucked into the distal end of the sleeve is changed.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a computer-aided medical system. Background Technology

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

[0003] With advancements in technology, minimally invasive surgical robots have matured and are widely used. A minimally invasive surgical robot typically includes a main control console and slave operating devices. The main control console sends control commands to the slave operating devices based on the surgeon's instructions, controlling the slave operating devices. The slave operating devices respond to the control commands sent by the main control console and perform the corresponding surgical procedures. Surgical instruments are connected to the drive mechanism of the slave operating devices to perform surgical procedures. The distal end of the surgical instruments includes an end effector for performing surgical operations and joint components connected to the end effector that can move with multiple degrees of freedom.

[0004] When performing minimally invasive abdominal / thoracic surgery, it is also necessary to create an artificial pneumoperitoneum in the patient's body cavity to provide surgical operating space. For example, existing pneumoperitoneum machines are used to create an artificial pneumoperitoneum in the patient's body cavity. However, the existing pneumoperitoneum machine and surgical robot are two completely unrelated independent systems. The doctor cannot operate the pneumoperitoneum machine while operating the surgical robot. At this time, the doctor needs to leave the surgical robot to operate the pneumoperitoneum machine or command the assistant to perform the operation of the pneumoperitoneum machine, which reduces the efficiency of the entire operation. Summary of the Invention

[0005] In view of this, to solve the above problems, in a first aspect, this application provides a computer-assisted medical system, including a first slave operating device, which includes a control device and a first robotic arm; a second slave operating device, which includes a gas inhalation device and a first cannula, the first cannula being configured to be connected to the robotic arm and inserted into a patient's body cavity through a first remote motion center; a main console, which is remotely communicatively connected to the first slave operating device and the gas inhalation device; the main console is configured to send a first control signal to the gas inhalation device and send a first motion command to the control device;

[0006] In response to the first control signal, the gas blowing device injects gas into the first sleeve and / or draws gas from the body cavity through the first sleeve; in response to the first motion command, the control device controls the first robotic arm to drive the first sleeve to rotate around the first remote motion center to adjust the position of the distal end of the first sleeve.

[0007] In one specific embodiment, the second operating device further includes a first cavity and a second cavity, the first cavity and the second cavity being in fluid communication with the gas blowing device and the first sleeve. In response to the first control signal, the gas blowing device draws gas from the body cavity through the first cavity and the first sleeve, and injects gas into the first sleeve through the second cavity to form a pneumatic seal in the first sleeve. The gas blowing device causes the gas in the first cavity and the second cavity to circulate.

[0008] In one specific embodiment, the second slave operating device includes a third lumen configured to fluidly communicate the gas inlet device and the first sleeve. In response to a second control signal issued by the main control console, the gas inlet device injects gas into the body cavity through the third lumen and the first sleeve to form an artificial pneumoperitoneum with gas circulation within the body cavity.

[0009] In one specific embodiment, the second operating device further includes a second sleeve and a fourth lumen, the fourth lumen being in fluid communication with the second sleeve and the gas inhalation device. In response to the first control signal, the gas inhalation device injects gas into the first sleeve to form an artificial pneumoperitoneum with gas circulation within the body cavity. In response to a third control signal sent by the main control console, the gas inhalation device draws gas from the body cavity through the fourth lumen and the second sleeve.

[0010] In one specific embodiment, the second slave operating device further includes a second sleeve and a fourth lumen, the fourth lumen being in fluid communication with the second sleeve and the gas inhalation device. In response to a fourth control signal issued by the main control console, the gas inhalation device injects gas into the second sleeve to form an artificial pneumoperitoneum with gas circulation within the body cavity.

[0011] In one specific embodiment, the first slave device further includes an imaging device configured to acquire images within the body cavity. The imaging device is detachably connected to the first robotic arm, and the long axis of the imaging device passes through the first cannula and the first remote motion center. In response to the first motion command, the control device controls the first robotic arm to drive the long axis of the surgical instrument to rotate around the first remote motion center.

