Control system for surgical robot and surgical robot system

Abstract

The invention relates to the field of medical instruments, and discloses a control system for a surgical robot and a surgical robot system. The control system comprises at least one main operator used for receiving user input; a display; and the control device is in communication connection with the at least one main operator and the display and is used for controlling the display to display the at least one menu and operating the at least one menu based on the user input received by the at least one main operator. According to the control system provided by the invention, the user can operate the menu through the main operator, and the efficiency of operating the menu by the user can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a control system for a surgical robot and a surgical robot system. Background Art

[0002] During surgery using a surgical robot, it is sometimes necessary to adjust the parameters of the surgical robot system, such as adjusting the display parameters of the monitor that displays images of the patient's body, in order to make it easier for the surgeon to operate, for example, to more clearly observe the patient's internal body conditions.

[0003] However, for current surgical robots, the surgeon needs to leave the position where he operates the main manipulator and observes the display to adjust the display parameters in other areas. This method of adjusting parameters is cumbersome, time-consuming, inefficient, and may even affect the progress of the operation. Summary of the invention

[0004] The embodiments of the present disclosure provide a control system for a surgical robot and a surgical robot system, which enable a user to operate a menu through a main operator.

[0005] In some embodiments, the present disclosure provides a control system for a surgical robot, comprising: at least one master operator for receiving user input;

[0006] monitor;

[0007] The control device is connected to the at least one main operator and the display for controlling the display to display at least one menu and operating the at least one menu based on the user input received by the at least one main operator.

[0008] In some embodiments, the present disclosure provides a surgical robot system, comprising: a main control trolley, comprising a control system for a surgical robot as any one of some embodiments of the present disclosure; and a surgical trolley, comprising at least one robotic arm and at least one surgical instrument located at the end of at least one robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0010] Figure 1 A schematic structural block diagram of a control system for a surgical robot according to some embodiments of the present disclosure is shown;

[0011] Figure 2 A schematic diagram showing the structure of a main control trolley of a surgical robot according to some embodiments of the present disclosure is shown;

[0012] Figure 3 A schematic structural block diagram of a control system for a surgical robot according to other embodiments of the present disclosure is shown;

[0013] Figure 4 A schematic diagram showing the structure of a main operator according to some embodiments of the present disclosure is shown;

[0014] Figure 5a A schematic diagram showing a menu including multiple options in a display according to some embodiments of the present disclosure;

[0015] Figure 5b A schematic diagram showing a pointer in a display according to some embodiments of the present disclosure;

[0016] Figure 6 A schematic diagram showing a menu including multiple options in a display according to some other embodiments of the present disclosure;

[0017] Figure 7 A schematic diagram showing a submenu corresponding to a target option in a display of some embodiments of the present disclosure;

[0018] Figure 8 A schematic diagram showing multiple menus in a display according to yet other embodiments of the present disclosure;

[0019] Fig. 9 A schematic diagram showing the structure of a left master operator and a right master operator according to some embodiments of the present disclosure is shown;

[0020] Fig.10 A schematic diagram showing multiple menus in a display superimposed on a surgical field image according to some embodiments of the present disclosure;

[0021] Fig.11 A schematic diagram of the structure of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0022] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0023] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, or rear end, and the end close to the surgical patient is defined as the distal end, far end, or front end, or front part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0024] Figure 1 FIG. 1 is a schematic block diagram of a control system 100 for a surgical robot according to some embodiments of the present disclosure. Figure 1 As shown, the control system 100 may include: at least one main operator 110, a control device 120, and a display 130. The control system 100 may be used in various suitable surgical robots including laparoscopic surgical robots.

[0025] The at least one main operator 110 is used to receive user input. The control device 120 is connected to the at least one main operator 110 and the display 130 for controlling the display 130 to display at least one menu and to operate the at least one menu based on the user input received by the at least one main operator 110.

[0026] In some embodiments, the user input may include operations performed by the user on the main operator 110 of the surgical robot, including but not limited to: rotating the main operator 110, translating the main operator 110, pinching the clamps of the main operator 110, etc. In some embodiments, at least one menu may be used for the user to adjust the parameters of the surgical robot, such as adjusting the display mode of the display 130 and other suitable display parameters, adjusting the state parameters or operation parameters of the surgical robot, etc. The operations performed by the control device 120 on at least one menu include but are not limited to: displaying a menu, indicating a target option in a menu, adjusting a target option in a menu, confirming the selection of a target option, displaying a submenu, removing a menu, etc.

[0027] In some embodiments, the display 130 is used to display an image of the surgical field, and at least one menu is superimposed on the image of the surgical field. Those skilled in the art will understand that the surgical field refers to the field of view of an image acquisition device (e.g., an endoscope) during surgery, and the surgical field image can be an image of the surgical scene that can be acquired by the image acquisition device during surgery, such as an image of the surgical site and surgical instruments.

