A control method and device of a surgical robot and the surgical robot

Abstract

The application provides a surgical robot control method, device and surgical robot, and the control method comprises the following steps: after the surgical robot is powered on, it is judged whether the surgical robot receives a movement instruction; if yes, the surgical robot generates a preset target route according to preset terminal point information in the movement instruction; the blocking risk information formed on the preset target route is acquired according to a movement execution time point in the movement instruction; it is judged whether the surgical robot meets an automatic operation condition according to the blocking risk information; if yes, the surgical robot is controlled to run in an automatic mode; if not, the surgical robot is controlled to start a manual mode. The application solves the technical problem that the traditional surgical robot has a low degree of automation, and the mode of transferring the surgical robot is single, which is specifically manifested as that in the process of transferring the surgical robot, the surgical robot can only be manually pushed, so that the labor cost is increased, and the use efficiency of the surgical robot is reduced.

Description

TECHNICAL FIELD

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

[0002] In recent years, surgical robots are increasingly applied to operating rooms to provide assistance for doctors in performing laparoscopic surgery, bladder surgery and other surgeries. The surgical robot mainly includes a movable base, a robot device installed on the movable base, and a surgical tool located at the distal end of the robot device. In actual use, emergency surgeries often occur, and medical personnel need to transfer the surgical robot to move it to the target area.

[0003] However, the related art has at least one of the following problems: the traditional surgical robot has low automation, and the way of transferring it is single. Specifically, during the process of transferring it, it can only be pushed by artificial assistance, which increases the labor cost and reduces the use efficiency of the surgical robot. SUMMARY

[0004] The technical problem solved by the present application is that the traditional surgical robot has low automation, and the way of transferring it is single. Specifically, during the process of transferring it, it can only be pushed by artificial assistance, which increases the labor cost and reduces the use efficiency of the surgical robot.

[0005] To solve the above problems, the present application provides a control method of a surgical robot, the surgical robot comprising a mobile base assembly and an instrument body arranged at the top end of the mobile base assembly; the control method comprising: after the surgical robot is powered on, determining whether it receives a moving instruction; if yes, controlling the surgical robot to generate a preset target route according to preset end point information in the moving instruction; obtaining blocking risk information formed on the preset target route according to a moving execution time point in the moving instruction; determining whether the surgical robot meets an automatic operation condition according to the blocking risk information; if yes, controlling the surgical robot to run in an automatic mode; if no, controlling the surgical robot to start a manual mode; when the surgical robot enters the manual mode, determining whether an identity information detection area of the surgical robot exists target identity information associated with the preset target route; if it is determined that the target identity information exists, controlling the surgical robot to travel the preset target route.

[0006] Compared with the prior art, the technical effects achieved by the technical scheme are as follows: specifically, by setting the automatic mode and the manual mode in the surgical robot, the automation degree of the surgical robot is improved, which specifically means that the surgical robot can provide a reasonable pushing mode for the operator according to the actual preset target route and the blocking risk information associated with the preset target route. For example, when the automatic operation condition is met, the surgical robot can move to the preset terminal position in the preset terminal information according to the preset target route, and the operator does not need to participate in the process, thereby reducing the labor cost. Correspondingly, in combination with the above-mentioned blocking risk information, if the automatic operation condition is not met, it can be understood that the control system built in the surgical robot has evaluated and compared the blocking risk information, and then it is concluded that the surgical robot is likely to cause unexpected risks in the automatic mode, for example, it cannot arrive at the preset target position on time according to the preset time, and then the surgical robot is adjusted to the manual mode, and the operator participates in pushing the surgical robot, thereby effectively reducing the above-mentioned risks. In addition, in order to ensure that the surgical robot can accurately move according to the preset target route, the association between the target identity information and the preset target route is established in the identity information detection area, so that the situation that the surgical robot can be randomly pushed by unrelated personnel is avoided, thereby ensuring that the surgical robot can be reliably pushed.