[0012] In one specific embodiment, the first slave operating device further includes a second robotic arm and a surgical instrument, the surgical instrument being detachably connected to the second robotic arm, the long axis of the surgical instrument being inserted into the body cavity through a second sleeve and a second remote motion center, and the main control console being configured to send a second motion command to the control device, in response to the second motion command, the control device controlling the second robotic arm to drive the second sleeve and the long axis of the surgical instrument to rotate around the second remote motion center.

[0013] In one specific embodiment, the main console is further configured to send a stop command to the first slave operating device and the second slave operating device, and in response to the stop command, the first robotic arm and the second robotic arm respectively drive the imaging device and the surgical instrument to exit from the body cavity;

[0014] In response to the stop command, the blowing device stops injecting and drawing gas into the body cavity.

[0015] In one specific embodiment, in response to the stop command, the surgical instruments are withdrawn from the body cavity before the imaging device.

[0016] In one specific embodiment, the gas blowing device includes a communication interface, a main controller, a power module, and a power management module. The communication interface is configured to receive a first control signal input from the main control console. The main controller is configured to control the flow rate of gas injected or drawn into the first sleeve by the gas blowing device according to the first control signal. The power module is configured to provide power to the main control module and the power management module. In response to the stop command, the power control module cuts off the power supply from the power module to the main control unit while maintaining the power supply from the power module to the power control module. Attached Figure Description

[0017] Figure 1 This is a top view of a computer-aided medical system for surgical procedures according to an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the main console of a computer-assisted medical system according to an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of a first slave operating device of a computer-aided medical system according to an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the first robotic arm of the first slave operating device according to an embodiment of this application;

[0021] Figure 5A schematic diagram of a first operating device for inserting multiple tools into a body cavity through an incision, according to another embodiment of this application;

[0022] Figure 6 This is a schematic diagram of the structure of a tool according to one embodiment of this application;

[0023] Figure 7A This is a schematic diagram of the state of smoke exhaust using the first sleeve according to an embodiment of this application;

[0024] Figure 7B This is a schematic diagram illustrating the adjustment of the exhaust direction of the first sleeve by a first robotic arm according to an embodiment of this application;

[0025] Figure 8A This is a cross-sectional schematic diagram of the first sleeve according to an embodiment of this application;

[0026] Figure 8B for Figure 8A A cross-sectional view of a lumen assembly comprising three lumens in the illustrated embodiment;

[0027] Figure 9 This is a schematic diagram illustrating the working mode of the first casing for gas injection and the second casing for smoke exhaust, according to an embodiment of this application. Detailed Implementation

[0028] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0029] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0030] The terms “distal” and “proximal” used in this article are directional terms commonly used in the field of interventional medical devices. “Distal” refers to the end that is farthest from the surgeon during the operation, while “proximal” refers to the end that is closest to the surgeon during the operation.

[0031] The term "tool" is used herein to describe a medical device inserted into a patient's body to perform surgical or diagnostic procedures. This tool includes an end effector, which can be a surgical instrument used to perform surgical procedures, such as an electrocautery device, clamp, stapler, scissor, imaging device (e.g., an endoscope or ultrasound probe), and the like. Some tools used in embodiments of this application further include an articulated component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The tool may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the tool and one or more system components.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0033] One embodiment of the computer-assisted medical system of this application is as follows: Figure 1 As shown, the computer-assisted medical system includes a main console 10, a first slave operating device 20, and a second slave operating device 30. The main console 10 is remotely connected to the first slave operating device 20 and the second slave operating device 30. The surgeon S can remotely operate and control the first slave operating device 20 and the second slave operating device 30 from the main console 10. The main console 10 is configured to send control signals to the first slave operating device 20 and the second slave operating device 30 and display images acquired by the first slave operating device 20 according to the surgeon S's operations. The surgeon S can observe the three-dimensional stereoscopic images of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional images of the patient's body, the surgeon S can control the first slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body) with an immersive experience.