[0028] Figure 2 A schematic diagram of the structure of the main control trolley 200 of the surgical robot according to some embodiments of the present disclosure is shown. In some embodiments, the display 130 and the main manipulator 110 are both arranged on the main control trolley 200, so that the user of the surgical robot can observe the surgical field image displayed on the display 130 when operating the main manipulator 110. In some embodiments, the display 130 can be a 3D display for displaying a stereoscopic image of the surgical field.

[0029] In some embodiments, at least one menu may include multiple options. The multiple options may include any suitable implementation. For example, the multiple options may include options for setting display parameters of the display 130, options for adjusting image parameters, options for adjusting state parameters of the surgical robot, options for adjusting control parameters of the surgical robot, or options for adjusting operating parameters of the surgical robot, etc.

[0030] Figure 3 FIG. 1 is a block diagram showing a structure of a control system 100 for a surgical robot according to some embodiments of the present disclosure. Figure 3 The control system 100 may further include a trigger 140. The trigger 140 is used to receive a first user action and generate a trigger signal based on the first user action. The control device 120 is used to receive a trigger signal from the trigger 140, and based on the trigger signal, control the display 130 to display at least one menu.

[0031] In some embodiments, the surgical robot includes at least one surgical instrument (e.g., surgical tools, endoscopes, etc.) for performing surgery-related operations. A master-slave mapping can be established between the master operator 110 and the surgical instrument. Under the master-slave mapping, the master operator 110 is used for the user of the surgical robot to operate, and the control device 120 is used to control the surgical instrument to perform surgery-related operations based on the user input received by the master operator 110. In some embodiments, the control device 120 is also used to disconnect the master-slave mapping between at least one master operator 110 and at least one surgical instrument based on a trigger signal. Disconnecting the master-slave mapping between the master operator and the surgical instrument, thereby prohibiting the master operator from remotely controlling the surgical instrument, can prevent the user from causing the movement of the surgical instrument and causing a negative impact on the patient when using the master operator to operate the menu.

[0032] In some embodiments, the trigger 140 may also be used to receive a second user action and generate a release signal based on the second user action, and the control device 120 is used to receive the release signal from the trigger 140 and control the display 130 to remove at least one menu based on the release signal.

[0033] In some embodiments, the control device 120 is used to restore the master-slave mapping between at least one master operator 110 and at least one surgical instrument based on the release signal. The master-slave mapping between the master operator and the surgical tool is restored, so that the surgical robot user can continue to use the master operator to control the surgical tool to perform related surgical operations.

[0034] In some embodiments, the trigger 140 may include any of the following: a button (for example, a button located at Figure 2 ), buttons (e.g., Figure 2 201), a dial button (e.g., Figure 4 The dial mechanism 413 of the main operator 400 shown in FIG. 4) or the pedal (eg, Figure 2 Those skilled in the art will appreciate that the trigger is not limited to the above-listed forms and may include other suitable forms.

[0035] In some embodiments, the first user action may be to hold down, hold down, or hold down the trigger, and the second user action may be to release the trigger. Figure 2 The pedal 204 shown generates a trigger signal when receiving an action of the user continuously stepping on the pedal 204 , and generates a release signal when receiving an action of the user releasing the pedal 204 .

[0036] In some embodiments, the first user action is pressing, toggling, or touching a trigger, and the second user action is pressing, toggling, or touching the trigger again. Figure 2 The pedal 204 shown generates a trigger signal when the user steps on the pedal 204 , and generates a release signal when the user steps on the pedal 204 again.

[0037] In some embodiments, the menu includes a plurality of options, the plurality of options include a target option to be confirmed, the user input includes a first user operation, the control device (eg Figure 1 or Figure 3 The control device 120 shown is used to control the display (eg Figure 1 or Figure 3 The display 130 shown in FIG. 1 shows that the target option is switched from the first option to the second option among the multiple options. It will be appreciated by those skilled in the art that the first user operation may be any suitable operation performed by the user to switch the target option among the multiple options. In some embodiments, the multiple options are used for the user to adjust the parameters of the surgical robot, such as display parameters, image parameters, state parameters, operation parameters, or control parameters.

[0038] Figure 5a FIG. 5 is a schematic diagram showing a menu 500 including multiple options in a display according to some embodiments of the present disclosure. Figure 5a In some embodiments, the multiple options included in menu 500 may be displayed in the form of a fan ring on a display (eg Figure 1-Figure 3 Arranged in the display 130 shown. Figure 6 FIG. 6 is a schematic diagram showing a menu 600 including multiple options in a display according to some embodiments of the present disclosure. Figure 6 In some embodiments, the multiple options included in menu 600 may be displayed in an array on a display (eg Figure 1-Figure 3 In some embodiments, the multiple options included in the menu may also be arranged in the display in the form of a ring, a list, etc. Those skilled in the art will appreciate that the form in which the multiple options are arranged in the display is not limited to the various forms listed above, and may also include various suitable forms.