[0007] In an example of the present application, the identity information detection area is formed at the handrail position of the mobile base assembly; if it is determined that the target identity information exists, the surgical robot is controlled to travel the preset target route, including: obtaining pushing information acting on the handrail position; wherein the pushing information includes a pushing direction and a pushing force value associated with each other; determining whether the running state of the surgical robot meets the steady state condition according to the pushing information; if yes, controlling the surgical robot to travel the preset target route according to the pushing information; if no, controlling the surgical robot to modify the pushing information and controlling it to travel the preset target route according to the modified information obtained by modifying the pushing information.

[0008] In an example of the present application, the mobile base assembly includes a chassis and a wheel set arranged at the bottom of the chassis, and the wheel set is provided with a pressure sensor; determining whether the running state of the surgical robot meets the steady state condition according to the pushing information includes: obtaining pressure change data of the pressure sensor of the mobile base assembly during traveling the preset target route; if the pressure change data falls within a preset safe pressure difference interval, it is determined that the running state meets the steady state condition; if the pressure change data does not fall within the safe pressure difference interval, it is determined that the running state does not meet the steady state condition.

[0009] In one embodiment of the present invention, the wheelset includes a left wheel assembly and a right wheel assembly. A pressure sensor located on the left wheel assembly is defined as a first sensor, and a pressure sensor located on the right wheel assembly is defined as a second sensor. Acquiring pressure change data from the pressure sensors of the mobile base assembly during travel along a preset target route includes: if an actual operating pressure difference is formed between the first pressure value of the first sensor and the second pressure value of the second sensor, then extracting and comparing historical operating pressure differences stored in the database at the corresponding route segment of the preset target route; if the difference between the actual operating pressure difference and the historical operating pressure difference meets a preset difference range, then determining that the operating state meets the steady-state condition; if the difference between the actual operating pressure difference and the historical operating pressure difference does not meet the preset difference range, then determining that the operating state does not meet the steady-state condition.

[0010] In one embodiment of the present invention, determining whether a surgical robot meets the conditions for automatic operation based on obstruction risk information includes: if the preset target route includes at least one elevator area in the obstruction risk information, then the surgical robot does not meet the conditions for automatic operation; if the preset target route does not include an elevator area, then the current crowd density information of the densely populated area in the obstruction information is obtained; the current crowd density information is compared with the historical crowd density information of the corresponding densely populated area in the database of the control terminal to obtain a first comparison result; the required time for the surgical robot to pass through the densely populated area is predicted based on the first comparison result; if the required time is longer than the preset required time, then the surgical robot does not meet the conditions for automatic operation.

[0011] Compared to existing technologies, this technical solution achieves the following effects: Considering the signal shielding characteristics of elevator areas, if the preset target route contains electrical appliances, controlling the surgical robot in automatic mode may cause it to enter the elevator area and be affected by signal shielding, preventing it from successfully completing the preset target route. Therefore, in such cases, the surgical robot can be switched to manual mode, allowing operator intervention to guide it smoothly along the preset target route. Furthermore, in densely populated areas, the movement of the surgical robot is easily affected by the dynamic environment of the crowd. Since the actual situation of the crowd is difficult to predict accurately, the surgical robot may enter a densely populated area and interfere with the crowd. Without operator intervention, this could lead to unpredictable consequences. To mitigate this risk, historical and current crowd density information can be compared, and the predicted time can be compared with the preset time to determine the current crowd density, thus providing information on the density level and facilitating the selection between automatic and manual modes for the surgical robot. It should be noted that obtaining crowd density information in densely populated areas can be achieved using network-connected monitoring equipment.

[0012] In one embodiment of the present invention, determining whether there is target identity information associated with completing the preset target route in the identity information detection area of ​​the surgical robot includes: if not, and if there is intrusion identity information in the identity information detection area, then controlling the surgical robot to issue a warning signal and controlling the surgical robot to stop moving; if there is neither intrusion identity information nor target identity information in the identity information detection area, then controlling the surgical robot to remain in a stopped state.

[0013] Compared with existing technologies, the technical effect achieved by adopting this technical solution is to effectively prevent the surgical robot from being moved around arbitrarily.

