Medical device and method of adjusting master-slave posture relationship of medical device

Abstract

The embodiment of the present application provides a kind of computer-aided medical device and the method of adjusting the master-slave posture relationship of medical device, the controller of the medical device is configured to pause the control of instrument by input device in response to disconnect master-slave control command;After determining the alignment state initialization of input device and instrument, whether the end device of input device and instrument has been aligned;If the end device of input device and instrument has been aligned, the controller moves input device to make the posture of input device follow the posture of the end device of instrument;If the end device of input device and instrument has not been aligned, the controller controls to move input device to make the posture of input device and the posture of the end device of instrument align.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a master-slave operating medical robot. 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 medical robot technology has matured and is widely used. A minimally invasive medical robot typically includes a main control console and slave operating devices. The surgeon controls the slave operating devices via input devices on the main control console. The slave operating devices respond to control commands sent from the main control console and perform corresponding surgical procedures. The instruments are connected to the drive mechanisms of the slave operating devices to perform surgical procedures. The distal end of the instruments includes end effectors for performing surgical operations and joint components connected to the end effectors that can move with multiple degrees of freedom.

[0004] There is currently no good solution for adjusting the posture of the input device on the main control console to make it consistent with the posture of the end effector of the instrument when the posture of the input device is inconsistent with that of the end effector. Summary of the Invention

[0005] Based on this, this application provides a medical device in a first aspect, comprising: an input device, an instrument, and a controller, wherein the controller is configured to:

[0006] In response to a disconnect master-slave control command, the input device's control over the instrument is suspended.

[0007] Determine whether the input device and the end effector of the instrument have been aligned after the alignment state of the input device and the instrument is initialized;

[0008] When the input device is over-aligned with the end effector of the instrument, the orientation of the input device is controlled to follow the orientation of the end effector of the instrument.

[0009] When the input device and the end effector of the instrument have not been aligned, the orientation of the input device is controlled to align with the orientation of the end effector of the instrument.

[0010] In one embodiment, the controller is further configured to restore the input device’s control over the instrument in response to an activation master-slave control command, and after activation of master-slave control, the controller no longer controls the orientation of the input device to align with the orientation of the end effector of the instrument.

[0011] In one embodiment, the input device includes a plurality of electric motors, and the controller controls the plurality of electric motors to rotate in order to move the input device.

[0012] In one embodiment, the controller controls the plurality of motors to rotate in an accelerated manner to move the input device so that the posture of the input device follows the posture of the end effector of the instrument.

[0013] In one embodiment, the controller controls the plurality of motors to rotate at a constant speed to move the input device so that the posture of the input device is aligned with the posture of the end effector of the instrument.

[0014] In one embodiment, before the controller responds to the activate master-slave control command, the controller determines whether the posture of the input device is aligned with the end effector of the instrument. If aligned, the controller responds to the activate master-slave control command and restores the input device's control over the instrument; otherwise, the controller does not respond to the activate master-slave control command.

[0015] This application provides a medical device in a second aspect, comprising:

[0016] An input device, comprising a wrist joint assembly for changing the posture of the input device and an elbow joint assembly for changing the position of the input device;

[0017] instrument;

[0018] The controller is configured as follows:

[0019] In response to a disconnect master-slave control command, the input device's control over the instrument is suspended.

[0020] In response to movement of the position joint assembly or a change in the posture of the input device, the wrist joint assembly is controlled to move so that the posture of the input device follows the posture of the end effector of the instrument.

[0021] In one embodiment, the controller is further configured to restore the input device’s control over the instrument in response to an activation master-slave control command, and after activation of master-slave control, the controller no longer controls the orientation of the input device to align with the orientation of the end effector of the instrument.

[0022] In one embodiment, the controller controls the motor of the wrist joint movement to rotate in an accelerated manner so that the posture of the input device follows the posture of the end effector of the instrument.

[0023] This application provides a method for adjusting the master-slave posture relationship of a medical device, the medical device including an input device, an instrument, and a controller, the method comprising:

[0024] The controller suspends the input device's control of the instrument in response to a disconnect master-slave control command;

[0025] And determine whether the input device and the end effector of the instrument have been aligned;

[0026] When the input device is over-aligned with the end effector of the instrument, the controller controls the posture of the input device to follow the posture of the end effector of the instrument.

[0027] When the input device and the end effector of the instrument have not been aligned, the controller controls the orientation of the input device to align with the orientation of the end effector of the instrument.