[0039] for Figure 5a In the menu 500 shown, the target option to be confirmed is option 502. Figure 5a In some embodiments, the target option may be indicated by a pointer. In some embodiments, the pointer indicating the target option may be expressed as follows: Figure 5a In some embodiments, the pointer for indicating the target option points to the target option (e.g. Figure 5a Option 502 shown in FIG. 1 ), or displayed as an overlay on the target option in display 130. Figure 6 In the menu shown, the target option to be confirmed is option 601. Figure 6 In some embodiments, the target option may also be highlighted. The highlighting method may include magnifying the display (e.g. Figure 6 ), highlighted (e.g., displayed in a different color than non-target options), etc.

[0040] Figure 5a and Figure 6 The menus shown in the figure all include 4 options. Those skilled in the art can understand that the number of options included in the menu is not limited to 4, and the menu can include any appropriate number of options.

[0041] In some embodiments, the first user operation includes rotating or rolling the handle of the main operator clockwise, and the second option is located in the clockwise direction of the first option. Figure 4 The schematic diagram of the structure of the main manipulator 400 according to some embodiments of the present disclosure is shown. In some embodiments, the main manipulator 400 may include a left main manipulator corresponding to the user's left hand operation and a right main manipulator corresponding to the user's right hand operation. In actual scenarios, the main manipulator 400 is used to collect the user's operation input, and the user controls the movement of the surgical instrument in the operation area by remotely operating the main manipulator 400 to perform medical operations. Figure 4 As shown, in some embodiments, the main manipulator 400 includes a multi-degree-of-freedom mechanical arm 410 and a handle 420. In some embodiments, the multi-degree-of-freedom mechanical arm 410 has six degrees of freedom, and the multi-degree-of-freedom mechanical arm 410 may include multiple joints (e.g., Figure 4 Joints 4101-4107) and multiple arms (e.g., Figure 4 4201-4202, etc. shown in FIG. Figure 4 As shown, for joints 4101-4107, the coordinate system of each joint is shown in the figure, and the z axis is the rotation axis of the joint (such as Figure 4 The coordinate axis Z is shown in 1 -Z 7 ), the x-axis points to the next joint of each joint (such as Figure 4 The coordinate axis X shown in 1 -X 7 ), the y-axis can determine the direction according to the left / right hand law of the Cartesian coordinate system (not shown). Through joints 4101-4107, the handle 420 can move in six degrees of freedom, including up and down movement, left and right movement, forward and backward movement, clockwise and counterclockwise rolling, clockwise and counterclockwise rotation, etc.

[0042] For Figure 4The main manipulator 400 shown in FIG. 1 is shown in FIG. 1 . The handle 420 of the main manipulator 400 is rolled clockwise. The user can hold the handle 420 of the main manipulator 400 and rotate the wrist to move the joint 4107 of the main manipulator 400 along the coordinate axis Z. 7 The rotation axis rotates clockwise. The clockwise rotation of the handle 420 of the main operator 400 can be a clockwise rotation gesture (for example, along the direction of the rotation axis) performed by the user holding the handle 420 of the main operator 400. Figure 4 4001), so that at least some of the arms of the multi-degree-of-freedom robotic arm 410 of the main manipulator 400 rotate around the rotation axis of the joint, thereby causing the handle 420 to rotate clockwise.

[0043] Figure 5b Schematic diagram showing a pointer in a display according to some embodiments of the present disclosure. In the case where the first user operation includes rotating or rolling the handle 420 of the main operator clockwise, switching the target option from the first option to the second option may be switching the target option from option 502 to option 503 located in the clockwise direction of option 502. Figure 5b , the pointer for indicating the target option in the display 130 changes from pointing to the position of option 502 (such as Figure 5b The position of the arrow 1 shown in FIG. 1 is changed to point to the position of option 503 (such as Figure 5b Those skilled in the art will appreciate that, in the case where the first user operation includes rotating or rolling the handle of the main operator clockwise, Figure 5a or Figure 5b In the menu shown, switching the target option from the first option to the second option may also be switching the target option from option 503 to option 504 located clockwise from option 503, or switching the target option from option 501 to option 502 located clockwise from option 501, etc.

[0044] In some embodiments, when the first user operation includes rotating or rolling the handle 420 of the main operator clockwise, the display 130 may also display a pointer for indicating the target option rotating clockwise around the rotation center, for example, displaying the pointer by Figure 5b The position shown is a rotation process from the position where arrow 1 is located to the position where arrow 2 is located clockwise around the rotation center.