[0014] On the other hand, the present invention also provides a control device for a surgical robot. The surgical robot includes a mobile base assembly and an instrument body disposed on top of the mobile base assembly. The control device includes: a first judgment module, used to determine whether the surgical robot receives a movement command after being powered on; a control module, used to control the surgical robot to generate a preset target route based on preset endpoint information in the movement command if the judgment result of the first judgment module indicates that the surgical robot has received a movement command; an acquisition module, used to acquire obstruction risk information formed on the preset target route based on the movement execution time in the movement command; and a second judgment module, used to judge the surgical robot based on the obstruction risk information. The control module determines whether the automatic operation conditions are met. If the control module determines that the surgical robot meets the automatic operation conditions based on the judgment result of the second judgment module, it controls the surgical robot to run in automatic mode. If the control module determines that the surgical robot does not meet the automatic operation conditions based on the judgment result of the second judgment module, it controls the surgical robot to start manual mode. The third judgment module determines whether there is target identity information associated with completing the preset target route in the identity information detection area of ​​the surgical robot when the surgical robot enters manual mode. If the control module determines that there is target identity information associated with completing the preset target route in the identity information detection area based on the judgment result of the third judgment module, it controls the surgical robot to travel the preset target route.

[0015] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: it can achieve the technical effects corresponding to any of the above technical solutions, which will not be elaborated here.

[0016] In another aspect, the present invention also provides a surgical robot that employs the control method described in any of the above examples.

[0017] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: it can achieve the technical effects corresponding to any of the control methods mentioned above, which will not be elaborated here.

[0018] By adopting the technical solution of the present invention, the following technical effects can be achieved:

[0019] (1) Specifically, by setting automatic and manual modes in the surgical robot, the automation level of the surgical robot is improved. Specifically, the surgical robot can provide the operator with a reasonable pushing method based on the actual preset target route and the obstacle risk information associated with the preset target route. For example, when the automatic operation conditions are met, the surgical robot can move to the preset endpoint position in the preset endpoint information according to the preset target route without the need for operator intervention, thereby reducing labor costs. Correspondingly, combined with the obstacle risk information mentioned above, if the automatic operation conditions are not met, it can be understood that the built-in control system of the surgical robot has evaluated and compared the obstacle risk information, and thus concluded that the surgical robot is prone to unexpected risks when operating in automatic mode, such as failing to reach the preset target position on time. Therefore, the surgical robot is controlled to switch to manual mode, and the operator participates in pushing the surgical robot, thereby effectively reducing the aforementioned risks. In addition, to ensure that the surgical robot can move accurately along the preset target route, a correlation between the target identity information and the preset target route is established in the identity information detection area during the process of pushing the surgical robot. This prevents unrelated personnel from pushing the surgical robot at will, thereby ensuring that the surgical robot can be pushed reliably.

[0020] (2) Considering the characteristic that elevator areas are prone to signal shielding, if there are electrical areas along the preset target route, controlling the surgical robot to operate in automatic mode may cause it to enter the elevator area and be affected by signal shielding, resulting in the inability to successfully complete the preset target route. That is, in the case of the preset target route, the surgical robot can be put into manual mode, and with the participation of the operator, the surgical robot can be guided smoothly along the preset target route. In addition, it is understandable that in densely populated areas, the movement of the surgical robot is easily affected by the dynamic environment of the corresponding crowd. Since the actual situation of the crowd is difficult to predict accurately, for example, the surgical robot may enter a densely populated area and interfere with the crowd. Without the participation of the operator, unpredictable consequences may occur. Therefore, to reduce this risk, historical crowd density information and current crowd density information can be compared, and the predicted time can be compared with the preset time to obtain the specific situation of the current crowd density, thereby obtaining the density level, which is helpful for the surgical robot to choose between automatic mode and manual mode. It should be noted that the acquisition of crowd density information in densely populated areas can be achieved with the help of monitoring equipment connected to the network. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating a control method for a surgical robot provided in an embodiment of the present invention.