[0034] The first manipulator 20 includes a control device and multiple robotic arms 21, 22, 23, and 24. The control device can be located in the base of the first manipulator 20 or on each robotic arm. In one embodiment, the control device is used to control the joint movements of the robotic arms 21, 22, 23, and 24. The second manipulator 30 includes a gas inlet device 31, a lumen assembly 32, and one or more cannulas. The lumen assembly 32 provides fluid communication between the cannulas and the gas inlet device 31. One or more cannulas are connected to the distal ends of the robotic arms 21, 22, 23, and 24 and are inserted into the body cavity of the patient P lying on the operating table T. The surgeon S can control the operating mode of the gas inlet device 31 via the main control console 10, for example, injecting gas from a gas source G into the patient S's body cavity to create an artificial pneumoperitoneum, or aspirating gas from the patient S's body cavity. The assistant A can attach or remove tools 50 from the robotic arm 21 according to the surgical situation. The basic surgical team consists of surgeon S, assistant A, and anesthesiologist B. Tool 50 can be surgical instruments used to perform surgical procedures, such as electrocautery devices, forceps, staplers, and ultrasonic scalpels, or imaging devices (such as endoscopes) or other surgical tools for acquiring images.

[0035] The main control console 10 is also remotely connected to the electronic device cart M, which in turn is remotely connected to the first slave operating device 20 and the second slave operating device 30. The electronic device cart M may include electronic devices such as energy generating devices and image signal processing devices. In this embodiment, the main control console 10 communicates remotely with the first slave operating device 20, the second slave operating device 30, and the electronic device cart M via wired Ethernet communication. However, remote communication is not limited to wired Ethernet communication; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, WiFi, NB, Zigbee, Bluetooth, RFID, etc. In one embodiment, a gas blowing device 31 is installed on the electronic device cart M.

[0036] One embodiment of this application is, for example... Figure 2 As shown, the main control console 10 includes a display device, an armrest 11, a control signal processing system, a first input device 12, a second input device 13, and an observation device 14. The first input device 12 includes a touchscreen mounted on the armrest 11. The second input device includes a first operation section 13a and a second operation section 13b, which are used to operate different tools. The display device is used to display images acquired by the imaging system. The armrest 11 is used to support the surgeon's arm and / or hand, allowing the surgeon to operate the second input device 13 more comfortably. The observation device 14 is used to observe the images displayed on the display device.

[0037] In some embodiments, the handrail may be omitted as needed, and the first input device 12 may be located at other positions on the main control console 10; or the observation device 14 may be omitted, allowing direct observation. The surgeon S controls the movement of the tools in the first slave operating device 20 and the operating mode of the second slave operating device 30 by operating the first input device 12 and / or the second input device 13. The control signal processing system of the main control console 10 processes the input signals from the first and second input devices and sends control signals to the first slave operating device 20 and the second slave operating device 30. The first and second slave operating devices respond to the control signals from the main control console 10 and perform corresponding operations. In some embodiments, the control signal processing system may also be located in the first slave operating device 20, for example, in the base of the first slave operating device 20.

[0038] In one embodiment, such as Figure 3 and Figure 4As shown, the first robotic arm 21 of the first operating device 20 includes a parallelogram mechanism 210 and a tool support arm 211. The first sleeve 33 of the second operating device 30 is connected to the distal end of the tool support arm 211. The tool support arm 211 is provided with a drive device 25, which is configured to drive the end effector of the tool 50 to move. The drive device 25 can move along the proximal or distal end of the tool support arm 211. The tool 50 is detachably mounted on the drive device 25, and the tool 50 can move with the drive device 25 toward the distal or proximal end of the tool support arm 211, so that the tool 50 can perform the feeding motion of the distal end effector entering or leaving the human body.

[0039] The parallelogram mechanism 210 includes a first link 213, a second link 214, a third link 215, and four joints 216, 217, 218, and 219 connecting the four links and the tool support arm 211. Specifically, the parallelogram mechanism 210 is connected to the proximal link 212 of the robotic arm 21 via the first joint 216; the first link 213 and the second link 214 are connected via the second joint 217; the second link 214 and the third link 215 are connected via the third joint 218; and the tool support arm 211 is connected to the parallelogram mechanism 210 via the fourth joint 219. The parallelogram linkage mechanism 210 defines a first remote center of motion R1. The first sleeve 33 is inserted into the body cavity C of the patient P through the first remote center of motion R1. The joints of the parallelogram mechanism 210 drive the first sleeve 33 to rotate around the first remote center of motion R1.