[0045] like Figure 1 or Figure 3 The control device 120 shown may determine the position of the pointer in the display 130 in a variety of ways. In some embodiments, for example Figure 4For the main operator 400 shown in FIG. 1 , the control device 120 may determine the angle between the pointer and the horizontal line based on the angle (e.g., rotation angle or roll angle) between the handle 420 of the main operator 400 and the horizontal plane (e.g., the horizontal plane where the handle 420 is located when the main operator 400 is in a free and relaxed state). For example, the 180-degree range above the horizontal plane may be divided into intervals corresponding to the options, for example, Figure 5a , Figure 5b The options 501-504 shown in FIG. 4 correspond to four intervals of 45 degrees. When the handle 420 is placed on a horizontal plane and the angle is zero, the pointer in the display 130 points to the first interval on the left (eg Figure 5b When the handle 420 is placed at an angle α with the horizontal plane, the pointer in the display 130 points to the interval corresponding to α.

[0046] In some embodiments, the control device 120 may also control the pointer displayed on the display 130 to switch options clockwise according to the angle of clockwise rotation or rolling from the default angle (for example, the angle with the vertical plane is zero) in the first user action exceeding the threshold. For example, when the handle 420 of the main operator 400 rolls clockwise by an angle greater than the threshold, the display 130 displays that the pointer switches from pointing to option 502 to pointing to 503 clockwise around the rotation center. When the handle 420 of the main operator 400 rolls clockwise by an angle greater than the threshold again, the display 130 displays that the pointer switches from pointing to option 503 to pointing to 504 clockwise around the rotation center. The two rolling operations do not need to be performed continuously, and the handle 420 of the main operator 400 is allowed to roll counterclockwise back to the default position during the period to restore the user's wrist to a comfortable position.

[0047] In some embodiments, the first user operation includes rotating or rolling the handle of the main operator counterclockwise, and the second option is located counterclockwise of the first option. Figure 4 The main operator 400 can be rotated counterclockwise by the user holding the handle 420 of the main operator 400 and rotating the wrist to make the joint 4107 of the main operator 400 rotate along the coordinate axis Z. 7 The rotation axis rotates counterclockwise. The counterclockwise rotation of the handle 420 of the main operator 400 can be a counterclockwise rotation gesture made by the user holding the handle 420 of the main operator 400 (for example, along the direction of Figure 4 The dotted arrow direction 4001 shown in the figure makes a counterclockwise rotation gesture), so that at least some of the arms included in the multi-degree-of-freedom mechanical arm 410 of the main manipulator 400 rotate around the rotation axis of the joint, thereby causing the handle 420 to rotate counterclockwise.

[0048] like Figure 5bIn some embodiments, when the first user operation includes rotating or rolling the handle 420 of the main operator counterclockwise, switching the target option from the first option to the second option may be to switch the target option from Figure 5b Option 502 shown switches to option 501 located counterclockwise to option 502. Figure 5b , the pointer for indicating the target option in the display 130 changes from pointing to the position of option 502 (such as Figure 5b The position of the arrow 1 shown in FIG. 1 is changed to point to the position of option 501 (such as Figure 5b Those skilled in the art will appreciate that, in the case where the first user operation includes rotating or rolling the handle 420 of the main operator counterclockwise, Figure 5a or Figure 5b In the menu shown, switching the target option from the first option to the second option may also be switching the target option from option 503 to option 502 located counterclockwise to option 503, and so on.

[0049] In some embodiments, when the first user operation includes rotating or rolling the handle 420 of the main operator counterclockwise, the display 130 may also display a pointer for indicating the target option rotating counterclockwise around the rotation center, for example, displaying the pointer as Figure 5b The position shown is a rotation process from the position where arrow 1 is located to the position where arrow 3 is located counterclockwise around the rotation center.

[0050] Similar to rolling or rotating the handle 420 clockwise, the control device 120 can determine the angle between the pointer and the horizontal line based on the angle (e.g., rotation angle or roll angle) between the handle 420 of the main operator 400 and the horizontal plane (e.g., the horizontal plane where the handle 420 is located when the main operator 400 is in a free and relaxed state). When the handle 420 is placed at a position where the angle with the horizontal plane is α, the pointer in the display 130 points to the interval corresponding to α.

[0051] In some embodiments, the control device 120 may also control the pointer displayed on the display 130 to switch options counterclockwise according to the angle of the counterclockwise rotation or rolling from the default angle (for example, the angle with the vertical plane is zero) in the first user action exceeding the threshold. For example, when the handle 420 of the main operator 400 rolls counterclockwise by an angle greater than the threshold, the display 130 displays that the pointer switches from pointing to option 503 to pointing to 502 counterclockwise around the rotation center. When the handle 420 of the main operator 400 rolls counterclockwise by an angle greater than the threshold again, the display 130 displays that the pointer switches from pointing to option 502 to pointing to 501 counterclockwise around the rotation center. The two rolling operations do not need to be performed continuously, and the handle 420 of the main operator 400 is allowed to roll clockwise back to the default position during this period to restore the user's wrist to a comfortable position.