[0028] This application provides a method for adjusting the master-slave posture relationship of a medical device in a fourth aspect, the medical device including an input device and an instrument, the input device including a wrist joint assembly for changing the posture of the input device and an elbow joint assembly for changing the position of the input device, the method comprising:

[0029] The controller suspends the input device's control of the instrument in response to a disconnect master-slave control command;

[0030] In response to movement of the elbow joint assembly or a change in the posture of the input device, the controller controls movement of the wrist joint assembly so that the posture of the input device follows the posture of the end effector of the instrument.

[0031] In one embodiment, the method further includes: the controller resuming control of the instrument by the input device in response to an activation master-slave control command, and after activation of master-slave control, the controller no longer controls the orientation of the input device to align with the orientation of the end effector of the instrument. Attached Figure Description

[0032] Figure 1 This is a top view of a computer-aided medical device for surgical procedures according to an embodiment of this application;

[0033] Figure 2 This is a schematic diagram of a device according to one embodiment of this application;

[0034] Figure 3 This is a schematic diagram of the main control console of a medical device according to one embodiment of this application;

[0035] Figure 4This is a schematic diagram of a slave operating device of a medical device according to an embodiment of this application;

[0036] Figure 5 This is a schematic diagram of a slave operating device of a medical device according to another embodiment of this application;

[0037] Figure 6 A flowchart illustrating a method for adjusting the master-slave posture relationship according to an embodiment of this application;

[0038] Figure 7 This is a schematic diagram of an input device of a medical device according to an embodiment of this application;

[0039] Figure 8 This is a schematic diagram of the robotic arm of a medical device according to one embodiment of this application. Detailed Implementation

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] One embodiment of the computer-assisted medical device in this application is as follows: Figure 1 As shown, the computer-assisted medical device includes a main console 10 and a slave operating device 20. The main console 10 is remotely connected to the slave operating device 20. The slave operating device 20 includes multiple robotic arms 21, and multiple instruments and / or imaging devices are detachably mounted on different robotic arms 21. The surgeon S can remotely operate and control the instruments and / or imaging devices on the main console 10. The main console 10 is configured to send control signals to the slave operating device 20 and display images acquired by the slave operating device 20 according to the surgeon S's operation. The surgeon S can observe 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 perform related operations (such as performing surgery or acquiring images of the patient's body) with an immersive sensory experience by controlling the slave operating device 10.

[0046] The main control console 10 is also remotely connected to the electronic device cart C, and the electronic device cart C is remotely connected to the main control console 10 and the slave operating device 20. The electronic device cart 30 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 slave operating device 20 and the electronic device cart C 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.

[0047] Computer-assisted medical devices typically also include an imaging system that allows the operator to view the surgical site from outside the patient's body. This imaging system generally includes an imaging device (e.g., an endoscope) with video image acquisition capabilities and one or more video display devices for displaying the acquired images. Generally, the imaging device includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's interior. These one or more imaging sensors may be placed at a 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.

[0048] One or more cannulas are attached to the distal end of robotic arm 21 and inserted into the body of patient P lying on operating table T. Assistant A, depending on the surgical situation, attaches tool 30 to or replaces / reloads tool 30 from robotic arm 21. After tool 30 is attached to robotic arm 21, it is inserted into patient P's body through the cannulas. The basic surgical team consists of surgeon S, assistant A, and anesthesiologist B.

[0049] Tool 30 can be a surgical instrument such as an electrocautery device, forceps, stapler, or ultrasonic scalpel used to perform surgical procedures, or it can be an imaging device (e.g., an endoscope) or other surgical tool for acquiring images. In some embodiments, such as Figure 2 As shown, the tool 30 includes a transmission box 31, a long shaft 32, and an end effector 33. The transmission box is used to receive power input from the robotic arm 21 and transmit it to the end effector 33. The end effector 33 can be a device for performing surgery, such as a clamp or an ultrasonic scalpel; or it can be an imaging device, such as an image sensor.

[0050] The main console of one embodiment of this application is as follows: Figure 3As shown, the main control console 100 includes a display device 101, an armrest 103, first and second input devices 102 and 103, an observation device 104, and multiple pedals 105. The two input devices 102 and 103 are used to control different instruments or imaging devices. The display device 101 is used to display images acquired by the imaging system; for example, the display device 101 is a three-dimensional imaging display device. The surgeon S observes the images displayed on the display device 101 through the observation device 104. The armrest 11 is used to support the surgeon's arm and / or hand. In some embodiments, the armrest or the observation device 14 may be omitted depending on actual needs, in which case direct observation is possible.

