Surgical robot

Abstract

The embodiment of the application provides a surgical robot, which comprises a mechanical arm, a holding device and a control device, the holding device is provided with a force sensor for detecting an external force, the control device controls the movement of the mechanical arm to change the posture of the holding device in response to the activation of a first dragging mode command and based on a first torque value detected by the force sensor; the control device controls the movement of the mechanical arm to make the holding device rotate around a remote center of motion in response to the activation of a second dragging mode command and based on a first force value detected by the force sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical treatment, and in particular to a surgical robot. BACKGROUND

[0002] Minimally invasive medical technology refers to a medical treatment method of performing surgery or biopsy in the body cavity of a human body by using a laparoscope, a thoracoscope and other modern medical instruments and related equipment. Compared with a traditional surgical method, minimally invasive medical technology has the advantages of small trauma, light pain, fast recovery, alleviation of discomfort of a patient and reduction of harmful side effects.

[0003] With the progress of science and technology, minimally invasive medical surgical robot technology has gradually matured and is widely used. A minimally invasive surgical medical robot usually includes a master control console and a slave operating device. A doctor controls the slave operating device by using an input device of the master control console. The slave operating device is used to respond to a control command sent by the master control console and perform a corresponding surgical operation. An instrument is connected with a driving device of the slave operating device and is used to perform a surgical operation. A distal end of the instrument includes an end device used to perform a surgical operation and a joint assembly connected with the end device and capable of moving in multiple degrees of freedom.

[0004] A surgical robot needs to adjust a mechanical arm posture before surgery to facilitate docking of a sleeve and needs to adjust a position of the sleeve during surgery. The existing surgical robot is not intuitive when docking the sleeve and adjusting the sleeve and has low adjustment efficiency. SUMMARY

[0005] Based on this, the present application provides a surgical robot in a first aspect, which includes:

[0006] A mechanical arm including a plurality of joints;

[0007] A tool holding device rotationally connected with a joint at a distal end of the mechanical arm, the tool holding device being used to load a plurality of surgical instruments;

[0008] A force sensor mounted on the tool holding device;

[0009] A control device configured to:

[0010] obtain a first force value detected by the force sensor and determine a first force command value according to the first force value;

[0011] in response to activation of a first drag mode command and according to the first force command value, control movement of the mechanical arm to translate the tool holding device, thereby adjusting a position of a remote center of motion;

[0012] in response to activation of a second drag mode command and according to the first force command value, control movement of the mechanical arm to rotate the tool holding device around the remote center of motion.

[0013] In one specific embodiment, the control device is configured to:

[0014] obtain a first torque value detected by the force sensor, and determine a first torque command value according to the first torque value;

[0015] in response to activating a first drag mode command and according to the first torque command value, the control device controls the robot arm to move to change the pose of the tool holding device, thereby adjusting the position of the remote center of motion.

[0016] In one specific embodiment, the plurality of joints comprises a first joint moving linearly along a vertical direction, a second joint, a third joint and a fourth joint having rotational axes perpendicular to a horizontal plane, and a fifth joint having a rotational axis parallel to the horizontal plane, in response to the activating a second drag mode command and according to a first component of the first force command value, the control device controls the second joint, the third joint and the fourth joint to move in linkage to rotate the tool holding device around a first axis, the first axis passing through the remote center of motion.

[0017] In one specific embodiment, in response to the activating a second drag mode command and according to a second component of the first force command value, the control device controls the first joint, the second joint, the third joint in linkage and the fifth joint in linkage to rotate the tool holding device around a second axis, the second axis passing through the remote center of motion and perpendicular to the first axis.

[0018] In one specific embodiment, the determining a first torque command value according to the first torque value comprises:

[0019] the control device obtains a rotation angle of the tool holding device, and determines a first force component of the force applied by the tool holding device to the force sensor according to the rotation angle;

[0020] determines a first torque command value according to the first torque value and the first torque component;

[0021] In one specific embodiment, the determining a first torque command value according to the first torque value comprises:

[0022] determines a first torque component of the torque applied by the tool holding device to the force sensor according to the rotation angle;

[0023] determines a first torque command value according to the first torque value and the first torque component;

[0024] In one embodiment, the holding device further comprises at least one driving device, at least one of the surgical instruments is detachably mounted on the driving device, the driving device is movable along a straight line to drive the surgical instrument to perform a feed motion, and the control device is configured to:

[0025] acquire a displacement of the driving device, and determine the first torque component according to the displacement and the rotation angle.

[0026] In one embodiment, the holding device is rotationally connected to the fifth joint, and the force sensor is located on the rotation axis of the fifth joint.

[0027] In one embodiment, in response to a command for reconfiguring the remote center of motion, the control device reconfigures the position of the remote center of motion relative to the holding device while maintaining the holding device stationary.

