Laparoscopic surgical robot and preoperative positioning method thereof

Abstract

The present invention proposes a laparoscopic surgical robot and a preoperative positioning method thereof. The laparoscopic surgical robot includes a doctor's operating end and a patient surgical platform. The patient surgical platform includes a base, a lifting column connected to the base, a telescopic rod connected to the lifting column, a rotating boom connected to the telescopic rod and rotatable about a vertical axis, an endoscope arm and at least one instrument arm connected to the rotating boom via a corresponding motion joint group, and also includes a ranging laser and a cross laser locator. The ranging laser and the cross laser locator are fixed to the rotating boom. The angle of the cross laser in the cross laser locator is adjustable, and it is ensured that the laser lines emitted by the two lasers will not be blocked. The above-mentioned laparoscopic surgical robot and its preoperative positioning method can help the user accurately position the patient surgical platform near the operating table and the patient when the center of the fixed point adjustment range of the arm of the multi-arm laparoscopic surgical robot for mounting the endoscope is not directly below the boom.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a laparoscopic surgical robot and a preoperative positioning method thereof. Background Art

[0002] The laparoscopic surgical robot is the most widely used surgical robot at present. It can assist doctors in completing various complex minimally invasive surgeries and can be used for minimally invasive surgeries in related departments such as urology, gynecology, thoracic surgery, and general surgery.

[0003] Laparoscopic surgical robots improve surgical precision and safety, significantly transforming the landscape of minimally invasive surgery. While maintaining the benefits of standard laparoscopic surgery, they offer greater flexibility, a wider range of motion, vibration filtering, 3D high-definition vision, and more precise control. These advantages are invaluable in deep, narrow surgical sites and when incisions into delicate tissue are necessary. Therefore, robot-assisted laparoscopic surgery enables surgeons to repeat previously complex open procedures with minimally invasive methods. It also eliminates the "chopstick effect" associated with traditional laparoscopic surgery, allowing surgeons to intuitively manipulate instruments and shortening the learning curve.

[0004] The patient platform of a laparoscopic surgical robot must be positioned preoperatively relative to the operating table and patient to ensure that the platform boom is aligned above the surgical workspace, the arms are oriented toward the target anatomical location, and all arms are docked with the corresponding pokes. Generally, the positioning of the patient platform of a laparoscopic surgical robot is based on the fixed point of the arm where the endoscope is mounted. During positioning, the fixed point of the endoscope arm is adjusted to the poke hole in the patient's surgical area where the endoscope will enter. The arms for other mounted instruments are then docked with the corresponding pokes.

[0005] Within the horizontal plane accessible by one arm, the multi-arm laparoscopic surgical robot has a fixed point adjustment range center for the arm mounting the endoscope. When the fixed point of the endoscope arm is at this center, the intersection of the fixed point adjustment ranges of the remaining arms and a circle with a radius of 20cm centered at this center is maximized, thus maximizing the fixed point adjustment ranges of the remaining arms. In this case, each arm can be docked to the patient's poke card to the greatest extent possible (generally, each poke card is located within a 20cm range centered on the endoscope poke card hole), ensuring the normal operation of the surgery.

[0006] On most multi-arm laparoscopic surgical robots on the market, the center of the fixed point adjustment range for the endoscope-mounting arm is located directly below the boom of the patient's surgical platform. By illuminating the boom vertically downward with a laser, the position of this point directly below the boom is indicated on the horizontal plane. During preoperative positioning, the patient's surgical platform is simply moved to the vicinity of the puncture hole where the endoscope will enter the surgical site.

[0007] However, if the center of the fixed point adjustment range of the arm mounting the endoscope is not directly below the boom, it is impossible to use the vertically downward laser beam as a positioning reference. Multi-arm laparoscopic surgical robots with such situations also require accurate preoperative positioning. Summary of the Invention

[0008] In order to solve the problems existing in the prior art, the present application proposes a laparoscopic surgical robot and a preoperative positioning method thereof.

[0009] In order to achieve the above-mentioned purpose, one aspect of the present application proposes a laparoscopic surgical robot, including a doctor's operating end and a patient operating platform, through which the doctor's operating end can control the surgical instruments on the patient operating platform to perform corresponding actions to perform surgery on the patient, wherein the patient operating platform includes a base, a lifting column is connected to the base, the lifting column can be lifted and lowered in the vertical direction, a telescopic rod is connected to the lifting column, the telescopic rod can be telescopically moved in the horizontal direction, a rotating boom is connected to the telescopic rod and can rotate around a vertical axis, the rotating boom is connected to the endoscope arm via an endoscope motion joint group, and the rotating boom is provided with at least one An instrument arm motion joint group, each instrument arm motion joint group is connected to an instrument arm, and also includes a ranging laser and a cross laser locator. The ranging laser is fixed on the front surface of the rotating boom, and the ranging laser line emitted by the ranging laser will not be blocked. The front surface of the rotating boom is the surface close to the patient, and the rear surface is the surface away from the patient. The angle of the cross laser in the cross laser locator is adjustable to adjust the angle between the positioning cross laser line emitted by the cross laser and the vertical direction. The cross laser locator is assembled on the rotating boom and ensures that the positioning cross laser line emitted by the cross laser will not be blocked.