[0051] The surgeon S controls the movement of tools on the slave operating device 20 by operating the first and second input devices 102 and 103. The control signal processing system of the master console 10 processes the input signals from the input devices 102 and sends control signals to the slave operating device 20. The slave operating device 20 responds to the control signals from the master console 100 and performs corresponding operations, i.e., master-slave control. In some embodiments, the control signal processing system may also be located in the slave operating device 20, for example, in the base of the slave operating device 20.

[0052] In some embodiments, such as Figure 4 As shown, the operating device 200 includes multiple robotic arms 210, 220, 230, 240 and a controller 250. The multiple robotic arms 210, 220, 230, 240 can have the same configuration or different configurations. Multiple tools 310, 320, 330, 340 are mounted on the multiple robotic arms 210, 220, 230, 240. Specifically, the first instrument 310 of the multiple tools is detachably mounted on the first robotic arm 210, the second instrument 320 is detachably mounted on the third robotic arm 230, the third instrument 330 is detachably mounted on the fourth robotic arm 240, and the imaging device 340 of the multiple tools is detachably mounted on the second robotic arm 220. In some other embodiments, the instruments and imaging devices can interchange the mounted robotic arms. For example, the third instrument 330 and the imaging device 320 can interchange the mounted robotic arms. After the interchange, the imaging device 340 is mounted on the third robotic arm 230, and the second instrument 320 is mounted on the second robotic arm 220.

[0053] The controller 250 is configured to control the joint movements of the drive arms 210, 220, 230, and 240, as well as the movements of the instruments 310, 320, and 330 and the imaging device 340, in response to control signals from the main control console 100 or the slave operating device 20. The controller 250 may be housed in the base of the slave operating device 200; in some embodiments, the controller 250 may also be housed on each of the individual robotic arms. It is understood that the controller 250 may also be housed in the main control console 100. In some embodiments, the controller 250 and the aforementioned control signal processing system are the same control device, or the controller 250 and the aforementioned control signal processing system are different control devices respectively housed in the slave operating device 20 and the main control console 10.

[0054] In some embodiments, such as Figure 5 As shown, the operating device 40 includes a robotic arm 41, with multiple tools 30 mounted on the robotic arm 41, and the distal ends of the multiple tools 40 entering the patient's body through an incision.

[0055] In some embodiments, during master-slave control, the attitude of the distal end devices of the first and second instruments 310 and 320 always changes with the attitude of the associated first and second input devices 102 and 103, so that their attitudes are always consistent. The attitude of input device 102 refers to the attitude of the reference coordinate system Gm of the proximal handle of the input device relative to the reference coordinate system Dm of the display device 101. In some cases, the surgeon S sends a master-slave control disconnect command to the controller 250 through the first input device 102 and / or the second input device 103. For example, the surgeon S sends the master-slave control disconnect command to the controller 250 by operating the function key of the first input device 102. In response to the master-slave control disconnect command, the controller 250 suspends the control of instrument 310 by the first input device 102, thereby interrupting the master-slave control. The master-slave control disconnect command does not necessarily need to be issued by the surgeon S through input device 102; it can also be issued by the assistant A through the slave operating device 20, or it can be caused by other events, such as the event: detecting that the surgeon has left the main console 100.

[0056] After the master-slave control is interrupted, the postures of the first and second input devices 102 and 103 change, and / or the postures of the end effector of the instrument or imaging device change, causing the postures of the first and second input devices 102 and 103 and their associated instruments to become misaligned. One method to adjust the posture relationship between the input devices and the instruments is that after the master-slave control is activated, i.e., after the master console 10 resumes control over the slave operating device 20, the posture of the end effector of the instrument or imaging device no longer changes. The controller controls the movement of the first input device 102 to align the posture of the first input device 102 with the posture of the end effector of the instrument it controls.

[0057] In some embodiments, a method for adjusting the posture relationship between an input device and an instrument is as follows: Figure 6 As shown, since adjusting the posture relationship between the first input device 102 and the instrument is similar to adjusting the posture relationship between the second input device 103 and the instrument, this embodiment and the embodiments mentioned below, unless otherwise specified, use the example of adjusting the posture relationship between the first input device 102 and the instrument to illustrate the adjustment of the posture relationship between the input device and the instrument. This is only for the purpose of describing the implementation more clearly and concisely, and is not intended to limit this application. The example of adjusting the posture relationship between the second input device 103 and the instrument can be referred to the example of adjusting the posture relationship between the first input device 102 and the instrument. In process 1101 of method 1100, the controller 250 suspends the control of the first input device 102 on the first instrument 310 or the imaging device 320 associated with it in response to the disconnect master-slave control command.