[0028] In a first aspect, the present application provides a surgical robot, comprising:

[0029] a mechanical arm comprising a plurality of joints;

[0030] a holding device rotationally connected to a joint at the distal end of the mechanical arm, the holding device being configured to load a surgical instrument;

[0031] a force sensor mounted on the holding device;

[0032] a control device configured to:

[0033] acquire a first force value and a first torque value detected by the force sensor;

[0034] in response to a first drag mode command being activated and according to the first torque value, the control device controls the mechanical arm to move to change the posture of the holding device;

[0035] in response to a second drag mode command being activated and according to the first force value, the control device controls the mechanical arm to move to rotate the holding device around a remote center of motion. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 a top view of a surgical robot assisted medical system according to an embodiment of the present application;

[0037] Figure 2A a schematic diagram of a master control console of a surgical robot according to an embodiment of the present application;

[0038] Figure 2B a schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present application;

[0039] Figure 3 surgical instrument for an embodiment of the present application;

[0040] Figure 4A schematic diagram of a holding device from an operating device for an embodiment of the present application;

[0041] Figure 4B schematic diagram of a kinematic model of a holding device from an operating device for an embodiment of the present application;

[0042] Figure 5A schematic diagram of a holding device for an embodiment of the present application;

[0043] Figure 5B schematic diagram of a holding device for an embodiment of the present application; Figure 5A schematic diagram of a holding device for an embodiment of the present application;

[0044] Figure 5C schematic diagram of a holding device for an embodiment of the present application;

[0045] Figure 5D schematic diagram of a holding device for an embodiment of the present application; Figure 5A schematic diagram of a holding device for an embodiment of the present application;

[0046] Figure 5E schematic diagram of a holding device for an embodiment of the present application;

[0047] Figure 6 schematic diagram of a holding device for an embodiment of the present application;

[0048] Figure 7A schematic diagram of a holding device for an embodiment of the present application;

[0049] Figure 7B schematic diagram of a holding device for an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the relevant drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive, and not to limit the present application.

[0051] It should be noted that when an element as a reference to another element or layers, there can be intermediate elements or layers between them. It should also be noted that, as used herein, the term "and / or" means and. However, it is also possible that "and / or" means one and the other or only one of the possibilities exists.

[0052] As used herein, the terms "distal" and "proximal" are directional terms that are commonly used in the field of interventional medical devices, where "distal" refers to the end of the device that is further from the surgeon during a procedure, and "proximal" refers to the end of the device that is closer to the surgeon during a procedure. As used herein, the term "plurality" includes two and more than two.

[0053] The term "instrument" is used herein to describe a medical device that is intended to be inserted into a patient's body and used to perform a surgical or diagnostic procedure. The instrument includes an end effector, which can be a surgical instrument for performing a surgical procedure, such as a biopsy needle, an electrocautery, a forceps, a stapler, a cutting instrument, an imaging device (e.g., an endoscope or an ultrasound probe), and the like. Some of the instruments used in the embodiments described herein further include articulating components (e.g., joint assemblies) that provide the end effector with one or more mechanical degrees of freedom that allow the position and orientation of the end effector to be manipulated. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing forceps. The instrument can also include a memory that can be updated by a surgical system, whereby the memory can provide one-way or two-way communication between the instrument and one or more system elements.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0055] One embodiment of this application is a surgical robot-assisted medical system, such as... Figure 1 As shown, the surgical robot-assisted medical system includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, allowing the surgeon S to remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 based on the surgeon S's operations. The surgeon S can observe three-dimensional images of the patient's body provided by the imaging system through the main console 10. By observing these three-dimensional images, the surgeon S can immerse themselves in the experience and control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body).

[0056] The operating device 10 includes a control unit, a robotic arm 11, and a device holding device 12. The control unit can be located in the base of the operating device 10 or on the robotic arm 11. In one embodiment, the control unit is used to control the joint movement of the robotic arm 11 and the movement of the drive system in the device holding device 12. Multiple surgical instruments can be mounted on the device holding device 12, and the drive system of the device holding device 12 is used to drive the surgical instruments to perform various surgeries.

[0057] In one embodiment, the surgical robot-assisted medical system further includes a gas inhalation device, a lumen assembly (not shown), and a cannula 13, the lumen assembly providing fluid communication between the cannula 13 and the gas inhalation device. The cannula 13 is connected to the distal end of the instrument holding device 12 and is inserted into the body cavity of the patient P lying on the operating table T. The end effectors of multiple surgical instruments or cameras at the distal end of an endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgical-related operations or acquire images of the patient P's internal environment.