[0010] In some embodiments, the cross laser locator includes a base, the interior of the base is hollow and one side is open, a cover is fixedly connected to the opening, a clearance hole is provided on the cover, a drive motor is assembled inside the base, an input gear is installed on the output shaft of the drive motor, the input gear is engaged with the output gear fixed on the rotating shaft, both ends of the rotating shaft are rotatably connected to the base, or the rotating shaft is rotatably connected to the mounting plate, the mounting plate is fixed in the base, a cross laser mounting seat passes through the clearance hole, one end of the cross laser mounting seat is fixedly connected to the rotating shaft, and a cross laser is fixedly connected to the other end of the cross laser mounting seat.

[0011] Another aspect of the present application provides a preoperative positioning method based on the above-mentioned laparoscopic surgical robot, comprising the following steps:

[0012] Step a1, turning on the ranging laser and the cross laser. At this time, the ranging laser line emitted by the ranging laser and the positioning cross laser line emitted by the cross laser are both irradiated on the ground, and the angle between the positioning cross laser line and the vertical direction is the initial angle β1, which is an acute angle;

[0013] Step a2: adjust the height of the endoscope arm and each instrument arm by using the lifting column, adjust the rotating boom so that it faces the surgical site of the patient, and then push the patient surgical platform of the laparoscopic surgical robot close to the patient and the operating table until the ranging laser line of the ranging laser is irradiated on the skin of the patient at the endoscope puncture hole. This irradiation point is recorded as the first irradiation point. The distance between the ranging laser and the first irradiation point is measured as L. The height H along the vertical direction between the ranging laser and the horizontal plane where the first irradiation point is located can be obtained from the function relationship H=L*cosα, where α is the angle between the ranging laser line and the vertical direction, which is an acute angle and a known quantity.

[0014] Step a3: Determine whether H is within the threshold range. If yes, proceed to step a4; if not, return to step a2 and readjust the lifting column.

[0015] Step a4: In the patient's surgical platform, when the angle between the positioning cross laser line and the vertical direction is the initial angle β1, the distance d between the ranging laser and the cross laser in the vertical direction is known. According to H calculated in step a2, the height H1 between the cross laser and the horizontal plane where the first irradiation point is located in the vertical direction can be calculated, and H1=Hd. Combined with the structure of the patient's surgical platform itself, it can be known that the length of the line segment obtained by projecting the line between the cross laser and the center point of the moving range of the fixed point of the endoscope arm in the horizontal direction is L1. In a right triangle, the line segment with a length of L1 is one of the right-angled sides, and the line segment with a length of H1 is the other right-angled side. The line between the cross laser and the center point of the moving range of the fixed point of the endoscope arm is the hypotenuse. Through the functional relationship β2=arctan(L1 / H1), the expected deviation angle β2 of the cross laser can be obtained. Then, the cross laser is adjusted so that the angle between the positioning cross laser line emitted by the cross laser and the vertical direction is β2, which is an acute angle.

[0016] Step a5: Push the patient operating platform of the laparoscopic surgical robot close to the patient and the operating table until the positioning cross laser line emitted by the cross laser coincides with the endoscope poking hole on the patient. At this time, the patient operating platform of the laparoscopic surgical robot reaches the expected position;

[0017] Step a6: Adjust the endoscope arm and the motion joint groups corresponding to each instrument arm in the patient surgical platform of the laparoscopic surgical robot to dock the endoscope arm to the endoscope stamp on the patient, and dock each instrument arm to each instrument stamp on the patient.

[0018] In some embodiments, the following step is further provided before step a1 or between step a1 and step a2: the endoscope arm and each instrument arm are raised to the highest position in the vertical direction through the corresponding motion joint group.

[0019] This application also proposes a preoperative positioning method based on the above-mentioned laparoscopic surgical robot, comprising the following steps:

[0020] Step b1, turning on the ranging laser and the cross laser. At this time, the ranging laser line emitted by the ranging laser and the positioning cross laser line emitted by the cross laser are both irradiated on the ground, and the angle between the positioning cross laser line and the vertical direction is the initial angle β1, which is an acute angle;

[0021] Step b2: Adjust the rotating boom so that it faces the surgical site of the patient, then push the laparoscopic surgical robot patient surgical platform close to the patient and the operating table until the ranging laser line of the ranging laser illuminates the skin of the patient at the endoscope puncture hole. This illumination point is recorded as the first illumination point. The distance between the ranging laser and the first illumination point is measured as L. The height H along the vertical direction between the ranging laser and the horizontal plane where the first illumination point is located can be obtained from the function relationship H=L*cosα, where α is the angle between the ranging laser line and the vertical direction, which is an acute angle and a known quantity.