[0058] In process 1102, after the alignment state of the first input device 102 and the first instrument 310 is initialized, the controller 250 determines whether the first input device 102 and the first instrument 310 have been aligned. If the first input device 102 and the first instrument 310 have been aligned, then the controller 250 executes process 1103, that is, the controller 250 controls the first input device 102 to move, so that the posture of the first input device 102 follows the posture of the end device of the first instrument 310. That is, the posture of the first input device 102 changes with the posture of the end device of the first instrument 310. This posture following movement is real-time, or synchronous, so that the posture of the first input device 102 and the posture of the end device of the instrument 310 are kept consistent in real time.

[0059] In some embodiments, the alignment state of the first input device 102 and the first instrument 310 includes the controller 250 marking the alignment state of the first input device 102 and the first instrument 310. For example, the controller 250 marks the aligned state as true and the unaligned state as false in the software. The initialization of the alignment state of the first input device 102 and the first instrument 310 includes the controller 250 clearing or resetting the alignment state of the first input device 102 and the first instrument 310 to a default value or initial value. In some embodiments, before the controller 250 controls the first input device 102 to move, when the posture of the first input device 310 and / or the first instrument 310 changes, the controller 250 determines whether the first input device 102 and the first instrument 310 have been aligned by judging whether they are aligned. If the first input device 102 and the first instrument 310 are aligned when the posture of the first input device 310 and / or the first instrument 310 changes, it is determined that the first input device 102 and the first instrument 310 have been aligned; otherwise, it is determined that they have not been aligned. If the input device 102 and the end effector of the first instrument 310 have not been aligned, the controller 250 executes process 1104, which involves the controller 250 controlling the first input device 102 to move so that its posture aligns with that of the end effector of the first instrument 310. This alignment is not real-time or asynchronous; for example, the first input device 102 may begin the alignment action before the end effector of the first instrument 310 has moved. Although the postures of the first input device 102 and the first instrument 310 are not aligned in real time, they are eventually aligned. For example, the controller 250 executes process 1104 after determining that the first instrument 310 has been first installed on the robotic arm 210. Similarly, the same method is used to adjust the posture relationship between the second input device 103 and its associated second instrument 320. Before master-slave control is activated, the posture of the first input device 102 is already aligned with the posture of the end effector of the first instrument 310, and the posture of the second input device 103 is already aligned with the posture of the second instrument 320. Therefore, after master-slave control is activated, there is no need to perform the alignment action between the postures of the first and second input devices 102 and the postures of the end effectors of the first and second instruments 310 and 320, thus improving the efficiency of doctors operating computer-assisted medical devices. In addition, during process 1103, since the posture of the first input device 102 follows the posture of the end effector of the first instrument 310 in real time during the interruption of master-slave control, and the postures of the two are kept aligned in real time, doctors can intervene at any point during the interruption of master-slave control to activate master-slave control, which further improves the efficiency of doctors operating computer-assisted medical devices.

[0060] In some embodiments, such as Figure 6 As shown, in the master-slave control activation process 1105, the control signal processing system of the master console 100 sends a master-slave control request to the controller 250. In process 1106, the controller 250 determines whether the posture of the first input device 102 is aligned with the posture of the end effector of the first instrument 310. If the posture of the first input device 102 is not aligned with the posture of the end effector of the first instrument 310, the controller does not respond to the master-slave control request, and the master-slave control activation fails. If the posture of the first input device 102 is aligned with the posture of the end effector of the first instrument 310, the controller responds to the master-slave control request, the master-slave control is successfully activated, and the first input device 102 resumes control of the first instrument 310, thus further ensuring the safety of the master-slave operation.

[0061] In some embodiments, such as Figure 7 As shown, the first input device 102 includes a handle 1021, a wrist joint assembly 1030, and an elbow joint assembly 1040. The handle 1021 is for a surgeon to hold, and movement of the wrist joint assembly 1030 is used to change the posture of the first input device 102, such as the posture of the handle 1021. The elbow joint assembly 1040 is used to change the position of the first input device 102, such as the position of the handle 1021.