[0058] In one embodiment, the surgeon S controls the working mode of the gas insufflation device through the master console 10, such as injecting gas in the gas source into the body cavity of the patient P to form an artificial pneumoperitoneum, or sucking gas from the body cavity of the patient P. The assistant A installs the surgical instrument 40 to the instrument holding device 12 or replaces the surgical instrument 40 from the instrument holding device 12 according to the surgical situation. The surgeon S, the assistant A and the anesthetist B form the basic surgical team. The surgical instrument 40 can be an electric cauter, a forceps, a anastomat, an ultrasonic knife or other surgical instrument for performing surgical operations, or an image device (such as an endoscope) for acquiring images or other surgical tools.

[0059] The master console 10 is also remotely connected with the electronic equipment cart 30, and the electronic equipment cart 30 is remotely connected with the slave operating device 10. The electronic equipment cart 30 can include energy generating devices, image signal processing devices, and the above-mentioned gas insufflation devices, etc. In the embodiment, the master console 10 remotely communicates with the slave operating device 10 and the electronic equipment cart 30 by wired Ethernet communication mode, but the remote communication is not limited to wired Ethernet communication, and can be other wired modes, such as but not limited to serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication modes, such as but not limited to WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0060] In one embodiment, as shown in Figure 2A The master console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24 and a control signal processing system 25, wherein the display device 21 is used to display the images acquired by the above-mentioned image system. The armrest 22 is used to place the operator's arm and / or hand, so that the operator can more comfortably operate the input device 23, and the observation device 24 is used to observe the images displayed by the display device. According to actual needs, the armrest can also be omitted; or the observation device 24 can be omitted, at this time it can be directly observed. The operator controls the movement of the surgical instrument of the slave operating device 10 by operating the input device 23, and the control signal processing system of the master console 20 processes the input signal of the input device 23 and then sends a control command to the slave operating device. The slave operating device 10 responds to the control command of the master console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be arranged in the slave operating device 10, such as arranged in the base of the slave operating device 10. The control signal processing system 25 can be the same device as the above-mentioned control device.

[0061] Surgical robots typically also include an imaging system (not shown) that allows the operator to view the surgical site from outside the patient's body. This imaging system typically includes a video image acquisition function (e.g., an instrument 40 with image acquisition capabilities) and one or more video display devices for displaying the acquired images. Generally, the instrument 40 with image acquisition capabilities includes optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's body. These one or more imaging sensors may be positioned distal to the instrument 40 with image acquisition capabilities, and the signals generated by these sensors may be transmitted via cable or wirelessly for processing and display on the video display devices.

[0062] In one embodiment, such as Figure 2B As shown, the robotic arm 11 of the surgical robot-assisted medical system, from the operating device 10, includes a base 110, a column 120 connected to the base 110, and a large arm 130, a forearm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes multiple joints J1-J5 for connecting the column 120, the large arm 160, the forearm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1. The first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected to the holding device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0063] The control device 160 is configured to control multiple joints J1-J5 in linkage to achieve various positions of the entire robotic arm 11, adjust the position and posture of the holding device 112, and realize the rotational movement of the holding device 112 around its remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0064] In one embodiment, the instrument holder 112 further comprises a sleeve 115 removably coupled to the instrument holder 112 via the docking device 114, the central axis 106 of the instrument holder 112 substantially coincides with an axis 118 of the sleeve 115, and the instrument holder 112 rotates the sleeve 115 about the remote center of motion 116, and since the remote center of motion 116 is located in the incision 117, the patient P is not injured when the sleeve 115 rotates about the remote center of motion 116.

[0065] The operating apparatus 10 further comprises a control panel 170 disposed on the support column 121, the control panel 170 comprises at least one switch 171 for inputting a positioning instruction to the control device 160, and the control device 160 controls the movement of the mechanical arm 100 to quickly achieve the positioning of various predetermined postures of the mechanical arm 100, such as a posture for arranging a sterile drape, in response to the action of the switch 171.

[0066] In one embodiment, the instrument holder 112 can be loaded with a plurality of instruments 40, and the plurality of instruments 40 enter the body through the same sleeve 115 from the incision 117. As shown in Figure 3 The instrument 40 comprises an instrument box 41, a long shaft 42, a joint assembly 43, and an end effector 44, and the instrument 40 is removably mounted on a driving system of the instrument holder 112 of the operating apparatus 10. The instrument box 41 has a transmission device (not shown) therein, the transmission device comprises a plurality of transmission units (such as winches), the transmission units are connected to the joint assembly 43 and the end effector 44 through a plurality of cables, and the plurality of transmission units are respectively coupled to a plurality of actuators (such as motors) in the driving system and are driven by the actuators. The plurality of actuators receive control instructions from the control device and drive the end effector 44 to move according to the control instructions by driving the transmission units to rotate and thereby winding / unwinding the cables. The end effector 44 can perform a plurality of Cartesian degrees of freedom actions, such as translation (including lateral translation and / or longitudinal translation), pitch, yaw, etc., through the joint assembly 43. It can be understood that the translation and the pitch, and the translation and the yaw can be independently moved or simultaneously moved. The end effector 44 is used to perform operations related to surgical operations, and according to the requirements of the surgical operations, the end effector 44 can be an electric cauter, a forceps, a stapler, a scissors, an ultrasonic knife, a camera, an imaging device, etc., wherein the camera or the imaging device is used to acquire images inside the human body.