[0022] Step b3, in the patient's surgical platform, when the angle between the positioning cross laser line and the vertical direction is the initial angle β1, the distance d between the ranging laser and the cross laser in the vertical direction is known. According to H calculated in step b2, the height H1 between the cross laser and the horizontal plane where the first irradiation point is located in the vertical direction can be calculated, H1=Hd; combined with the structure of the patient's surgical platform itself, it can be known that the length of the line segment obtained by projecting the line between the cross laser and the center point of the moving range of the fixed point of the endoscope arm in the horizontal direction is L1. In a right triangle, the line segment with a length of L1 is one of the right-angled sides, the line segment with a length of H1 is the other right-angled side, and the line between the cross laser and the center point of the moving range of the fixed point of the endoscope arm is the hypotenuse. Through the functional relationship β2=arctan(L1 / H1), the expected deviation angle β2 of the cross laser can be obtained. Then, the cross laser is adjusted so that the angle between the positioning cross laser line emitted by the cross laser and the vertical direction is β2, which is an acute angle;

[0023] Step b4: Push the patient operating platform of the laparoscopic surgical robot close to the patient and the operating table until the positioning cross laser line emitted by the cross laser coincides with the endoscope poking hole on the patient. At this time, the patient operating platform of the laparoscopic surgical robot reaches the expected position;

[0024] Step b5, adjust the endoscope arm and the motion joint group corresponding to each instrument arm in the patient surgical platform of the laparoscopic surgical robot. When the endoscope arm can be docked to the endoscope poking card on the patient, dock each instrument arm to each instrument poking card on the patient; when the endoscope arm cannot be docked to the endoscope poking card on the patient, adjust the lifting column to lower it until the endoscope arm can be docked to the endoscope poking card on the patient. During the process of adjusting the lifting column to lower, the expected deviation angle β2 of the cross laser needs to be adjusted accordingly to ensure that the positioning cross laser line emitted by the cross laser always coincides with the endoscope poking card hole on the patient, and then dock each instrument arm to each instrument poking card on the patient.

[0025] In some embodiments, the following step is further provided before step b1 or between step b1 and step b2: the endoscope arm and each instrument arm are raised to the highest position in the vertical direction through the corresponding motion joint group.

[0026] The beneficial effect of the solution of the present application lies in the above-mentioned laparoscopic surgical robot and its preoperative positioning method, which utilizes a combination of a ranging laser and a cross laser to achieve a multi-arm laparoscopic surgical robot in which the center of the fixed point adjustment range of the arm for mounting the endoscope is not located directly below the boom, so that the device can emit a positioning reference laser to help the user accurately position the patient's surgical platform near the operating table and the patient, ensure that the boom of the patient's surgical platform is aligned above the surgical workspace, ensure that the arm is facing the target anatomical position and all arm parts can be docked to the poking card, and smoothly carry out the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the structure of the laparoscopic surgical robot patient operating platform, the patient, and the operating table in the embodiment is shown.

[0028] Figure 2 A schematic structural diagram of the patient surgical platform of the laparoscopic surgical robot in an embodiment is shown.

[0029] Figure 3 A schematic diagram of the fixed points of the endoscope arm of the laparoscopic surgical robot patient surgical platform is shown.

[0030] Figure 4 A schematic structural diagram of a cross laser locator in an embodiment is shown.

[0031] Figure 5 FIG. 2 shows an internal schematic diagram of a cross laser locator in an embodiment.

[0032] Figure 6 A schematic diagram of the initial state of the laser positioning of the patient surgical platform of the laparoscopic surgical robot is shown.

[0033] Figure 7 A schematic diagram of laser ranging on the patient surgical platform of the laparoscopic surgical robot is shown.

[0034] Figure 8 A schematic diagram of the cross laser angle adjustment on the patient surgical platform of the laparoscopic surgical robot is shown.

[0035] Figure 9 A schematic diagram of the cross laser positioning of the patient surgical platform of the laparoscopic surgical robot is shown.

[0036] Figure 10 A schematic diagram showing the positioning of the various arm components of the laparoscopic surgical robot patient surgical platform is shown.