[0040] One embodiment of this application has a first slave operating device such as... Figure 5 As shown, the first operating device 400 includes a base 45, a robotic arm 41, and a drive unit 44. A sleeve 35 is connected to the distal end of the drive unit 44. Multiple tools 50 are detachably mounted on the drive unit 44. The robotic arm 41 is connected to the base 45. The distal ends of the multiple tools 50 pass through the sleeve 35 and enter the human body cavity.

[0041] The robotic arm 41 includes multiple joints 411, 412, 413, 414, and 415. Joint 411 is a vertical linear motion joint, while joints 412, 413, 414, and 415 are rotary motion joints. The rotation axes of joints 412, 413, and 414 are perpendicular to the horizontal plane, while the rotation axis of joint 415 is horizontal. Through an algorithm, the multiple joints 411, 412, 413, 414, and 415 work together to enable the sleeve 35 and multiple tools 50 to move around a remote motion center R, and the position of the remote motion center R relative to the base 45 is fixed.

[0042] Computer-aided medical systems typically also include an imaging system that enables surgeons to view the surgical site from outside the patient's body. This imaging system generally includes an imaging system with video image acquisition capabilities (e.g., an image acquisition device with image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the imaging system includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's body. These one or more imaging sensors may be placed at the distal end of the imaging device, and the signals generated by these sensors may be transmitted via cable or wirelessly for processing and display on the video display device.

[0043] In one embodiment, such as Figure 6 As shown, tool 50 typically includes a long shaft 51, a tool holder 52, and an end effector 53. Tool 50 is detachably mounted on drive units 25 and 44. Drive units 25 and 44 contain multiple actuators (not shown). Tool holder 52 contains a transmission assembly (not shown), which includes multiple transmission units (e.g., winches). The transmission units are connected to the end effector 53 via multiple cables. The multiple transmission units are coupled to multiple actuators (e.g., motors) of the drive units and are driven by the actuators. The actuators receive control signals from the main control console 10 and, according to the control commands, drive the transmission units to move, thereby moving the end effector 53. The end effector 53 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 53 may be an electrocautery device, forceps, stapler, scissors, ultrasonic scalpel, camera, image acquisition device, etc., wherein the camera or image acquisition device is used to acquire images of the inside of the human body.

[0044] In one embodiment, such as Figure 7A As shown, the second sleeve 34 is detachably connected to the distal end of the second robotic arm 22 of the first operating device 20. The second sleeve 34 is inserted into the patient's body cavity C through the second telemotion center R2. The long axis 611 of the surgical instrument 610 is inserted into the body cavity C through the second sleeve 34 and the second telemotion center R2. The end effector 612 at the distal end of the long axis 611 can transmit energy; for example, the end effector 59 is a high-frequency electrocautery device. When the end effector 612 is cauterizing tissue, it will generate smoke, which will obstruct the surgeon S's view. In this case, the surgeon S can send a first control signal to the gas blowing device 31 through the main control console 10. In response to the first control signal, the gas blowing device 31 draws gas from the body cavity through the first lumen 321 and the first sleeve 33 of the lumen assembly 32 to expel the smoke generated by the cauterization of the surgical instrument 610 from the body cavity. However, it is possible that the distal end 331 of the first sleeve 33 is not oriented towards the smoke generation point, resulting in a relatively slow smoke extraction speed.

[0045] In this scenario, the surgeon S can send a first motion command to the control device of the first slave operating device 20 via the main console 10. In response to the first motion command, the control device controls the first robotic arm 21 to drive the first cannula 33 to move around the first remote motion center R1, thereby adjusting the position and orientation of the distal end 331 of the first cannula 33. Figure 7B As shown, the distal end 331 of the first sleeve 33 is aligned with the smoke-generating location, which will increase the smoke extraction speed. Furthermore, since the surgeon S can select the gas blowing device 31 to execute the smoke extraction mode on the main control console 10, and can also control and adjust the position of the distal end 331 of the first sleeve 33 on the control console 10, without the need for an assistant, the surgeon S can more conveniently control the smoke extraction from the body cavity and improve surgical efficiency.