[0052] In some embodiments, the first user operation further includes moving the handle of the main operator to the right, and the second option is located to the right of the first option. Figure 4 The main operator 400, moving the handle 420 of the main operator 400 to the right can be a gesture of the user holding the handle 420 of the main operator 400 and moving it to the right, so that at least some of the arms included in the multi-degree-of-freedom robotic arm 410 of the main operator 400 rotate around the rotation axis of the joint, thereby moving the handle 420 of the main operator to the right.

[0053] like Figure 6 In some embodiments, when the first user operation includes moving the handle of the main operator to the right, switching the target option from the first option to the second option may be to switch the target option from Figure 6 Switch the option 601 shown in the figure to the option 602 located to the right of the option 601, or change the target option from the Figure 6 Option 603 is shown switching to option 604 located to the right of option 603 .

[0054] In some embodiments, the first user operation includes moving the handle of the main operator to the left, and the second option is located to the left of the first option. Figure 4 The main operator 400, moving the handle 420 of the main operator 400 to the left can be a gesture of the user holding the handle 420 of the main operator 400 and moving it to the left, so that at least some of the arms included in the multi-degree-of-freedom robotic arm 410 of the main operator 400 rotate around the rotation axis of the joint, thereby moving the handle 420 of the main operator to the left.

[0055] like Figure 6 In some embodiments, when the first user operation includes moving the handle of the main operator to the left, switching the target option from the first option to the second option may be to switch the target option from Figure 6 Switch the option 602 shown in the figure to the option 601 located to the left of the option 602, or change the target option from the Figure 6 Option 604 is shown switching to option 603 located to the left of option 604 .

[0056] In some embodiments, the first user operation includes moving the handle of the main operator upward or away, and the second option is located above the first option. Figure 4 The main manipulator 400 of the present invention moves the handle 420 of the main manipulator 400 upward. The user can hold the handle 420 of the main manipulator 400 and move the main manipulator upward, so that at least one arm body included in the multi-degree-of-freedom mechanical arm 410 of the main manipulator 400 rotates around the rotation axis of the joint, thereby moving the handle 420 of the main manipulator upward. For example, the arm body 4202 rotates around the rotation axis of the joint 4103 (coordinate axis Z 3) Figure 4 The main manipulator 400 rotates in the direction 403 shown, thereby causing the handle 420 of the main manipulator 400 to move upward. Moving the handle 420 of the main manipulator 400 far away may be an action in which the user holds the handle 420 of the main manipulator 400 and pushes the main manipulator far away, so that at least one arm body included in the multi-degree-of-freedom mechanical arm 410 of the main manipulator 400 rotates around the rotation axis of the joint, thereby causing the handle 420 of the main manipulator to move far away. The "far away movement" mentioned here refers to moving in the distal direction (the direction farther away from the user).

[0057] like Figure 6 In some embodiments, when the first user operation includes moving the handle of the main operator upward or away, switching the target option from the first option to the second option may be to change the target option from Figure 6 Option 603 shown in the figure is switched to option 601 located above option 603, or the target option is changed from Figure 6 Option 604 is shown switched to option 602 located above option 604 .

[0058] In some embodiments, the first user operation includes moving the handle of the main operator downward or closer, and the second option is located below the first option. Figure 4 The main manipulator 400 of the present invention is used to move the handle 420 of the main manipulator 400 downward. The user can hold the handle 420 of the main manipulator 400 and move the main manipulator downward, so that at least one arm body included in the multi-degree-of-freedom mechanical arm 410 of the main manipulator 400 rotates around the rotation axis of the joint, thereby moving the handle 420 of the main manipulator downward. For example, the arm body 4202 rotates around the rotation axis of the joint 4103 (coordinate axis Z 3 ) Figure 4 The handle 420 of the main manipulator 400 is rotated in the opposite direction of the direction 403 shown, thereby moving the handle 420 of the main manipulator 400 downward. Moving the handle 420 of the main manipulator 400 closer can be an action of the user holding the handle 420 of the main manipulator 400 and pulling the main manipulator closer, so that at least one arm body included in the multi-degree-of-freedom mechanical arm 410 of the main manipulator 400 rotates around the rotation axis of the joint, thereby moving the handle 420 of the main manipulator closer. The "moving closer" mentioned here refers to moving in the proximal direction (the direction closer to the user).

[0059] like Figure 6 In some embodiments, when the first user operation includes moving the handle of the main operator downward or close, switching the target option from the first option to the second option may be to change the target option from Figure 6 Switch the option 601 shown in the figure to the option 603 located below the option 601, or change the target option from the Figure 6Option 602 is shown switched to option 604 located below option 602 .

[0060] In some embodiments, when the target option is to be confirmed, the control module can display the setting effect corresponding to the target option. For example, when the target option is a display parameter, the display 130 can superimpose the display effect corresponding to the target option on the surgical field image, so that the user of the surgical robot can preview the display effect corresponding to the target option before confirming the target option. In this way, the user can intuitively know the effect corresponding to the target option without confirming the target option, which is convenient for the user to confirm the option in the menu more efficiently.