[0037] Figure 1: Patient operating platform, 2: Distance measuring laser, 3: First instrument stamping card, 4: Endoscope stamping card, 5: Second instrument stamping card, 6: Patient, 7: Operating table, 8: Cross laser locator, 9: Adapter rod, 101: Lifting column, 102: Telescopic rod, 103: Rotating boom, 104: Vertical telescopic rod of endoscope arm, 105: Telescopic rod of second instrument arm, 106: Horizontal telescopic rod of endoscope arm, 107: Second rotating connecting rod of second instrument arm, 108: Second instrument arm, 109: First rotating connecting rod of second instrument arm, 110: Telescopic rod of first instrument arm, 1 11-first rotating link of the first instrument arm, 112-endoscope arm, 113-second rotating link of the first instrument arm, 114-first instrument arm, 115-base, 116-second transfer rod, 117-first transfer rod, 801-base, 802-cover, 803-cross laser mounting base, 804-cross laser, 805-rotating shaft, 806-drive motor, 807-mounting plate, 808-input gear, 809-output gear, A-center point, M-horizontal line segment, N-moving range of the fixed point of the endoscope arm, Q1-positioning cross laser line, Q2-ranging laser line. DETAILED DESCRIPTION

[0038] The specific implementation of this application will be further described below with reference to the accompanying drawings.

[0039] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0040] like Figures 1 to 10 As shown, the laparoscopic surgical robot involved in this application includes a doctor's operating terminal and a patient operating platform. The doctor's operating terminal can control the surgical instruments on the patient operating platform to perform corresponding actions to perform surgery on patient 6. The doctor's operating terminal can adopt a known structure in the prior art. It is not the focus of protection of this application and a detailed structural description is not provided here.

[0041] The patient surgical platform 1 of the laparoscopic surgical robot includes a base 115, to which is connected a lifting column 101, which can be lifted and lowered in a vertical direction, a telescopic rod 102 connected to the lifting column 101, which can be telescopically moved in a horizontal direction, a rotating boom 103 connected to the telescopic rod 102 and rotatable around a vertical axis, an endoscope arm 112 connected to the rotating boom 103 via an endoscope motion joint group, and an endoscope is mounted on the endoscope arm 112, and at least one instrument arm motion joint group is provided on the rotating boom 103, each instrument arm motion joint group is connected to an instrument arm, and surgical instruments are mounted on the instrument arms, and the surgical instruments mounted on each instrument arm are different.

[0042] In this embodiment, the endoscope motion joint assembly includes an endoscope arm vertical telescopic rod 104, which is connected to the rotating boom 103 and can be telescopically moved in the vertical direction, an endoscope arm horizontal telescopic rod 106 connected to the endoscope arm vertical telescopic rod 104 and can be telescopically moved in the horizontal direction, and an endoscope arm 112 is fixedly connected to the endoscope arm horizontal telescopic rod 106. Through the above structural arrangement, as Figure 3 As shown, when the endoscope arm's horizontal telescopic rod 106 moves, the movement trajectory of the endoscope arm's fixed point forms a horizontal line segment M, where the center point of the endoscope arm's fixed point's movement range is A. Subsequently, when the endoscope arm's vertical telescopic rod 104 moves, the endoscope arm's fixed point's movement range N is the plane formed by the vertical movement of line segment M. In other embodiments, the endoscope motion joint assembly may also include other motion joints, such as a rotary joint, so that the endoscope arm's fixed point's movement range may have other three-dimensional shapes.

[0043] In this embodiment, two instrument arms are included, which are respectively recorded as the first instrument arm and the second instrument arm. Correspondingly, two instrument arm motion joint groups are provided, which are respectively recorded as the first instrument arm motion joint group and the second instrument arm motion joint group.

[0044] The first instrument arm motion joint group includes a telescopic rod 110 of the first instrument arm, which is connected to the rotating suspension rod 103 and can perform telescopic movement in the vertical direction; a first rotating link 111 of the first instrument arm is connected to the telescopic rod 110 of the first instrument arm and can rotate around the axis of the telescopic rod 110 of the first instrument arm; a second rotating link 113 of the first instrument arm is connected to the first rotating link 111 of the first instrument arm through a first transfer rod 117 and can rotate around the vertical axis of one end of the first transfer rod 117; a first instrument arm 114 is fixedly connected to the second rotating link 113 of the first instrument arm; and a first surgical instrument is assembled on the first instrument arm 114.

[0045] The second instrument arm motion joint group includes a telescopic rod 105 of the second instrument arm, which is connected to the rotating suspension rod 103 and can perform telescopic movement in the vertical direction, a first rotating link 109 of the second instrument arm is connected to the telescopic rod 105 of the second instrument arm and can rotate around the axis of the telescopic rod 105 of the second instrument arm, a second rotating link 107 of the second instrument arm is connected to the first rotating link 109 of the second instrument arm through a second transfer rod 116 and can rotate around the vertical axis of one end of the second transfer rod 116, a second instrument arm 108 is fixedly connected to the second rotating link 107 of the second instrument arm, and a second surgical instrument is assembled on the second instrument arm 108.