[0067] Figure 4A is a schematic view of the slave operating apparatus 200 according to one embodiment of the present application, Figure 4B is a schematic view of a kinematic model of the slave operating apparatus 200 according to one embodiment. As shown in Figure 4AAs shown, the kinematic model 600 includes kinematic information associated with a number of active devices, the kinematic information is based on known kinematic models for the links (e.g., the upright, the boom, the arm, and the vertical arm) and joints of the manipulator 200, and the kinematic information is further based on information associated with the positions and poses of the joints of the manipulator 200, the information associated with the positions and poses of the joints is measured by using one or more position sensors (e.g., encoders) to measure linear positions for linear motion joints and rotational positions for rotational joints. The kinematic model 600 includes a number of coordinate frames or coordinate systems and coordinate frame transformation relationships (e.g., homogeneous transformations of coordinate frames) for transforming the positions and poses of the target object from a description in one coordinate frame to a description in another coordinate frame. The kinematic model 600 can use one or more of the coordinate frames and coordinate frame transformation relationships involved to establish kinematic relationships between adjacent or non-adjacent coordinate frames using forward or inverse kinematic transformations. In some embodiments, the kinematic model 600 is used to model the kinematic relationships of the manipulator 200. Figure 4A

[0068] The kinematic model 600 includes a base coordinate frame 610 for modeling the positions and poses of the joints of the manipulator 200, the base coordinate frame 610 is established on the base 210 and remains relatively stationary with respect to the base of the manipulator 200, in some embodiments, the base coordinate frame 610 is used as a reference point for modeling the kinematic relationships between the kinematic joints of the manipulator 200, once the base coordinate frame 610 is determined, the origin and the orientation of the coordinate axes of the base coordinate frame 610 are also determined with respect to the geometry of the mechanical components of the base 210, in addition, to facilitate the intuitive description of the kinematic information of the kinematic joints, the Z-axis of the base coordinate frame 610 can be oriented perpendicular to the surface of the ground or floor on which the manipulator 200 is placed.

[0069] The kinematic model 600 further includes an upright coordinate frame 620 for modeling the positions and poses of the lift column 240, and the coordinate frame remains relatively stationary with respect to the movable lift column 240, in some embodiments, to facilitate the convenience and speed of establishing the coordinate frame transformation relationship between adjacent coordinate frames, and on the basis of meeting the rules for establishing the coordinate frame, the Z-axis of the upright coordinate frame 620 can be coincident with the central axis 202 of the lift column 240, the X-axis and the Y-axis of the upright coordinate frame 620 can be parallel to the coordinate axes of the base coordinate frame 610, and the origin of the upright coordinate frame 620 can be determined at the intersection of the central axis 202 of the lift column and the horizontal center plane 201 of the boom 250, in some embodiments, the translational position of the lift column 240 with respect to the fixed support column 220 can be measured using one or more sensors, and further used to determine the coordinate frame transformation relationship 615 between the upright coordinate frame 620 and the base coordinate frame 610. ​

[0070] The kinematic model 600 further includes a base coordinate system 610, which is established at the origin of the base 210. In some embodiments, the base coordinate system 610 can be established at the intersection of the horizontal center plane 201 and the vertical center axis 202 of the base 210, for describing the motion information of the base 210. Based on satisfying the coordinate system establishment rules, the Z-axis of the base coordinate system 610 can coincide with the vertical center axis 202 of the base 210. In some embodiments, the rotational position of the base 210 relative to the ground can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 615 between the base coordinate system 610 and the ground coordinate system 620. In some embodiments, based on the coordinate system transformation relationship 615, a kinematic model between the base coordinate system 610 and the ground coordinate system 620 can be established, and further can be used to describe the position and attitude motion information of the base 210 in the ground coordinate system 620. In some embodiments, based on the known position and attitude motion information of the base 210 in the ground coordinate system 620, the kinematic inverse transformation based on the coordinate system transformation relationship 615 can be used to determine the motion information of the joints of the base 210.