[0023] Figure 2 This is a module connection diagram of a control device for a surgical robot provided in an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100. Control device; 10. First judgment module; 20. Control module; 30. Acquisition module; 40. Second judgment module; 50. Third judgment module. Detailed Implementation

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] See Figure 1 This is a flowchart illustrating a control method for a surgical robot provided in an embodiment of the present invention. Specifically, the surgical robot includes a movable base assembly and an instrument body disposed at the top of the movable base assembly; the control method includes:

[0028] Step S1: After the surgical robot is powered on, determine whether it receives a movement command; if the surgical robot does not receive a movement command, then control the surgical robot to remain in standby mode.

[0029] Step S2: If yes, control the surgical robot to generate a preset target route based on the preset endpoint information in the movement command;

[0030] Step S3: Obtain the obstruction risk information formed on the preset target route based on the movement execution time in the movement instruction;

[0031] Step S4: Determine whether the surgical robot meets the conditions for automatic operation based on the obstacle risk information;

[0032] Step S51: If yes, control the surgical robot to run in automatic mode;

[0033] Step S52: If not, control the surgical robot to start the manual mode;

[0034] Step S6: When the surgical robot enters the manual mode, determine whether there is target identity information associated with completing the preset target route in the identity information detection area of ​​the surgical robot;

[0035] Step S7: If it is determined that there is target identity information, control the surgical robot to travel along the preset target route.

[0036] Specifically, by setting automatic and manual modes in the surgical robot, the level of automation is improved. This means the surgical robot can provide operators with a reasonable pushing method based on a pre-defined target route and associated obstacle risk information. For example, when automatic operation conditions are met, the surgical robot can move autonomously to the preset endpoint position according to the pre-defined target route without operator intervention, thus reducing labor costs. Conversely, considering the aforementioned obstacle risk information, if automatic operation conditions are not met, it can be understood that the surgical robot's built-in control system has evaluated and compared the obstacle risk information. If it is determined that the surgical robot is prone to unexpected risks in automatic mode, such as failing to reach the preset target position on time, the surgical robot will then be switched to manual mode, requiring operator intervention to push the surgical robot, thereby effectively reducing the aforementioned risks. In addition, to ensure that the surgical robot can move accurately along the preset target route, a correlation between the target identity information and the preset target route is established in the identity information detection area during the process of pushing the surgical robot. This prevents unrelated personnel from pushing the surgical robot at will, thereby ensuring that the surgical robot can be pushed reliably.

[0037] Preferably, the identity information detection area is formed at the handrail position of the mobile base component; if the existence of target identity information is determined, the surgical robot is controlled to travel a preset target route, including: acquiring the pushing information acting on the handrail position; wherein, the pushing information includes the interrelated pushing direction and pushing force value; judging whether the operating state of the surgical robot meets the steady-state condition based on the pushing information; if yes, the surgical robot is controlled to travel the preset target route according to the pushing information; if no, the surgical robot is controlled to correct the pushing information, and is controlled to travel the preset target route according to the corrected information obtained after correcting the pushing information.

[0038] Preferably, the mobile base assembly includes a chassis and a wheel set located at the bottom of the chassis, and the wheel set is equipped with a pressure sensor; determining whether the operating state of the surgical robot meets the steady-state conditions based on the pushing information includes: acquiring pressure change data of the pressure sensor of the mobile base assembly during the process of traveling a preset target route; if the pressure change data falls within a preset safe pressure difference range, it is determined that the operating state meets the steady-state conditions; if the pressure change data does not fall within the safe pressure difference range, it is determined that the operating state does not meet the steady-state conditions.

[0039] Preferably, the wheel assembly includes a left wheel assembly and a right wheel assembly. A pressure sensor located on the left wheel assembly is defined as a first sensor, and a pressure sensor located on the right wheel assembly is defined as a second sensor. Acquiring pressure change data from the pressure sensors during the travel of the mobile base assembly along a preset target route includes: if an actual operating pressure difference is formed between the first pressure value of the first sensor and the second pressure value of the second sensor, then extracting and comparing historical operating pressure differences stored in the database at the corresponding route segment of the preset target route; if the difference between the actual operating pressure difference and the historical operating pressure difference meets a preset difference range, then the operating state is determined to meet steady-state conditions; if the difference between the actual operating pressure difference and the historical operating pressure difference does not meet the preset difference range, then the operating state is determined to not meet steady-state conditions.