[0046] The patient surgical platform 1 involved in the present application also includes a ranging laser 2 and a cross laser locator 8. The ranging laser 2 is fixed on the front surface of the rotating boom 103. The front surface of the rotating boom 103 is the surface close to the patient 6, and the rear surface is the surface away from the patient 6. Preferably, the ranging laser 2 is fixed at the middle position of the upper end of the front surface of the rotating boom 103 so that there will be no obstructions to block the ranging laser line Q2 emitted by the ranging laser 2; the angle of the cross laser 804 in the cross laser locator 8 is Adjustable so as to adjust the angle between the positioning cross laser line Q1 emitted by the cross laser 804 and the vertical direction. The cross laser locator 8 is mounted on the rotating boom 103 to ensure that the positioning cross laser line Q1 emitted by the cross laser 804 will not be blocked. Preferably, the cross laser locator 8 is mounted on the rotating boom 103 through an inverted L-shaped adapter rod 9, and the upper end of the adapter rod 9 is fixed at the middle position of the lower end of the rear surface of the rotating boom 103, and the cross laser locator 8 is fixed at the lower end of the adapter rod 9.

[0047] In this embodiment, if Figure 4 、 5As shown, the cross laser locator 8 includes: a base 801, which is fixed on the adapter rod 9, the interior of the base 801 is hollow and one side is open, and a cover plate 802 is fixedly connected to the opening, and a clearance hole is provided on the cover plate 802, and a driving motor 806 is assembled inside the base 801, and an input gear 808 is installed on the output shaft of the driving motor 806, and the input gear 808 is engaged with the output gear 809 fixed on the rotating shaft 805, and both ends of the rotating shaft 805 are rotatably connected to the base 801, or the rotating shaft 805 is rotatably connected to the mounting plate 807, and the mounting plate 807 is fixed in the base 801, and a cross laser mounting seat 803 passes through the clearance hole, and one end of the cross laser mounting seat 803 is fixedly connected to the rotating shaft 805, and the other end of the cross laser mounting seat 803 is fixedly connected to the cross laser 804. By controlling the driving motor 806 , the angle between the positioning cross laser line Q1 emitted by the cross laser 804 and the vertical direction can be adjusted.

[0048] The first preoperative positioning method of a laparoscopic surgical robot involved in this application includes the following steps:

[0049] Step a1, turn on the ranging laser 2 and the cross laser 804. At this time, the ranging laser line Q2 emitted by the ranging laser 2 and the positioning cross laser line Q1 emitted by the cross laser 804 are both irradiated on the ground, and the angle between the positioning cross laser line Q1 and the vertical direction is the initial angle β1, which is an acute angle.

[0050] Step a2, adjust the height of the endoscope arm 112 and each instrument arm through the lifting column 101 to avoid collision when moving the laparoscopic surgical robot patient operating platform 1 close to the patient 6 and the operating table 7; adjust the rotating boom 103 to point it toward the surgical site of the patient 6, and then push the laparoscopic surgical robot patient operating platform 1 close to the patient 6 and the operating table 7 until the ranging laser line Q2 of the ranging laser 2 is irradiated on the skin of the patient 6 at the endoscope poking hole 4, and the irradiation point is recorded as the first irradiation point. The distance between the ranging laser 2 and the first irradiation point is measured to be L. The height H along the vertical direction between the ranging laser 2 and the horizontal plane where the first irradiation point is located can be obtained from the function relationship H=L*cosα, where α is the angle between the ranging laser line Q2 and the vertical direction, which is an acute angle and a known quantity.

[0051] Step a3: determine whether H is within the threshold range. If yes, proceed to step a4; if not, return to step a2 and readjust the lifting column 101.

[0052] Step a4: In the patient operating platform 1, when the angle between the positioning cross laser line Q1 and the vertical direction is the initial angle β1, the distance d between the ranging laser 2 and the cross laser 804 in the vertical direction is known. According to H calculated in step a2, the height H1 between the cross laser 804 and the horizontal plane where the first irradiation point is located in the vertical direction can be calculated, and H1=Hd. Combined with the structure of the patient operating platform 1 itself, it can be known that the length of the line segment obtained by projecting the line between the cross laser 804 and the center point A of the moving range of the fixed point of the endoscope arm in the horizontal direction is L1. In a right triangle, the line segment with a length of L1 is one of the right-angled sides, and the line segment with a length of H1 is the other right-angled side. The line between the cross laser 804 and the center point A of the moving range of the fixed point of the endoscope arm is the hypotenuse, as shown in FIG. Figure 8 As shown, the expected deviation angle β2 of the cross laser 804 can be obtained through the functional relationship β2 = arctan(L1 / H1). The cross laser 804 is then adjusted so that the angle between the positioning cross laser line Q1 emitted by the cross laser 804 and the vertical direction is β2, which is an acute angle. Specifically, this adjustment can be performed using the drive motor 806.