[0071] The kinematic model 600 further includes a base coordinate system 610, which is established at the origin of the base 210. In some embodiments, the base coordinate system 610 can be established at the intersection of the horizontal center plane 201 and the vertical center axis 202 of the base 210, for describing the motion information of the base 210. Based on satisfying the coordinate system establishment rules, the Z-axis of the base coordinate system 610 can coincide with the vertical center axis 202 of the base 210. In some embodiments, the rotational position of the base 210 relative to the ground can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 615 between the base coordinate system 610 and the ground coordinate system 620. In some embodiments, based on the coordinate system transformation relationship 615, a kinematic model between the base coordinate system 610 and the ground coordinate system 620 can be established, and further can be used to describe the position and attitude motion information of the base 210 in the ground coordinate system 620. In some embodiments, based on the known position and attitude motion information of the base 210 in the ground coordinate system 620, the kinematic inverse transformation based on the coordinate system transformation relationship 615 can be used to determine the motion information of the joints of the base 210.

[0072] The kinematics model 600 further includes a vertical arm coordinate system 650, which is established at the end of the vertical arm 270. In some embodiments, the vertical arm coordinate system 650 can be established at the intersection of the central axis 204 of the vertical arm 270 and the rotation axis 206 of the fifth joint J5, for describing the motion information of the vertical arm 270. On the basis of satisfying the coordinate system establishment rules, the Z-axis of the vertical arm coordinate system 650 can coincide with the rotation axis 206 of the fifth joint J5. In some embodiments, the rotational position of the vertical arm 270 relative to the forearm 260 can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 645 between the vertical arm coordinate system 650 and the forearm coordinate system 640. In some embodiments, based on the combination of the coordinate system transformation relationships 615-645, a kinematics model between the coordinate systems 650 and 610 can be established, and further can be used to describe the motion information of the position and attitude of the vertical arm 270 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and attitude of the vertical arm 270 in the base coordinate system 610, the kinematics inverse transformation can be used to determine the motion information of the joints of the lifting column 240, the forearm 250, the forearm 260 and the vertical arm 270 based on the coordinate system transformation relationships 615-645.

[0073] The kinematics model 600 further includes a tool holding device coordinate system 660, which is established at the end of the tool holding device 280. In some embodiments, the coordinate system 660 can be established at the end of the tool holding device 280 and on the vertical center plane 207 of the tool holding device 280 (for example, on the docking portion of the end of the tool holding device 214), for describing the motion information of the tool holding device 280. In some embodiments, the rotational position of the tool holding device 280 relative to the vertical arm 270 can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 655 between the tool holding device coordinate system 660 and the vertical arm coordinate system 650. In some embodiments, based on the combination of the coordinate system transformation relationships 615-655, a kinematics model between the coordinate systems 660 and 610 can be established, and further can be used to describe the motion information of the position and attitude of the tool holding device 280 in the base coordinate system 610. In some embodiments, based on the known motion information of the position and attitude of the tool holding device 280 in the base coordinate system 610, the kinematics inverse transformation can be used to determine the motion information of the joints of the robotic arm 211 based on the coordinate system transformation relationships 615-655, and to accurately control the motion of the end point of the robotic arm 211 of the operating device 200.

[0074] The kinematics model 600 further includes a remote center of motion coordinate system 670 of the robot arm 211, the coordinate system origin of which coincides with the remote center of motion 116. In some embodiments, a coordinate system transformation relationship 665 between the remote center of motion coordinate system 670 and the instrument holding device coordinate system 660 can be determined through the geometric relationship of the mechanism on the instrument holding device 280. Furthermore, based on the combination of the coordinate system transformation relationships 615-665, a coordinate transformation relationship 675 between the coordinate systems 670 and 610 can be established, and can be further used to describe the position motion information of the remote center of motion 116 of the robot arm 211 in the cart base coordinate system 610 and the attitude motion information of the instrument holding device 280. In some embodiments, the position motion information of the remote center of motion 116 in the base coordinate system 610 and the attitude motion information of the instrument holding device 280 are known, and based on the coordinate transformation relationship 675, the motion information of each joint of the robot arm 211 can be determined through kinematics inverse transformation, and then the translational motion and rotational motion of the hand-held dragging instrument holding device 280 in the working space can be realized.

[0075] In one embodiment, a force sensor 281 is provided on the instrument holding device 280, the force sensor 281 is located near the fifth joint J5 and on the rotation axis 206 of the fifth joint J5. When the robot arm 211 is hand-held dragged, the assistant A holds the handle 282 on the instrument holding device 280 to drag the instrument holding device 280, the force sensor 281 detects the force applied by the assistant A on the instrument holding device 280 and inputs to the control device 160, the control device 160 controls the admittance of each joint J1-J5 of the operating device 200 according to the input of the force sensor 281, so that the instrument holding device 160 rotates around the remote center of motion 116; or the instrument holding device 160 is free to move to adjust the position of the remote center of motion 116.