[0061] In some embodiments, the user input also includes a second user operation, a control device (eg Figure 1 or Figure 3 The control device 120 shown in the figure is used to perform an operation corresponding to the target option based on the second user operation. Figure 5a or Figure 5b In the menu shown, when the target option is option 502, the control device 120 performs an operation corresponding to option 502. For example, when the content of the target option is "fluorescent mode", the control device 120 performs an operation of turning on the fluorescent mode (which may include controlling the display 130 to display in the fluorescent mode) based on the second user operation.

[0062] In some embodiments, the corresponding operation may include any of the following: adjusting the display parameters of the display, adjusting the image parameters, adjusting the state parameters of the surgical robot, adjusting the control parameters of the surgical robot, or adjusting the operating parameters of the surgical robot. For example, the operation may include turning on / off the fluorescence mode, turning on / off image enhancement, increasing the depth of field, reducing the depth of field, and the like. It can be understood by those skilled in the art that the contents of the target options corresponding to the above-mentioned corresponding operations may be "fluorescence mode", "image enhancement", "increasing the depth of field", "reducing the depth of field", and the like. In addition to the above-mentioned operations on display, the corresponding operation may also include adjusting the image parameters, adjusting the state parameters, control parameters, or operating parameters of the surgical robot. For example, adjusting the audio parameters of the surgical robot, such as adjusting the voice volume of the trolley, the microphone volume, and the alarm sound volume; adjusting the sensitivity of the main operator to control the surgical instrument; adjusting the mapping relationship between the left and right main operators and each surgical instrument, such as switching the surgical instrument originally associated with the left operator to be associated with the right main operator; performing a "mirror wiping operation" on the endoscope, and the like. It can be understood by those skilled in the art that the corresponding operation is not limited to the various operations listed above, and may also include various suitable operations.

[0063] Those skilled in the art will appreciate that the second user operation may be an operation performed by the user to confirm the target option. In some embodiments, the second user operation may include pinching the clamp of the main operator (e.g. Figure 4 The handle 420 of the main operator 400 shown in FIG. 4 includes a clamp), a dial mechanism for the main operator (such as Figure 4 400) or pressing a button of the main operator (eg, a button provided on the handle 420 of the main operator 400).

[0064] In some embodiments, the user input may also include a third user operation, a control device (eg Figure 1 or Figure 3 The control device 120 shown may also be used to control the display 130 to display a submenu corresponding to the target option based on a third user operation. Figure 7 A schematic diagram showing a submenu 610 of a menu 601 corresponding to a target option in a display according to some embodiments of the present disclosure. Figure 6 In the case of option 601 in the menu 600 shown in FIG. 1 , the control device 120 controls the display 130 to display a submenu 610 corresponding to option 601 based on the third user operation, such as Figure 7 For example, the content of option 601 in menu 600 is "adjust depth of field", the content of option 611 included in submenu 610 may be "increase depth of field", and the content of option 612 may be "reduce depth of field". Figure 7 The multiple options in the submenu 610 are shown arranged in the display in the form of a list. Those skilled in the art will appreciate that the multiple options included in the menu may also be arranged in the display in a variety of forms including fan rings, circular rings, arrays, etc.

[0065] In some embodiments, similar to the second user operation, the third user operation may include pinching the clamp of the primary operator (eg, Figure 4 The handle 420 of the main operator 400 shown in FIG. 4 includes a clamp), a dial mechanism for the main operator (such as Figure 4 The user can select the submenu by pressing the dial mechanism 413 of the main operator 400 shown in the figure) or pressing the button of the main operator (for example, the button provided on the handle 420 of the main operator 400). It can be understood by those skilled in the art that the operation that the user can perform on the submenu can also include: switching the target option from the first option in the submenu to the second option through the first user operation, executing the operation corresponding to the target option in the submenu through the second user operation, etc. In order to reduce repetition, it will not be described in detail.

[0066] Figure 8 A schematic diagram showing multiple menus in a display in some embodiments of the present disclosure. Fig. 9 Schematic diagram of the structure of the left main operator 910 and the right main operator 920 of some embodiments of the present disclosure. In some embodiments, as Figure 8 , the menu may include a first sub-menu 810 and a second sub-menu 820. At least one main operator includes Fig. 9 The left main operator 910 and the right main operator 920 are shown. The first sub-menu 810 corresponds to the left main operator 910 and is displayed on the display (eg Figure 1 or Figure 3 , and the second sub menu 820 corresponds to the right main operator 920 and is displayed on the right side of the display 130.