[0053] Step a5: Push the laparoscopic surgical robot patient operating platform 1 close to the patient 6 and the operating table 7 until the positioning cross laser line Q1 emitted by the cross laser 804 coincides with the endoscope poking hole 4 on the patient 6. At this time, the laparoscopic surgical robot patient operating platform 1 reaches the expected position.

[0054] Step a6: Adjust the endoscope arm 112 and the motion joint groups corresponding to each instrument arm in the laparoscopic surgical robot patient surgical platform 1 to dock the endoscope arm 112 to the endoscope poking card 4 on the patient 6, and dock each instrument arm to each instrument poking card on the patient 6.

[0055] Specifically, before step a1 or between step a1 and step a2, the following steps are provided: the endoscope arm 112 and each instrument arm are raised to the highest position in the vertical direction through the corresponding motion joint group to avoid collision when the patient surgical platform 1 of the mobile laparoscopic surgical robot approaches the patient 6 and the operating table 7.

[0056] The second preoperative positioning method of the laparoscopic surgical robot involved in this application includes the following steps:

[0057] Step b1, turn on the ranging laser 2 and the cross laser 804. At this time, the ranging laser line Q2 emitted by the ranging laser 2 and the positioning cross laser line Q1 emitted by the cross laser 804 are both irradiated on the ground, and the angle between the positioning cross laser line Q1 and the vertical direction is the initial angle β1, which is an acute angle.

[0058] Step b2, adjust the rotating boom 103 so that it faces the surgical site of the patient 6, and then push the laparoscopic surgical robot patient surgical platform 1 close to the patient 6 and the operating table 7 until the ranging laser line Q2 of the ranging laser 2 is irradiated on the skin of the patient 6 at the endoscope poking hole 4, and the irradiation point is recorded as the first irradiation point. The distance between the ranging laser 2 and the first irradiation point is measured to be L. The height H in the vertical direction between the ranging laser 2 and the horizontal plane where the first irradiation point is located can be obtained from the function relationship H=L*cosα, where α is the angle between the ranging laser line Q2 and the vertical direction, which is an acute angle and a known quantity.

[0059] Step b3, in the patient operating platform 1, when the angle between the positioning cross laser line Q1 and the vertical direction is the initial angle β1, the distance d between the ranging laser 2 and the cross laser 804 in the vertical direction is known, and according to H calculated in step b2, the height H1 between the cross laser 804 and the horizontal plane where the first irradiation point is located in the vertical direction can be calculated, H1 = Hd; combined with the structure of the patient operating platform 1 itself, it can be known that the length of the line segment obtained by projecting the line between the cross laser 804 and the center point A of the moving range of the fixed point of the endoscope arm in the horizontal direction is L1. In a right triangle, the line segment with a length of L1 is one of the right-angled sides, and the line segment with a length of H1 is the other right-angled side. The line between the cross laser 804 and the center point A of the moving range of the fixed point of the endoscope arm is the hypotenuse, as shown in FIG. Figure 8 As shown, the expected deviation angle β2 of the cross laser 804 can be obtained through the functional relationship β2 = arctan(L1 / H1). The cross laser 804 is then adjusted so that the angle between the positioning cross laser line Q1 emitted by the cross laser 804 and the vertical direction is β2, which is an acute angle. Specifically, this adjustment can be performed using the drive motor 806.

[0060] Step b4, push the laparoscopic surgical robot patient operating platform 1 close to the patient 6 and the operating table 7 until the positioning cross laser line Q1 emitted by the cross laser 804 coincides with the endoscope poking hole 4 on the patient 6. At this time, the laparoscopic surgical robot patient operating platform 1 reaches the expected position.

[0061] Step b5, adjust the endoscope arm 112 and the motion joint groups corresponding to each instrument arm in the patient surgical platform 1 of the laparoscopic surgical robot. When the endoscope arm 112 can be docked to the endoscope poking card 4 on the patient 6, dock each instrument arm to each instrument poking card on the patient 6; when the endoscope arm 112 cannot be docked to the endoscope poking card 4 on the patient 6, adjust the lifting column 101 to lower it until the endoscope arm 112 can be docked to the endoscope poking card 4 on the patient 6. During the process of adjusting the lifting column 101 to lower, the expected deviation angle β2 of the cross laser 804 needs to be adjusted accordingly to ensure that the positioning cross laser line Q1 emitted by the cross laser 804 always coincides with the hole of the endoscope poking card 4 on the patient 6, and then dock each instrument arm to each instrument poking card on the patient 6.