[0076] In one embodiment, as shown in Figure 5A The instrument holding device 280 includes driving devices 283a, 283b. It can be understood that the driving devices 283a, 283b are used to drive the instruments 40 loaded thereon. It can be understood that the number of driving devices can be any number, and preferably four driving devices are provided, which load four instruments, one of which is an endoscope and the other three are surgical instruments. The driving devices 283a and 283b are respectively mounted on guide rails 284a and 284b, and the driving devices 283a, 283b can move linearly along the guide rails 284a, 284b to make the instruments 40 mounted thereon perform a feed motion, which can make the instruments 40 move linearly along the axis 118 of the cannula 115 to make the end effector 44 approach or move away from the lesion.

[0077] In one embodiment, as shown in Figure 5BAs described above, after the fifth joint J5 rotates clockwise by an angle θ, the angle between the direction of the gravity G of the holding device 280 and the force sensor 281 changes, and the gravity G of the holding device 280 will affect the force and torque detected by the force sensor 281. Here, the force does not include the torque, but only the force in the translation direction.

[0078] The rotation of the holding device 280 affects the force sensor 281, whose first force component is f1, and its model is f1 = h(θ); the rotation of the holding device 280 affects the force sensor 281, whose first torque component is m. s Its model is m s =g(θ), where θ is the angle through which the fifth joint J5 rotates, that is, the angle through which the holding device 280 rotates.

[0079] like Figure 5C The method described herein, which is an embodiment of the present application, for determining the first force command value F1 and the first torque command value M1 ultimately used to control the movement of the holding device 280, includes step S10, in which the control device 160 detects the actual first force value F and the first torque value M based on the force sensor 281.

[0080] In step S11, the control device 160 obtains the rotation angle θ of the holding device 280, for example by reading the angle sensor of the fifth joint J5.

[0081] In step S13, the control device 160 determines the first force component f1 and the first torque component m based on the rotation angle θ of the holding device 280. s The first force component f1 and the first torque component m can be determined using the above model. s That is, f1 = h(θ), m s =g(θ);

[0082] In step S15, the control device 160 determines the first force value F and the first torque value M, as well as the first force component f1 and the first torque component m. s Determine the first force command value F1 and the first torque command value M1. For example, the first force command value F1 and the first torque command value M1 can be obtained by subtraction, where F1 = F - f1 and M1 = Mm. s ;

[0083] In step S17, the control device 160 controls the movement of the holding device 280 according to the first force command value F1 and the first torque command value M1. This can be achieved by performing admittance control on the robotic arm 211 through the first force command value F1 and the first torque command value M1, thereby performing drag control on the holding device 280.

[0084] By removing the influence of the turning of the holding device 280 on the force sensor, the first force command value F1 and the first torque command value M1 can be made closer to the force and torque of the external force applied on the holding device 280 for dragging the holding device, so as to make the dragging of the holding device 280 more accurate.

[0085] As shown in FIG. 4, when the driving devices 283a, 283b move along the guide rails 284a and 283b, for example, the driving device 283a moves along the guide rail 284a in the proximal direction by Δd1, and the driving device 283a moves along the guide rail 284a in the proximal direction by Δd2, the position of the center of mass C of the holding device 280 will be changed, thus affecting the torque detected by the force sensor 281. Figure 5D

[0086] In one embodiment, in order to more accurately control the dragging of the holding device 280, the displacement of the driving device is considered as a variable when determining the first torque command value M1, and the specific method is as shown in FIG. 5. Figure 5E As shown in FIG. 5, in step S12, the control device 160 obtains the rotation angle θ of the holding device 280 and the displacement of the driving device, which includes the displacement Δd1 of the driving device 283a, the displacement Δd2 of the driving device 283a, and the displacement Δd n of the nth driving device if there is an nth driving device.

[0087] In step S14, the control device determines the first force component f1 according to the rotation angle θ of the holding device 280, and determines the first force component f1 and the first torque component m Figure 5C in the same way as step S13 in FIG. 4; but at this time, the first torque component m s is one of the factors considered in the model m s = h(θ, Δd1, Δd2, …, Δd n ), and the first torque command value M1 = M-m s , so that the first torque command value is closer to the real torque value of the external force applied on the holding device 280.

[0088] In one embodiment, the dragging control of the holding device has two dragging modes, as shown in FIG. 6. Figure 6 ​As shown, the first drag mode is free drag, in which the holding device 380 is dragged with five degrees of freedom, including three degrees of freedom of translation of the docking portion 314a at the distal end of the docking device 314 in the Cartesian space and two degrees of freedom of rotation, wherein the three degrees of freedom of translation include translation along the axes 301, 302, 303 at the docking portion 314a, the three degrees of freedom of translation change the position of the holding device 380, and the two degrees of freedom of rotation include rotation of the axis 301 and rotation of the axis 302, the two degrees of freedom of rotation change the attitude of the holding device 380. The axes 301, 302 are located between the remote center of motion 116 and the bottom of the holding device 380, and the three axes 301, 302, 303 are perpendicular to each other.