[0040] Preferably, determining whether the surgical robot meets the automatic operation conditions based on the obstruction risk information includes: if the preset target route includes at least one elevator area in the obstruction risk information, then the surgical robot does not meet the automatic operation conditions; if the preset target route does not include an elevator area, then the current crowd density information of the densely populated area in the obstruction information is obtained; the current crowd density information is compared with the historical crowd density information of the corresponding densely populated area in the database of the control terminal to obtain a first comparison result; the required time for the surgical robot to pass through the densely populated area is predicted based on the first comparison result; if the required time is longer than the preset required time, then the surgical robot does not meet the automatic operation conditions.

[0041] Preferably, determining whether the identity information detection area of ​​the surgical robot contains target identity information associated with completing the preset target route includes: if not, and if intrusion identity information exists in the identity information detection area, then controlling the surgical robot to issue a warning signal and control the surgical robot to stop moving; if neither intrusion identity information nor target identity information exists in the identity information detection area, then controlling the surgical robot to remain stopped.

[0042] On the other hand, see Figure 2The present invention also provides a control device 100 for a surgical robot. The surgical robot includes a mobile base assembly and an instrument body disposed on the top of the mobile base assembly. The control device 100 includes: a first judgment module 10, used to determine whether the surgical robot receives a movement command after the surgical robot is powered on; a control module 20, used to control the surgical robot to generate a preset target route based on the preset endpoint information in the movement command if the judgment result of the first judgment module 10 indicates that the surgical robot has received a movement command; an acquisition module 30, used to acquire obstruction risk information formed on the preset target route based on the movement execution time in the movement command; and a second judgment module 40, used to determine the obstruction risk information based on the obstruction risk information. The control module 20 determines whether the robot meets the conditions for automatic operation. If the control module 20 determines that the surgical robot meets the conditions for automatic operation based on the judgment result of the second judgment module 40, it controls the surgical robot to run in automatic mode. If the control module 20 determines that the surgical robot does not meet the conditions for automatic operation based on the judgment result of the second judgment module 40, it controls the surgical robot to start manual mode. The third judgment module 50 determines whether there is target identity information associated with completing the preset target route in the identity information detection area of ​​the surgical robot when the surgical robot enters manual mode. If the control module 20 determines that there is target identity information associated with completing the preset target route in the identity information detection area based on the judgment result of the third judgment module 50, it controls the surgical robot to travel the preset target route.

[0043] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: it can achieve the technical effects corresponding to any of the above technical solutions, which will not be elaborated here.

[0044] Furthermore, the present invention also provides a surgical robot that employs the control method described in any of the above examples. It can achieve the technical effects corresponding to any of the above control methods, which will not be elaborated further here.