[0046] In one embodiment, the long axis 621 of the surgical instrument 620 is inserted into the body cavity C through the first cannula 33 and the first motion center R1. The surgeon S sends a feed motion command to the control device of the first slave operating device 20 via the main console 10. In response to the feed motion command, the control device controls the first robotic arm 21 to drive the end effector 623 of the surgical instrument 620 to the vicinity of the smoke generation point. Due to the Coanda Effect, i.e., fluids tend to flow along walls, the smoke generated by the burning will be drawn along the long axis 621 into the distal end 331 of the first cannula 33, and enter the gas blowing device 31 through the smoke exhaust channel of the first cannula 33 and the first lumen 321. In one embodiment, the gas blowing device 31 also contains a filter element for filtering the smoke.

[0047] In one embodiment, such as Figure 8A As shown, the first sleeve 430 includes a first chamber 441, a second chamber 442, and a third chamber 443. The first chamber 441 is in fluid communication with the first lumen 323 and is also in fluid communication with the gas blowing device 31 through the first lumen 323. The second chamber 442 is in fluid communication with the second lumen 324 and is also in fluid communication with the gas blowing device 31 through the second lumen 324. The third chamber 443 is in fluid communication with the third lumen 325.

[0048] The first sleeve 430 also includes a nozzle assembly 431. The second chamber 442 is in fluid communication with the nozzle assembly 431. In response to a first control signal from the main control console 10, the gas blowing device 31 injects pressurized gas into the second chamber 442 through the second tube 324. After passing through the nozzle assembly 431, the pressurized gas forms turbulence in the channel 450. The turbulent gas pressure is equalized with the gas pressure in the body cavity C in the channel 450, thereby suppressing the gas in the body cavity C from escaping from the proximal end 451 of the first sleeve 430, thus achieving a pneumatic seal in the channel 450. The pneumatically sealed first sleeve 430 will not require a mechanical seal valve to seal the passage 450, allowing the long shaft of the tool to enter / exit the channel 450 of the first sleeve 430 unimpeded. This brings many advantages, such as preventing the extruded human tissue from being blocked by the mechanical seal valve and preventing the lens of the imaging device from being contaminated by the mechanical seal valve.

[0049] The gas returning from the first chamber 441 returns to the gas blowing device 31 through the first tube 323. After the gas in the first tube 323 enters the gas blowing device 31, the air pump in the gas blowing device 31 will cause the gas in the first tube 323 and the gas in the second tube 324 to form a cycle, thereby maintaining a constant air pressure in the body cavity C.

[0050] In one embodiment, in response to a second control signal from the main control console 10, the gas inhalation device 31 injects gas into the body cavity C through the third lumen 325 and the third chamber 443 to form an artificial pneumoperitoneum in the body cavity C.

[0051] In one embodiment, such as Figure 8B As shown, the first lumen 323, the second lumen 324, and the fourth lumen 325 are arranged in a triangle to form lumen group 32.

[0052] In one embodiment, the main control console 10 can control the gas blowing device 31 to switch between a first working mode and a second working mode, wherein the first working mode is: gas is injected through the first sleeve and gas is drawn through the second sleeve; and the second working mode is: gas is drawn through the first sleeve and gas is injected through the second sleeve.

[0053] In one embodiment, such as Figure 9As shown, the imaging device 630 is detachably mounted on the first robotic arm 21. The long axis 631 of the imaging device 630 passes through the first sleeve 33 and the first remote motion center R1 and is inserted into the body cavity C. The distal end of the long axis 631 is provided with an image acquisition device 632 for acquiring the environment inside the body cavity C. The main control console 10 sends a first control signal to the gas inhalation device 31 according to the input of the surgeon S. In response to the first control signal, the gas inhalation device 31 injects gas into the body cavity C through the first lumen 321 and the first sleeve 33 to form an artificial pneumoperitoneum. The main control console 10 also sends a third control signal to the gas inhalation device 31 based on input from the surgeon S. In response to the third control signal, the gas inhalation device 31 draws gas from the body cavity C through the lumen 332 and the second cannula 34, and discharges the fumes generated by the surgical instrument 610 burning tissue from the lumen 322. Since both the fumes discharge cannula and the cannula into which the surgical instrument 610 is inserted are the second cannula 34, the fumes generated by the surgical instrument 610 burning tissue can be discharged more quickly. The gas injected into the body cavity C through the first cannula 33 and the gas discharged from the second cannula 34 together form a gas-circulating artificial pneumoperitoneum.