[0062] The wrist joint assembly 1030 includes multiple wrist joints 1301, 1032, 1033, and 1034, which are rotatably connected to each other via L-shaped linkages. Wrist joint 1031 rotates about axis X1, wrist joint 1032 rotates about axis X2, wrist joint 1033 rotates about axis X3, and wrist joint 1034 rotates about axis X4. The rotation of each wrist joint 1301, 1032, 1033, and 1034 around its respective axis changes the orientation of the input device 102. In some embodiments, the orientation of the input device 102 includes the orientation of the intersection of axes X1, X2, X3, and X4.

[0063] The elbow joint assembly 1040 includes multiple elbow joints 1041, 1042, and 1043. Elbow joint 1041 rotates about its axis X5, elbow joint 1042 rotates about its axis X6, and elbow joint 1043 rotates about its axis X7. Each elbow joint 1041, 1042, and 1043 rotates about its respective axis to change the position of the input device 102.

[0064] The wrist joint assembly 1030 and the elbow joint assembly 1040 include a plurality of motors for driving movement of the wrist joint assembly 1030 and the elbow joint assembly 1040. In some embodiments, the controller 250 controls the movement of the wrist joint assembly 1030 by controlling the movement of one or more motors of the wrist joint assembly 1030, thereby causing the posture of the first input device 102 and / or the second input device 103 to follow the posture of the instrument end; or, aligning the posture of the first input device 102 and / or the second input device 103 with the posture of the instrument end.

[0065] In some embodiments, when the first input device 102 is over-aligned with the first instrument 310, the controller 250 controls the motor of the wrist joint 1030 of the first input device 102 to move in an accelerated manner, so that the posture of the first input device 102 quickly follows the posture of the instrument end; when the first input device 102 is not over-aligned with the first instrument 310, the controller 250 controls the motor of the wrist joint assembly 1030 to move in a uniform manner, so that the wrist joint assembly 1030 moves at a uniform speed, that is, the handle 1021 moves at a uniform speed, so that the handle 1021 will not jump during the alignment process.

[0066] In some embodiments, the first input device 102 follows the posture of the first instrument 310 associated with it in an accelerated motion manner, and the second input device 103 aligns with the posture of the second instrument 320 associated with it in a uniform motion manner.

[0067] In some embodiments, during the interruption of master-slave control, the movement of the elbow joint assembly 1040 of the first input device 102 may cause a change in the posture of the first input device 102. For example, when the first input device 102 reaches its operating limit, the surgeon S actively moves the elbow joint assembly 1040 by operating the handle 1021 to readjust the position of the first input device 102, or the elbow joint assembly 1040 is moved by an external force. The posture of the first input device 102 refers to the posture of the handle 1021 of the first input device 102 relative to the display device 101. In response to the movement of the elbow joint assembly 1040 of the first input device 102, the controller 250 controls the movement of the wrist joint assembly 1030 so that the posture of the input device 102 follows the posture of the end effector of the first instrument 310 associated with it in real time, thereby keeping the posture of the first input device 102 aligned with the posture of the end effector of the first instrument 310 in real time during the movement of the elbow joint assembly 1040. In some embodiments, the controller 250 can respond to the movement of the elbow joint assembly 1040 by detecting signals sent by the encoder of the motor of the elbow joint assembly 1040.

[0068] In some embodiments, in response to the movement of the elbow joint assembly 1040, the controller 250 controls the motor of the wrist joint assembly 1030 to move in an accelerated manner, thereby causing the wrist joint assembly 1030 to move in an accelerated manner, so that the posture of the first input device 102 follows the posture of the end effector.

[0069] In some embodiments, in response to a change in the posture of the first input device 102, the controller 250 controls the wrist joint assembly 1030 to move, such that the posture of the first input device 102 follows the posture of the end effector.