[0062] Specifically, before step b1 or between step b1 and step b2, the following steps are provided: the endoscope arm 112 and each instrument arm are raised to the highest position in the vertical direction through the corresponding motion joint group to avoid collision when the patient surgical platform 1 of the mobile laparoscopic surgical robot approaches the patient 6 and the operating table 7.

[0063] The laparoscopic surgical robot and its preoperative positioning method involved in the present application utilize a combination of a ranging laser and a cross laser to achieve a multi-arm laparoscopic surgical robot in which the center of the fixed point adjustment range of the arm for mounting the endoscope is not located directly below the boom, so that the device can emit a positioning reference laser to help the user accurately position the patient surgical platform near the operating table and the patient, ensure that the boom of the patient surgical platform is aligned above the surgical workspace, ensure that the arm is facing the target anatomical position and all the arm parts can be docked to the poking card, so that the operation can be carried out smoothly; avoid the situation in which the poking card cannot be effectively docked and the movement range of some arms is too small to carry out the operation smoothly due to the inability to determine the optimal positioning position during the preoperative positioning of the patient surgical platform of the laparoscopic surgical robot.

[0064] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and concept of the present application within the technical scope disclosed in the present application, and they should be covered by the scope of protection of the present application.

Claims

1. A laparoscopic surgical robot, comprising a doctor's operating terminal and a patient operating platform, wherein the doctor's operating terminal can control the surgical instruments on the patient operating platform to perform corresponding actions to perform surgery on the patient, wherein: The patient surgical platform includes a base, a lifting column connected to the base, the lifting column can be lifted and lowered in the vertical direction, a telescopic rod connected to the lifting column, the telescopic rod can be telescopically moved in the horizontal direction, a rotating boom is connected to the telescopic rod and can rotate around a vertical axis, the rotating boom is connected to the endoscope arm via an endoscope motion joint group, the rotating boom is provided with at least one instrument arm motion joint group, each instrument arm motion joint group is connected to an instrument arm, and is characterized in that it also includes a ranging laser and a cross laser locator, the ranging laser is fixed on the front surface of the rotating boom, the ranging laser line emitted by the ranging laser will not be blocked, the front surface of the rotating boom is the surface close to the patient, and the rear surface is the surface away from the patient, the angle of the cross laser in the cross laser locator is adjustable to adjust the angle between the positioning cross laser line emitted by the cross laser and the vertical direction, the cross laser locator is assembled on the rotating boom, and ensures that the positioning cross laser line emitted by the cross laser will not be blocked.

2. The laparoscopic surgical robot according to claim 1, characterized in that: The cross laser locator includes a base, the interior of the base is hollow and one side is open, a cover is fixedly connected to the opening, a clearance hole is provided on the cover, a drive motor is assembled inside the base, an input gear is installed on the output shaft of the drive motor, the input gear is engaged with the output gear fixed on the rotating shaft, both ends of the rotating shaft are rotatably connected to the base, or the rotating shaft is rotatably connected to the mounting plate, the mounting plate is fixed in the base, a cross laser mounting seat passes through the clearance hole, one end of the cross laser mounting seat is fixedly connected to the rotating shaft, and a cross laser is fixedly connected to the other end of the cross laser mounting seat.

3. A preoperative positioning method for a laparoscopic surgical robot according to claim 1, characterized in that: The following steps are involved: Step a1, turning on the ranging laser and the cross laser. At this time, the ranging laser line emitted by the ranging laser and the positioning cross laser line emitted by the cross laser are both irradiated on the ground, and the angle between the positioning cross laser line and the vertical direction is the initial angle β1, which is an acute angle; Step a2: adjust the height of the endoscope arm and each instrument arm by using the lifting column, adjust the rotating boom so that it faces the surgical site of the patient, and then push the patient surgical platform of the laparoscopic surgical robot close to the patient and the operating table until the ranging laser line of the ranging laser is irradiated on the skin of the patient at the endoscope puncture hole. This irradiation point is recorded as the first irradiation point. The distance between the ranging laser and the first irradiation point is measured as L. The height H along the vertical direction between the ranging laser and the horizontal plane where the first irradiation point is located can be obtained from the function relationship H=L*cosα, where α is the angle between the ranging laser line and the vertical direction, which is an acute angle and a known quantity. Step a3: Determine whether H is within the threshold range. If yes, proceed to step a4; if not, return to step a2 and readjust the lifting column. Step a4: In the patient's surgical platform, when the angle between the positioning cross laser line and the vertical direction is the initial angle β1, the distance d between the ranging laser and the cross laser in the vertical direction is known. According to H calculated in step a2, the height H1 between the cross laser and the horizontal plane where the first irradiation point is located in the vertical direction can be calculated, and H1=Hd. Combined with the structure of the patient's surgical platform itself, it can be known that the length of the line segment obtained by projecting the line between the cross laser and the center point of the moving range of the fixed point of the endoscope arm in the horizontal direction is L1. In a right triangle, the line segment with a length of L1 is one of the right-angled sides, and the line segment with a length of H1 is the other right-angled side. The line between the cross laser and the center point of the moving range of the fixed point of the endoscope arm is the hypotenuse. Through the functional relationship β2=arctan(L1 / H1), the expected deviation angle β2 of the cross laser can be obtained. Then, the cross laser is adjusted so that the angle between the positioning cross laser line emitted by the cross laser and the vertical direction is β2, which is an acute angle. Step a5: Push the patient operating platform of the laparoscopic surgical robot close to the patient and the operating table until the positioning cross laser line emitted by the cross laser coincides with the endoscope poking hole on the patient. At this time, the patient operating platform of the laparoscopic surgical robot reaches the expected position; Step a6: Adjust the endoscope arm and the motion joint groups corresponding to each instrument arm in the patient surgical platform of the laparoscopic surgical robot to dock the endoscope arm to the endoscope stamp on the patient, and dock each instrument arm to each instrument stamp on the patient.