[0054] In one embodiment, the main console 41 sends a second motion command to the control device of the first slave operating device 20 based on the input of the surgeon S. In response to the second motion command, the control device controls the second robotic arm 21 to drive the second cannula 34 and surgical instruments 610 to move around the second remote motion center R2, thereby adjusting the position of the distal end of the second cannula 34.

[0055] In one embodiment, in response to a fourth control signal sent by the main control console 10, the gas inhalation device 31 injects gas into the body cavity C through the second sleeve 34 and the lumen 322 to form an artificial pneumoperitoneum in the body cavity C; in response to a first control signal sent by the main control console 10, the gas inhalation device 31 draws gas from the body cavity C through the first sleeve 33 and the first lumen 321. In this case, the first sleeve 33 can be either a pneumatic sealing sleeve 430 as shown in FIG8 or a conventional mechanical valve sealing sleeve. For example, when the first sleeve 33 is a pneumatic sealing sleeve 430, in response to the first control signal, the gas inhalation device 31 draws gas from the body cavity C through the first lumen 323 and the first chamber 441 of the first sleeve 430 to expel smoke, while the gas inhalation device 31 injects gas into the channel 450 through the second lumen 324 and the second chamber 442 to form a pneumatic seal on the channel 450.

[0056] In one embodiment, such as Figure 9As shown, the main control console 100 is communicatively connected to the communication interface 220 of the first slave operating device 200 and the communication interface 320 of the gas blowing device 310 via a shared communication interface 120. The shared communication interface 120 and the communication interfaces 220 and 320 can be wiredly connected via a communication cable 111. It can be understood that the shared communication interface 120 and the communication interfaces 220 and 320 can also be connected wirelessly. The main control console 100 sends / receives signals to the control device 230 of the first slave operating device 200 via the shared communication interface 120. The control device 230 is configured to control the movement of the robotic arm and / or tools. The main control console 100 sends / receives signals to the power control module 350 and the main controller 360 of the second slave operating device 300 via the shared communication interface 110. The main controller 360 is configured to control the flow rate and / or pressure of the gas injected or drawn into the first and / or second sleeve by the gas blowing device 31 according to the control signals sent by the main control console 10.

[0057] The second operating device 300 also includes a power module 340, which provides power to the power control module 350 and the main controller 360, for example, by providing power at different voltages to the power control module 350 and the main controller 360. The main controller 360 is configured to control the operating mode of the gas blowing device 310, such as smoke exhaust mode, gas injection mode, etc.

[0058] In one embodiment, the main console 100 is configured to send stop commands to the first slave operating device 200 and the second slave operating device 300 via a shared interface 120. In response to the stop command, the control device 230 of the first slave operating device 200 drives the robotic arm to withdraw the tools from the body cavity C. In one embodiment, the control device 230 drives the robotic arm to withdraw the surgical instruments from the body cavity C first, and then withdraw the imaging device from the body cavity C, so that the surgeon S can observe the environment inside the body cavity C before all the tools are withdrawn.

[0059] In response to the stop command, the power control module 350 controls the power module 340 to disconnect the power supply to the main controller 360, thereby stopping the gas inlet device 310 from injecting gas into the sleeve and drawing gas from the body cavity C. However, the power module 340 continues to supply power to the power control module 350, thus keeping the gas inlet device 310 in a standby state. If the main control console 100 sends a power-on command to the power control module 350, in response to the power-on command, the power control module 350 controls the power module 340 to supply power to the main controller 360.