[0070] In some embodiments, such as Figure 8 As shown, the robotic arm 210 of the operating device includes an adjusting arm 2100, a parallelogram mechanism 2110, and a holding arm 2124. The adjusting arm 2100 includes a rotary joint 2101, a horizontal linear motion joint 2102, and a vertical linear motion joint 2103. The rotary joint 2101, the horizontal linear motion joint 2102, and the vertical linear motion joint 2103 are connected by a linkage. The proximal end of the parallelogram mechanism 2110 is connected to the distal end of the adjusting arm 2100. The parallelogram mechanism 2100 includes multiple rotary joints 2111, 2112, 2113, and 2114. Rotary joints 2111 and 2112 are connected via a parallelogram mechanism base 2121, rotary joints 2112 and 2113 are connected via a first link 2122, and rotary joints 2113 and 2114 are connected via a second link 2123. The second link 2123 is connected to the holding arm 2124 via a rotary joint 2114. A sleeve 2131 is connected to the distal end of the holding arm 2124. The instrument box 3101 (e.g., a transmission box) of the first instrument 310 is detachably mounted on the driver 2125 on the holding arm 2124 and receives power input from the driver 2125. The distal end of the long axis of the first instrument 310 passes through the sleeve 2131, and the end device 3103 is located at the end of the long axis of 3103.

[0071] The first link 2122, the second link 2123, the rotary joint 2112, and the rotary joint 2113 of the parallelogram mechanism 2110 mechanically define a parallelogram. The remote motion center R is located at one vertex of the parallelogram. The rotation axis of the rotary joint 2111 passes through the remote motion center R, and the major axis 3103 passes through the remote motion center R. Thus, no matter how the various rotary joints of the parallelogram mechanism 2110 rotate, the major axis 3102 of the first device 310 always moves around the remote motion center R.

[0072] In some embodiments, after master-slave control is interrupted, the movement of the parallelogram mechanism 2110, such as the rotation of one or more of the rotary joints 2111, 2112, 2113, 2114 of the parallelogram mechanism, causes the long axis 3103 of the device 310 to move around the remote motion center R, at which time the posture of the end device 3103 also changes. For example, when the assistant A directly drags the parallelogram mechanism 2110, the posture of the end device 3103 changes. In response to the movement of the parallelogram mechanism 2110, the controller 250 controls the movement of the wrist joint assembly 1030 of the first input device 102 associated with the first device 310, so that the posture of the first input device 102 follows the posture of the end device 3103 of the first device 310, and this following is real-time.

[0073] In some embodiments, in response to the movement of the parallelogram mechanism 2110, the controller 250 controls the motor of the wrist joint assembly 1030 to move in an accelerated manner so that the posture of the first input device 102 quickly follows the posture of the end device 3103 of the first instrument 310.

[0074] In some embodiments, the imaging device 340 is detachably mounted on a driver on the second robotic arm 220, and the first instrument 310 is detachably mounted on the first robotic arm 210. The first robotic arm 210 and the second robotic arm 220 have the same configuration. After the master-slave control is interrupted, the movement of the parallelogram mechanism 2110 of the second robotic arm 220 causes a change in the posture of the end effector (e.g., image sensor) at the distal end of the imaging device 340, thereby causing a change in the posture of the end effector 3103 of the first instrument 310 relative to the end effector of the imaging device 340. At this time, in response to the movement of the parallelogram mechanism 2110 of the second robotic arm 220, the controller 250 controls the movement of the wrist joint assembly 1030 of the first input device 102 associated with the first instrument 310, so that the posture of the first input device 102 relative to the display device 101 follows the posture of the end effector 3103 of the first instrument 310 relative to the imaging device 330. In some embodiments, in response to a change in the posture of the end device 3103 of the first instrument 310 relative to the end device of the image device 340, the controller 250 controls the movement of the wrist joint assembly 1030 of the first input device 102 associated with the first instrument 310, so that the posture of the first input device 102 relative to the display device 101 follows the posture of the end device 3103 of the first instrument 310 relative to the image device 330.

[0075] In some embodiments, movement of the adjusting arm 2100 causes movement of the entire parallelogram mechanism 2110 and the holding arm 2124, thereby changing the position and orientation of the remote motion center R and the end effector 3103 of the instrument 310. For example, one or more joints of the adjusting arm 2100, such as the rotary joint 2101, the horizontal linear motion joint 2102, and the vertical linear motion joint 2103, may move. For instance, assistant A may drag the adjusting arm 2100 to adjust the position of the remote motion center R. After the master-slave control is interrupted, in response to the movement of the adjusting arm 2100, the controller 250 controls the wrist joint assembly 1030 of the input device 102 to move so that the orientation of the first input device 102 follows the orientation of the end effector 3103 of the first instrument 310. This orientation following is real-time.