4. The preoperative positioning method according to claim 3, characterized in that: Before step a1 or between step a1 and step a2, the following step is further provided: the endoscope arm and each instrument arm are raised to the highest position in the vertical direction through the corresponding motion joint group.

5. A preoperative positioning method for a laparoscopic surgical robot according to claim 1, characterized in that: The following steps are involved: Step b1, turning on the ranging laser and the cross laser. At this time, the ranging laser line emitted by the ranging laser and the positioning cross laser line emitted by the cross laser are both irradiated on the ground, and the angle between the positioning cross laser line and the vertical direction is the initial angle β1, which is an acute angle; Step b2: Adjust the rotating boom so that it faces the surgical site of the patient, then push the laparoscopic surgical robot patient surgical platform close to the patient and the operating table until the ranging laser line of the ranging laser illuminates the skin of the patient at the endoscope puncture hole. This illumination point is recorded as the first illumination point. The distance between the ranging laser and the first illumination point is measured as L. The height H along the vertical direction between the ranging laser and the horizontal plane where the first illumination point is located can be obtained from the function relationship H=L*cosα, where α is the angle between the ranging laser line and the vertical direction, which is an acute angle and a known quantity. Step b3, in the patient's surgical platform, when the angle between the positioning cross laser line and the vertical direction is the initial angle β1, the distance d between the ranging laser and the cross laser in the vertical direction is known. According to H calculated in step b2, the height H1 between the cross laser and the horizontal plane where the first irradiation point is located in the vertical direction can be calculated, H1=Hd; combined with the structure of the patient's surgical platform itself, it can be known that the length of the line segment obtained by projecting the line between the cross laser and the center point of the moving range of the fixed point of the endoscope arm in the horizontal direction is L1. In a right triangle, the line segment with a length of L1 is one of the right-angled sides, the line segment with a length of H1 is the other right-angled side, and the line between the cross laser and the center point of the moving range of the fixed point of the endoscope arm is the hypotenuse. Through the functional relationship β2=arctan(L1 / H1), the expected deviation angle β2 of the cross laser can be obtained. Then, the cross laser is adjusted so that the angle between the positioning cross laser line emitted by the cross laser and the vertical direction is β2, which is an acute angle; Step b4: Push the patient operating platform of the laparoscopic surgical robot close to the patient and the operating table until the positioning cross laser line emitted by the cross laser coincides with the endoscope poking hole on the patient. At this time, the patient operating platform of the laparoscopic surgical robot reaches the expected position; Step b5, adjust the endoscope arm and the motion joint group corresponding to each instrument arm in the patient surgical platform of the laparoscopic surgical robot. When the endoscope arm can be docked to the endoscope poking card on the patient, dock each instrument arm to each instrument poking card on the patient; when the endoscope arm cannot be docked to the endoscope poking card on the patient, adjust the lifting column to lower it until the endoscope arm can be docked to the endoscope poking card on the patient. During the process of adjusting the lifting column to lower, the expected deviation angle β2 of the cross laser needs to be adjusted accordingly to ensure that the positioning cross laser line emitted by the cross laser always coincides with the endoscope poking card hole on the patient, and then dock each instrument arm to each instrument poking card on the patient.

6. The preoperative positioning method according to claim 5, characterized in that: Before step b1 or between step b1 and step b2, the following step is further provided: the endoscope arm and each instrument arm are raised to the highest position in the vertical direction through the corresponding motion joint group.

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