[0060] In one embodiment, the power management module 350 includes a power control unit and a signal processing unit. The signal processing unit is used to process signals from the main control console. For example, after processing the first control signal, the signal processing unit sends a control command to the main control module. The power control unit is configured to control the power supply of the power module 340 to the main controller 360.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A computer-aided medical system, characterized in that, include: The first operating device includes a control unit and a first robotic arm; The second operating device includes a gas blowing device and a first sleeve configured to be connected to the first robotic arm and inserted into the patient's body cavity via a first telekinesis center. The main control console is remotely connected to the first slave operating device and the gas blowing device; The main control console is configured to send a first control signal to the gas blowing device and to send a first motion command to the control device; In response to the first motion command, the control device controls the first robotic arm to drive the first sleeve to rotate around the first remote motion center to adjust the position of the distal end of the first sleeve. The second operating device further includes a second sleeve and a fourth lumen, the fourth lumen being in fluid communication with the second sleeve and the gas inflator; in response to the first control signal, the gas inflator injects gas into the first sleeve to form an artificial pneumoperitoneum with gas circulation within the body cavity; In response to a third control signal sent by the main control console, the gas blowing device draws gas from the body cavity through the fourth lumen and the second sleeve; The first operating device further includes an imaging device configured to acquire images within the body cavity, the imaging device being detachably connected to the first robotic arm, the long axis of the imaging device passing through the first sleeve and the first remote motion center; in response to the first motion command, the control device controls the first robotic arm to drive the long axis of the imaging device to rotate about the first remote motion center; The first operating device further includes a second robotic arm and surgical instruments, the surgical instruments and the second cannula being detachably connected to the second robotic arm, the long axis of the surgical instruments being inserted into the body cavity through the second cannula and the second remote motion center, and the main control console being configured to send a second motion command to the control device; in response to the second motion command, the control device controls the second robotic arm to drive the long axis of the second cannula and the surgical instruments to rotate around the second remote motion center.

2. A computer-aided medical system, characterized in that, include: The first operating device includes a control unit and a first robotic arm; The second operating device includes a gas blowing device and a first sleeve configured to be connected to the first robotic arm and inserted into the patient's body cavity via a first telekinesis center. The main control console is remotely connected to the first slave operating device and the gas blowing device; The main control console is configured to send a first control signal to the gas blowing device and to send a first motion command to the control device; In response to the first motion command, the control device controls the first robotic arm to drive the first sleeve to rotate around the first remote motion center to adjust the position of the distal end of the first sleeve. The second operating device further includes a first cavity and a second cavity, the first cavity and the second cavity being in fluid communication with the gas blowing device and the first sleeve; in response to the first control signal, the gas blowing device draws gas from the body cavity through the first cavity and the first sleeve, and injects gas into the first sleeve through the second cavity to form a pneumatic seal in the first sleeve, the gas blowing device causing the gas in the first cavity and the second cavity to circulate; The second operating device further includes a second sleeve and a fourth lumen, the fourth lumen being in fluid communication with the second sleeve and the gas inflator; in response to a fourth control signal issued by the main control console, the gas inflator injects gas into the second sleeve to form an artificial pneumoperitoneum with gas circulation within the body cavity; The first operating device further includes an imaging device configured to acquire images within the body cavity, the imaging device being detachably connected to the first robotic arm, the long axis of the imaging device passing through the first sleeve and the first remote motion center; in response to the first motion command, the control device controls the first robotic arm to drive the long axis of the imaging device to rotate about the first remote motion center; The first operating device further includes a second robotic arm and surgical instruments, the surgical instruments and the second cannula being detachably connected to the second robotic arm, the long axis of the surgical instruments being inserted into the body cavity through the second cannula and the second remote motion center, and the main control console being configured to send a second motion command to the control device; in response to the second motion command, the control device controls the second robotic arm to drive the long axis of the second cannula and the surgical instruments to rotate around the second remote motion center.

3. The medical system according to any one of claims 1-2, characterized in that, The main console is also configured to send a stop command to the control device and the gas blowing device; in response to the stop command, the control device controls the first robotic arm and the second robotic arm to drive the imaging device and the surgical instruments out of the body cavity, respectively. In response to the stop command, the gas blowing device stops injecting and drawing gas into the body cavity.

4. The medical system as described in claim 3, characterized in that, In response to the stop command, the surgical instruments are withdrawn from the body cavity before the imaging device.

5. The medical system as described in claim 4, characterized in that, The gas blowing device includes a communication interface, a main controller, a power module, and a power control module. The communication interface is configured to receive a first control signal input from the main control console. The main controller is configured to control the flow rate of gas injected or drawn into the first sleeve by the gas blowing device according to the first control signal. The power module is configured to provide power to the main controller and the power control module. In response to the stop command, the power control module cuts off the power supply from the power module to the main controller while maintaining the power supply from the power module to the power control module.

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