[0076] In some embodiments, the imaging device 340 is detachably mounted on the actuator of the second robotic arm 220, and the first instrument 310 is detachably mounted on the first robotic arm 210. The second robotic arm 220 has the same configuration as the first robotic arm 210. After the master-slave control is interrupted, the movement of the adjustment arm 2100 of the second robotic arm 220 causes a change in the posture of the end effector at the distal end of the imaging device 340, thereby changing the posture of the end effector 3103 of the first instrument 310 relative to the end effector (e.g., an image sensor) of the imaging device 330. At this time, in response to the movement of the adjustment arm 2100 of the second robotic arm 220, the controller 250 controls the movement of the wrist joint assembly 1030 of the first input device 102 associated with the first instrument 310, so that the posture of the first input device 102 relative to the display device 101 follows the posture of the end effector 3130 of the first instrument 310 relative to the imaging device 330.

[0077] In some embodiments, after the surgeon S operates the pedal 105, a tool switching command is issued. In response to the tool switching command, the controller 250 switches the instrument associated with the first input device 102. For example, if the first input device 102 is currently associated with the first surgical instrument 310 (i.e., the first input device 102 controls the movement of the first instrument 310), after the controller 250 responds to the tool switching command, the controller 250 switches the first input device 102 to the second instrument 330. The switched first input device 102 then controls the movement of the second instrument 330. In response to the tool switching command that switches the first input device 102 to the second instrument 330, the controller 250 moves the wrist joint assembly 1030 of the first input device 102 to align the posture of the first input device 102 with the posture of the reassigned second instrument 330. After the first input device 102 switches its association with the second instrument 330 and activates master-slave control, the first input device 102 controls the movement of the second instrument 330. Furthermore, since the posture of the first input device 102 is already aligned with the posture of the second instrument 330 before activating master-slave control, there is no need to re-align the postures of the input device 102 and the second instrument 330 after activation, thus improving the efficiency of medical device operation. In some embodiments, the tool switching command is issued by the surgeon S operating the side-kick pedal.

[0078] In some embodiments, in response to a tool switching command, the controller 250 moves the motor of the wrist joint assembly 1030 of the first input device 102 at a constant speed to align the posture of the first input device 102 with the posture of the reassociated instrument.

[0079] In some embodiments, the first instrument 310 is detachably mounted on the first robotic arm 210, and the imaging device 340 is detachably mounted on the second robotic arm 220. In some cases, such as when it is necessary to adjust the surgical field of view, it is necessary to transfer the imaging device 340 from the second robotic arm 220 to the third robotic arm 230. This can be done by swapping the robotic arms between the imaging device 340 mounted on the second robotic arm 220 and the second instrument 330 mounted on the third robotic arm 230, or by transferring the imaging device 340 mounted on the second robotic arm 220 to the third robotic arm 230, while the second robotic arm 220 is unloaded and does not have any tools installed.

[0080] After the imaging device 340 is transferred from the second robotic arm 220 to the third robotic arm 230, the pose of the end effector 3103 of the first instrument 310 on the first robotic arm 210 is switched from the coordinate system of the imaging device 340 on the second robotic arm 220 to the coordinate system of the imaging device 330 on the third robotic arm 230, and the pose relationship of the end effector 3103 of the instrument 310 on the first robotic arm 210 relative to the reference coordinate system changes.

[0081] At this time, in response to the imaging device 340 being transferred from the second robotic arm 220 to the third robotic arm 230, the controller 250 controls the wrist joint assembly 1030 of the first input device 102 to move, such that the posture of the first input device 102 relative to the display device 101 is aligned with the posture of the end effector 3103 of the first instrument 310 relative to the imaging device 340 transferred to the third robotic arm 230. In some embodiments, in response to the imaging device 340 being transferred from the second robotic arm 220 to the third robotic arm 230, the controller 250 controls the wrist joint assembly 1030 of the first input device 102 to move at a constant speed, such that the posture of the first input device 102 relative to the display device 101 is aligned with the posture of the end effector 3103 of the first instrument 310 relative to the imaging device 340 transferred to the third robotic arm 230. In some embodiments, after the orientation of the imaging device 340 is locked, the controller 250 controls the movement of the wrist joint assembly 1030 so that the orientation of the first input device 102 relative to the display device 101 is aligned with the orientation of the end device 3103 of the first instrument 310 relative to the imaging device 340 mounted on the third robotic arm 230.

[0082] After the posture of the first input device 102 is aligned with the posture of the first instrument 310, the surgeon can activate master-slave control and observe the surgical environment from the image acquired by the imaging device 340 on the third robotic arm 230. After activating master-slave control, it is not necessary to re-align the posture of the first input device 102 with the first instrument 310, which improves the efficiency of the surgery.