[0089] The first drag mode can change the position and attitude of the docking portion 314a of the docking device 314 by changing the position and attitude of the holding device 380, so as to facilitate the assistant A to hold the handle 382 to drag the holding device 380 to dock the docking device 314 with the sleeve 315.

[0090] The second drag mode is a fixed-point drag around the remote center of motion 116 of the holding device 380, after the sleeve 315 is successfully docked with the docking device 314, the assistant A switches to the second drag mode, and the holding device 380 is constrained to only rotate around the fourth axis 304 and rotate around the fifth axis 305 to change the attitude of the holding device 380, so as to avoid pulling the incision by the sleeve 315 during the operation. It can be understood that the second drag mode can also be activated when the sleeve 315 is not docked with the docking device 314.

[0091] In one embodiment, the control device 160 executes the method of the first drag mode as shown in Figure 7A As shown, in step S20, the control device 160 receives an instruction input for activating the first drag mode, for example, the assistant A presses the first drag mode button 382a on the handle.

[0092] In step S21, in response to activating the first drag mode, the control device 160 receives the first force value and the first torque value input by the force sensor 381. In step S22, the control device 160 determines the first force command value F1 and the first torque command value M1 according to the acquired first force value and first torque value and the pre-stored algorithm model, and the specific process can refer to Figure 5C The embodiment shown in Figure 5E determines the first torque command value M1, which will not be described here.

[0093] In step S23, the control device 160 controls the docking part 314a of the holding device 380 to translate along the axes 301, 302, 303 according to the first force command value F1; the control device 160 controls the holding device 380 to rotate around the axis 301 or the axis 302 according to the first torque command value M1.

[0094] In one embodiment, the method by which the control device 160 executes the second drag mode is as follows: Figure 7B In step S30, the control device 160 receives an instruction input to activate the second drag mode, for example, assistant A presses the second drag mode button 382b on the handle.

[0095] In step S31, in response to activating the second drag mode, the control device 160 receives the first force value input by the force sensor 381, or receives both the first force value and the first torque value.

[0096] In step S32, the control device 160 determines the first force command value F1 based on the acquired first force value and the pre-stored algorithm model. This specific process and... Figure 5C or Figure 5E The illustrated embodiments are similar; for example, control device 160 only determines... Figure 5C Step S15 or Figure 5E The first force command value F1 in step S16; or determine the first force command value F1 and the first torque command value M1, but only apply the first force command value F1 to step S33.

[0097] In step S32, the control device 160 controls the holding device 380 to rotate around the first axis 304 or around the second axis 305 according to the first force command value F1, that is, controls the holding device 380 to rotate around the remote motion center 116.

[0098] In one embodiment, in response to a command to activate a second drag mode and according to a first component F11 of the first force command value F1, the control device 160 controls the second joint J2, the third joint J3, and the fourth joint J4 to rotate the holding device 380 around a first axis 304, which passes through the remote motion center 116. For example, the first component F11 of the first force command value F1 is a command associated with a force applied to the holding device 380 in the up-down direction. The rotation of the holding device 380 around the first axis 304 enables the holding device 380 to pitch around the remote motion center 116.

[0099] In one embodiment, in response to the command of activating the second drag mode and according to the second component F12 of the first force command value F1, the control device 160 controls the first joint J1, the second joint J2, the third joint J3 and the fifth joint J5 to be linked so as to rotate the tool holding device around the second axis 305 which passes through the remote center of motion 116 and is perpendicular to the first axis 304. For example, the second component F12 of the first force command value F1 is a command associated with the force applied in the front-back direction of the tool holding device 380, and the rotation of the tool holding device around the second axis 305 achieves the yaw motion of the tool holding device 380 around the remote center of motion 116.

[0100] As described above, the control device 160 controls the tool holding device 380 to move around the remote center of motion 116 based on the first force command value F1, which can make the operation of the doctor more intuitive and labor-saving. For example, if the tool holding device 380 is controlled to rotate around the first axis 304 by the first torque command value M1, the assistant A holding the handle 382 needs to exert a relatively large torque to achieve the rotation of the tool holding device 380 around the first axis 304, while if the tool holding device 380 is controlled by the first force command value F1, the assistant A holding the handle 382 only needs to exert a force in the up-down direction.