[0045] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A control method for a surgical robot, characterized in that, The surgical robot includes a mobile base assembly and an instrument body disposed at the top of the mobile base assembly; The control method includes: After the surgical robot is powered on, it is determined whether it receives a movement command; If so, the surgical robot is controlled to generate a preset target route based on the preset endpoint information in the movement command; Obtain obstacle risk information formed on the preset target route based on the movement execution time in the movement instruction; Based on the obstruction risk information, determine whether the surgical robot meets the conditions for automatic operation; If so, then control the surgical robot to operate in automatic mode; If not, then control the surgical robot to start the manual mode; When the surgical robot enters the manual mode, it is determined whether the surgical robot's identity information detection area contains target identity information associated with completing the preset target route; If the target identity information is determined to exist, the surgical robot is controlled to travel along the preset target route; The identity information detection area is formed at the armrest position of the mobile base component; If the target identity information is determined to exist, then controlling the surgical robot to travel along the preset target route includes: Acquire pushing information applied to the armrest position; wherein the pushing information includes interrelated pushing direction and pushing force value; Based on the pushing information, determine whether the operating state of the surgical robot meets the steady-state condition; If so, control the surgical robot to travel along the preset target route according to the pushing information; If not, then control the surgical robot to correct the pushing information, and control it to travel the preset target route according to the corrected information obtained after correcting the pushing information; The mobile base assembly includes a chassis and a wheel assembly located at the bottom of the chassis, the wheel assembly being equipped with a pressure sensor; the step of determining whether the operating state of the surgical robot meets steady-state conditions based on the pushing information includes: Acquire pressure change data from the pressure sensor of the mobile base assembly during its journey along the preset target route; If the pressure change data falls within the preset safe differential pressure range, then the operating state is determined to meet the steady-state condition; If the pressure change data does not fall within the safe pressure difference range, then the operating state is determined not to meet the steady-state condition. The wheelset includes a left wheel assembly and a right wheel assembly. A pressure sensor located on the left wheel assembly is defined as a first sensor, and a pressure sensor located on the right wheel assembly is defined as a second sensor. The step of acquiring pressure change data from the pressure sensor of the mobile base assembly during its journey along the preset target route includes: If an actual operating pressure difference is formed between the first pressure value of the first sensor and the second pressure value of the second sensor, then the historical operating pressure difference at the corresponding route segment of the preset target route stored in the database is extracted and compared. If the difference between the actual operating pressure difference and the historical operating pressure difference meets the preset difference range, then the operating state is determined to meet the steady-state condition; If the difference between the actual operating pressure difference and the historical operating pressure difference does not meet the preset difference range, then the operating state is determined to not meet the steady-state condition.

2. The control method according to claim 1, characterized in that, The step of determining whether the surgical robot meets the conditions for automatic operation based on the obstruction risk information includes: If the preset target route includes at least one elevator area in the obstruction risk information, then the surgical robot is determined not to meet the automatic operation conditions. If the preset target route does not include the elevator area, then obtain the current crowd density information of the densely populated area in the obstruction risk information; The current crowd density information is compared with the historical crowd density information of the corresponding crowd density area in the database of the control terminal to obtain a first comparison result; Based on the first comparison result, predict the time required for the surgical robot to pass through the densely populated area; If the required time exceeds the preset required time, the surgical robot is determined not to meet the automatic operation conditions.

3. The control method according to claim 1, characterized in that, The step of determining whether the surgical robot's identity information detection area contains target identity information associated with completing the preset target route includes: If not, and if intrusion information is present in the identity information detection area, then the surgical robot is controlled to issue a warning signal and stop moving. If neither the intrusion identity information nor the target identity information exists in the identity information detection area, the surgical robot is controlled to remain in a stopped state.

4. A control device for a surgical robot, characterized in that, The control device employs the control method as described in any one of claims 1-3; the surgical robot includes a mobile base assembly and an instrument body disposed at the top of the mobile base assembly; the control device includes: The first judgment module is used to determine whether the surgical robot receives a movement command after the surgical robot is powered on. The control module is configured to control the surgical robot to generate a preset target route based on the preset endpoint information in the movement instruction when the surgical robot receives a movement instruction based on the judgment result of the first judgment module. The acquisition module is used to acquire obstruction risk information formed on the preset target route based on the movement execution time in the movement instruction; The second judgment module is used to determine whether the surgical robot meets the automatic operation conditions based on the obstruction risk information. When the control module determines that the surgical robot meets the automatic operation conditions based on the judgment result of the second judgment module, it controls the surgical robot to run in automatic mode. When the control module determines that the surgical robot does not meet the conditions for automatic operation based on the judgment result of the second judgment module, it controls the surgical robot to start the manual mode. The third judgment module is used to determine whether there is target identity information associated with completing the preset target route in the identity information detection area of ​​the surgical robot when the surgical robot enters the manual mode. The control module is used to control the surgical robot to travel the preset target route when the judgment result of the third judgment module indicates that there is target identity information associated with completing the preset target route in the identity information detection area.

5. A surgical robot, characterized in that, The surgical robot employs the control method described in any one of claims 1-3.

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