[0067] Fig.10 A schematic diagram showing multiple menus in a display superimposed on an image of a surgical field according to some embodiments of the present disclosure is shown. Fig.10 In some embodiments, the first sub-menu 810 and the second sub-menu 820 may be displayed on the surgical field image 1010 in the display 130 , so that the user of the surgical robot can observe the surgical field image while operating the menu. Fig.10 The first sub-menu 810 and the second sub-menu 820 are shown in the upper left corner and the upper right corner of the display, respectively, to minimize the occlusion of the surgical field image. Those skilled in the art will appreciate that the area in the display where the menu is displayed is not limited to the upper left corner and the upper right corner, respectively. Fig.10 The area shown may also be any suitable area.

[0068] Control devices (such as Figure 1 or Figure 3 The control device 120 shown is used to operate the first sub-menu 810 based on the user input received by the left main operator 910. The user input received by the left main operator 910 involved herein may include the first user operation, the second user operation and / or the third user operation in any embodiment of the present disclosure; the operation performed on the first sub-menu 810 may include the operation performed on the menu in any embodiment of the present disclosure, including but not limited to: displaying a menu, indicating a target option in a menu, adjusting a target option in a menu, confirming the selection of a target option, displaying a sub-menu, removing a menu, etc. To reduce repetition, it will not be described in detail.

[0069] The control device 120 is also used to operate the second sub-menu 820 based on the user input received by the right main operator 920. The user input received by the right main operator 920 involved herein may include the first user operation, the second user operation and / or the third user operation in any embodiment of the present disclosure; the operation performed on the second sub-menu 820 may include the operation performed on the menu in any embodiment of the present disclosure, including but not limited to: displaying a menu, indicating a target option in a menu, adjusting a target option in a menu, confirming the selection of a target option, displaying a sub-menu, removing a menu, etc. To reduce repetition, it will not be described in detail.

[0070] Based on this embodiment, the user can operate the first sub-menu 810 by operating the left main operator 910, and operate the second sub-menu 820 by operating the right main operator 920. Those skilled in the art can understand that the first sub-menu 810 and the second sub-menu 820 are components of a menu, and the components of a menu are not limited to two sub-menus, and a menu may include any appropriate number of sub-menus. Figure 8 The first submenu 810 shown includes option 801, option 802 and option 803, and the second submenu 820 includes option 804, option 805 and option 806. Those skilled in the art will understand that the number of options included in a submenu is not limited to 3, and may include any appropriate number of options.

[0071] Fig.11 FIG. 1 is a schematic diagram showing a structure of a surgical robot system 1100 according to some embodiments of the present disclosure. Fig.11 , the surgical robot system 1100 includes a main control trolley 1110 and an operating trolley 1120. The main control trolley 1110 includes a control system 100 for a surgical robot. The control system 100 for a surgical robot may be any one of the control systems 100 for a surgical robot in some embodiments of the present disclosure, and will not be described in detail to reduce repetition. The operating trolley 1120 includes at least one robotic arm 1121 and at least one surgical instrument 1122 located at the end of at least one robotic arm 1121. The surgical instrument 1122 may include surgical tools for performing surgical operations (e.g., scissors, grasping forceps, etc.) and / or imaging tools for performing intraoperative image acquisition operations (e.g., endoscopes). In some embodiments, the main control trolley 1110 and the operating trolley 1120 may be connected via wired transmission or wireless transmission. During the operation, the user operates the main operator (e.g., Fig.11 The main operator 1111 or Figure 4 The main operator 400 shown in the figure is used to control the surgical instruments included in the operating table 1120 to perform operations. The operating table 1120 is usually located on the patient side and responds to the control instructions of the main control table 1110 to perform surgical operations on the patient.

[0072] Those skilled in the art will appreciate that the surgical robot system provided in this embodiment may be any suitable surgical robot system including a laparoscopic surgical robot system.

[0073] For the safe implementation of the surgery, the surgical robot system usually prohibits the user from operating the main manipulator without looking at the surgical field. Figure 2 Sensors are set on both sides of the display 130 shown in the figure to sense that the user's head has been placed in front of the stereo display. Only when the user's head is sensed to be placed in front of the stereo display can the system establish a mapping relationship between the main manipulator and the surgical instrument. However, for current surgical robots, if the user wants to set and adjust the parameters of the surgical robot during the operation, he needs to leave the stereo display (for example, Figure 2 The display 130 shown in FIG. 1 is located in other areas (e.g., Figure 2 The system then performs the setting operation on the relevant parameters on the touch display 202 shown in the figure. When the setting is completed and the surgical operation is continued, the system will match and map the main operator with the surgical instrument again after the sensor detects that the user has placed his head in front of the stereoscopic display. It can be seen that the conventional process of adjusting parameters during surgery is cumbersome, time-consuming, inefficient, and may even affect the progress of the operation. In some embodiments of the present disclosure, the user can operate the menu (including setting and adjusting the parameters of the surgical robot system, etc.) by operating the main operator, so there is no need to move the head away from the front of the stereoscopic display, so that after the parameter adjustment is completed, there is no need for the system to re-match the main operator and the surgical instrument, which can save the user the time required to adjust parameters and avoid affecting the progress of the operation.