[0101] In one embodiment, the position of the remote center of motion 116 can be reconfigured. Compared with the form in which the position of the remote center of motion 116 is fixed, the reconfiguration of the position of the remote center of motion 116 can make the surgical robot suitable for more complex surgical scenarios. For example, when the lesion is close to the belly of the human body, the surgical instrument can not reach the lesion. By reconfiguring the position of the remote center of motion 116, the remote center of motion 116 can be close to the lesion, and the surgical instrument can reach the lesion. In one embodiment, in response to the instruction of reconfiguring the remote center of motion 116, the control device 160 changes the origin of the remote center of motion coordinate system 670, so that the position of the remote center of motion 116 is reconfigured. During the reconfiguration of the remote center of motion 116, the tool holding device 116 remains stationary to avoid causing harm to the patient. For example, the position of the remote center of motion 116 can be reconfigured in the direction of the axis 303, i.e., the distance H of the remote center of motion 116 relative to the bottom edge 384 of the tool holding device 380 is changed.

[0102] The technical features of the above-described embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features described in the above embodiments are described, however, as long as the combinations of the technical features do not contradict each other, they should be considered as within the scope of the present disclosure.

[0103] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are all within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. A surgical robot, characterized in that, include: A robotic arm, which comprises multiple joints; A holding device, which is rotatably connected to a joint at the distal end of the robotic arm, is used to load multiple surgical instruments; A force sensor, which is mounted on the holding device; The control device is configured as follows: Acquire the first force value detected by the force sensor, and determine the first force command value based on the first force value; In response to the command to activate the first drag mode and according to the first force command value, the robotic arm is controlled to move to translate the holding device, thereby adjusting the position of a remote motion center; The first torque value detected by the force sensor is obtained, and a first torque command value is determined based on the first torque value; In response to an activation command for a first drag mode and based on a first torque command value, the control device controls the movement of the robotic arm to change the posture of the holding device, thereby adjusting the position of the remote motion center. In response to the command to activate the second drag mode and according to the first force command value, the movement of the robotic arm is controlled to cause the holding device to rotate around the remote motion center.

2. The surgical robot as described in claim 1, characterized in that, The plurality of joints includes a first joint that moves linearly in a vertical direction, a second, third, and fourth joints whose rotation axes are perpendicular to the horizontal plane, and a fifth joint whose rotation axis is parallel to the horizontal plane. In response to the command to activate the second drag mode and according to a first component of the first force command value, the control device controls the second, third, and fourth joints to move in conjunction, so that the holding device rotates about a first axis that passes through the remote motion center.

3. The surgical robot as described in claim 2, characterized in that, In response to the command to activate the second drag mode and according to the second component of the first force command value, the control device controls the linkage of the first joint, the second joint, the third joint, and the fifth joint to cause the holding device to rotate about a second axis, which passes through the remote motion center and is perpendicular to the first axis.

4. The surgical robot as described in claim 1, characterized in that, Determining the first force command value based on the first force value includes: The control device acquires the rotation angle of the holding device and determines the first force component applied by the holding device to the force sensor based on the rotation angle. The first force command value is determined based on the first force value and the first force component.

5. The surgical robot as described in claim 4, characterized in that, Determining the first torque command value based on the first torque value includes: The first torque component applied to the force sensor by the holding device is determined based on the rotation angle. The first torque command value is determined based on the first torque value and the first torque component.

6. The surgical robot as described in claim 5, characterized in that, The instrument holding device further includes at least one drive device, at least one of the surgical instruments being detachably mounted on the drive device, the drive device being capable of linear motion to drive the surgical instrument to perform a feed motion, and the control device being separately configured as follows: The displacement of the driving device is obtained, and the first torque component is determined based on the displacement and the rotation angle.

7. The surgical robot as claimed in claim 3, characterized in that, The holding device is rotatably connected to the fifth joint, and the force sensor is located on the rotation axis of the fifth joint.

8. The surgical robot as described in claim 1, characterized in that, In response to a command to reconfigure the remote motion center, the control device reconfigures the position of the remote motion center relative to the weapon-holding device and keeps the weapon-holding device stationary.

9. A surgical robot, characterized in that, include: A robotic arm, which comprises multiple joints; A holding device, which is rotatably connected to a joint at the distal end of the robotic arm, is used to load surgical instruments; A force sensor, which is mounted on the holding device; The control device is configured as follows: The force sensor detects a first force value and a first torque value. In response to a command to activate a first drag mode and based on the first torque value, the control device controls the movement of the robotic arm to change the posture of the holding device; In response to a command to activate a second drag mode and based on the first force value, the control device controls the movement of the robotic arm to cause the holding device to rotate around a remote motion center; A first force command value is determined based on the first force value. The plurality of joints includes a first joint that moves linearly in a vertical direction, a second, third, and fourth joint whose rotation axis is perpendicular to the horizontal plane, and a fifth joint whose rotation axis is parallel to the horizontal plane. In response to the command to activate the second drag mode and based on a first component of the first force command value, the control device controls the second, third, and fourth joints to move in conjunction, so that the holding device rotates around a first axis that passes through the remote motion center.

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