[0083] In some embodiments, if the imaging device 340 needs to be replaced, for example, if the imaging device 340 malfunctions during surgery, after reloading the imaging device 340, the posture of the end effector of the instrument on other robotic arms changes relative to the replaced imaging device 330 because the posture of the imaging device 330 before and after replacement has changed. In this case, taking the first robotic arm 210 and its instrument 310 as an example, in response to the reloading of the imaging device 330, the controller 250 controls the wrist joint assembly 1030 of the first input device 102 to move, aligning the posture of the first input device 102 with the posture of the end effector of the first instrument 310. In some embodiments, after replacing the imaging device 340, the controller 250 controls the wrist joint assembly 1030 to perform the alignment action only after the posture of the imaging device 340 is locked. In some embodiments, the response to the reloading of the imaging device 340 may be in response to the system recognizing that the imaging device 330 has been mounted on the robotic arm.

[0084] In some embodiments, if an instrument needs to be changed during surgery, such as when a different instrument is required, the bipolar electrocoagulation forceps instrument is switched to a monopolar electrocoagulation scalpel instrument. After the instrument is reloaded onto the robotic arm, the end effector posture of the reloaded instrument differs from that of the previous instrument. In response to the reloading, the controller 250 controls the wrist joint assembly 1030 of the input device 102 to move, so that the posture of the input device 102 is aligned with the posture of the reloaded instrument. In some embodiments, the controller 250 controls the wrist joint assembly 1030 to perform the alignment action only after the posture of the instrument is locked.

[0085] After the posture of the input device 102 is aligned with the posture of the instrument 310, the surgeon can activate the master-slave control without having to align the posture of the input device 102 with the instrument 310 again, thus improving the efficiency of the surgery.

[0086] 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.

[0087] 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 medical device, characterized in that, include: Input devices; instrument; The controller is configured as follows: In response to a disconnect master-slave control command, the input device's control over the instrument is suspended. After the alignment state between the input device and the instrument is initialized, it is determined whether the input device and the end effector of the instrument have been aligned. When the input device is over-aligned with the end effector of the instrument, the orientation of the input device is controlled to follow the orientation of the end effector of the instrument. When the input device and the end effector of the instrument have not been aligned, the orientation of the input device is controlled to align with the orientation of the end effector of the instrument. The input device includes multiple motors, and the controller controls the multiple motors to rotate in order to move the input device; The controller controls the plurality of motors to rotate in an accelerated manner to move the input device, so that the posture of the input device follows the posture of the end effector of the instrument; The controller controls the plurality of motors to rotate at a constant speed to move the input device so that the posture of the input device is aligned with the posture of the end effector of the instrument.

2. The medical device as described in claim 1, characterized in that, The controller is also configured to restore the input device’s control over the instrument in response to an activation master-slave control command, and after activation of master-slave control, the controller no longer controls the orientation of the input device to align with the orientation of the end effector of the instrument.

3. The medical device as described in claim 2, characterized in that, Before the controller responds to the activate master-slave control command, the controller determines whether the posture of the input device is aligned with the end effector of the instrument. If they are aligned, the controller responds to the activate master-slave control command and restores the input device's control over the instrument; otherwise, the controller does not respond to the activate master-slave control command.

4. A method for adjusting the master-slave posture relationship of a medical device, the medical device comprising an input device, an instrument, and a controller, characterized in that, The method includes: The controller suspends the input device's control of the instrument in response to a disconnect master-slave control command; And determine whether the input device and the end effector of the instrument have been aligned; When the input device is over-aligned with the end effector of the instrument, the controller controls the posture of the input device to follow the posture of the end effector of the instrument. When the input device and the end effector of the instrument have not been aligned, the controller controls the orientation of the input device to align with the orientation of the end effector of the instrument. The input device includes multiple motors, and the controller controls the multiple motors to rotate in order to move the input device; The controller controls the plurality of motors to rotate in an accelerated manner to move the input device, so that the posture of the input device follows the posture of the end effector of the instrument; The controller controls the plurality of motors to rotate at a constant speed to move the input device so that the posture of the input device is aligned with the posture of the end effector of the instrument.

5. The method as described in claim 4, characterized in that, The method further includes: the controller resuming control of the instrument by the input device in response to the activation of master-slave control command, and after the master-slave control is activated, the controller no longer controls the posture of the input device to align with the posture of the end effector of the instrument.

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