[0074] In some embodiments, the control device 120 is also used to disconnect the master-slave mapping between at least one master operator and at least one surgical tool based on a trigger signal, thereby preventing the surgical tool from moving and causing negative impact on the patient when the user uses the master operator to operate the menu.

[0075] In some embodiments, the switching operation performed by the control device 120 on the menu based on the first user operation matches the user's operating action (for example, the control device 120 switches the target option in a clockwise direction based on the first user operation of rotating the main operator handle clockwise), which is beneficial to improving the user experience of using the surgical robot main operator to operate the menu.

[0076] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A control system for a surgical robot, It is characterized in that include: at least one main operator for receiving user input; monitor; The control device is communicatively connected with the at least one main operator and the display, and is used to control the display to display at least one menu, and operate the at least one menu based on the user input received by the at least one main operator.

2. The control system according to claim 1, It is characterized in that The display is used to display a surgical field image, and the at least one menu is superimposed on the surgical field image.

3. The control system according to claim 1, It is characterized in that Also includes: a trigger, configured to receive a first user action and generate a trigger signal based on the first user action; The control device is used to receive a trigger signal from the trigger, and based on the trigger signal, control the display to display the at least one menu.

4. The control system according to claim 3, It is characterized in that The trigger is further configured to receive a second user action and generate a release signal based on the second user action; The control device is used to receive the release signal from the trigger, and based on the release signal, control the display to remove the at least one menu.

5. The control system according to claim 4, It is characterized in that The control device is used to disconnect the master-slave mapping between the at least one master operator and the at least one surgical instrument based on the trigger signal, and to restore the master-slave mapping between the at least one master operator and the at least one surgical instrument based on the release signal.

6. The control system according to claim 4, It is characterized in that The first user action is to keep pressing, toggling or touching the trigger, and the second user action is to release the trigger; or The first user action is pressing, toggling or touching the trigger, and the second user action is pressing, toggling or touching the trigger again.

7. The control system according to claim 3, It is characterized in that The trigger includes any one of the following: a key, a button, a dial or a pedal.

8. The control system according to claim 1, It is characterized in that The menu includes multiple options, the multiple options include a target option to be confirmed, the user input includes a first user operation, and the control device is used to control the display to switch the target option from a first option to a second option in the multiple options based on the first user operation.

9. The control system according to claim 8, It is characterized in that The first user operation includes rotating or rolling the handle of the main operator clockwise, and the second option is located in the clockwise direction of the first option; or The first user operation includes rotating or rolling the handle of the main operator counterclockwise, and the second option is located counterclockwise of the first option.

10. The control system according to claim 8, It is characterized in that The first user operation includes moving the handle of the main operator to the right, and the second option is located on the right side of the first option; or The first user operation includes moving the handle of the main operator to the left, and the second option is located on the left side of the first option; or The first user operation comprises moving the handle of the main operator upward or away, and the second option is located above the first option; or The first user operation includes moving the handle of the main operator downward or toward the near side, and the second option is located below the first option.

11. The control system according to claim 8, It is characterized in that The target option is highlighted or indicated by a pointer.

12. The control system according to claim 8, It is characterized in that The user input includes a second user operation, and the control device is used to perform an operation corresponding to the target option based on the second user operation.

13. The control system according to claim 12, It is characterized in that The second user operation includes pinching the clamp of the main operator, toggling a dial mechanism of the main operator, or pressing a button of the main operator.

14. The control system according to claim 12, It is characterized in that The corresponding operation includes any one of the following: adjusting display parameters of the display, adjusting image parameters, adjusting state parameters of the surgical robot, adjusting control parameters of the surgical robot, or adjusting operating parameters of the surgical robot.

15. A control system according to any one of claims 8 to 14, It is characterized in that The multiple options are arranged in the display in the form of at least one of the following: a fan ring, a circular ring, a list, and an array.

16. The control system according to claim 1, It is characterized in that The menu includes a first sub-menu and a second sub-menu, and the at least one main operator includes a left main operator and a right main operator; The first sub-menu corresponds to the left main operator and is displayed on the left side of the display, and the second sub-menu corresponds to the right main operator and is displayed on the right side of the display; The control device is used to operate the first sub-menu based on the user input received by the left main operator, and is used to operate the second sub-menu based on the user input received by the right operator.

17. The control system according to claim 11, It is characterized in that The user input includes a third user operation, and the control device is further used to control the display to display the submenu corresponding to the target option based on the third user operation.

18. A surgical robot system, include: A main control trolley, comprising a control system for a surgical robot as claimed in any one of claims 1 to 17; as well as A surgical trolley comprises at least one robotic arm and at least one surgical instrument located at the end of the at least one robotic arm.

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