Surgical robot with multi-mode controllable tail end poses

Abstract

The surgical robot comprises a communication connection module, a control system, a remote control host, a mechanical arm body and an end effector, the mechanical arm body and the end effector are rigidly connected, and the remote control host comprises a man-machine interaction device and an operation handle with entity operation keys. The man-machine interaction device is provided with a first man-machine interaction interface for displaying control keys and a third man-machine interaction interface for displaying virtual pictures in an operation environment, and a tail end touch screen is arranged on the tail end actuator and is provided with a second man-machine interaction interface for displaying control keys; the man-machine interaction device, the operation handle and the tail end touch screen are all connected with the control system through the communication connection module, and the control system obtains signals triggered by the first / second / third man-machine interaction interfaces or the operation handle through the communication connection module to generate a mechanical arm motion control instruction and sends the mechanical arm motion control instruction to the mechanical arm body. The system supports various control scenes, so that the system is easier to use, and the practicability is improved.

Description

Technical Field

[0001] The present invention relates to the field of interventional medical equipment, and in particular to a surgical robot with a terminal position controllable in multiple ways. Background Art

[0002] Interventional therapy is a technology that uses minimally invasive methods to achieve precise disease treatment under the guidance of images. Traditionally, interventional physicians rely on various interventional instruments and clinical knowledge to complete interventional surgeries with limited imaging equipment navigation. Since the 1990s, the emergence of a series of high-end imaging equipment has provided doctors with a wide variety of intraoperative imaging information, such as X-ray images, computed tomography images, magnetic resonance imaging, and ultrasound images. As a minimally invasive and precise treatment method, interventional therapy is facing the dual challenges of complexity and standardization. Although high-end imaging equipment has improved the efficiency and accuracy of interventional physicians in clinical treatment, it has also brought great operational complexity to interventional physicians and some potential risks to patients.

[0003] Current interventional surgical robots have at least the following defects:

[0004] First, interventional surgical robots are usually based on navigation. Such robots can perform precise movements and follow predetermined trajectories. However, they lack the understanding and judgment of complex surgical situations. Once they reach the top of the human body, they cannot move freely, which limits their ability to apply the rich experience of doctors in surgery.

[0005] Secondly, it is difficult to cope with emergencies during surgery: unexpected situations may occur during surgery, such as the patient moving the body, breathing phase changes, etc. Such emergencies require the equipment to make decisions and adjustments quickly; current interventional surgery robots may lack sufficient flexibility to instantly adapt to changes caused by emergencies during surgery;

[0006] On the other hand, most interventional surgical robots do not allow manual control or only allow a single control method; however, especially in situations where multiple operating skills and strategies are required, a single control method may not be sufficient to meet all types of surgical needs.

[0007] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the present application. It does not necessarily belong to the prior art of the present application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of the present application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0008] The purpose of the present invention is to provide a surgical robot with multi-controllable terminal posture that can be used in interventional surgical robots, supporting multiple control methods so that the interventional surgical robot can adapt to sudden problems in surgical scenarios.

[0009] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0010] A surgical robot with multi-mode controllable terminal posture, comprising a mechanical arm body, an end effector, a communication connection module, and a remote control host, wherein the end effector is rigidly connected to the mechanical arm body, the remote control host comprises a control system, a human-machine interaction device, and an operating handle with physical operation keys, the human-machine interaction device is provided with a first human-machine interaction interface displaying control keys, and the end effector is provided with a terminal touch screen, which is provided with a second human-machine interaction interface displaying control keys;

[0011] The human-machine interaction device is also configured with a third human-machine interaction interface, which synchronously displays a virtual picture of the end effector moving relative to the surgical object in the surgical environment;

[0012] The robotic arm body and the end touch screen are connected to the control system through the communication connection module. The control system is configured to generate robotic arm motion control instructions based on the first human-computer interaction interface, the second human-computer interaction interface, the third human-computer interaction interface or the signal triggered by the operating handle, and send the robotic arm motion control instructions to the robotic arm body.

[0013] Further, based on any one of the technical solutions or a combination of multiple technical solutions described above, when the human-computer interaction device displays the third human-computer interaction interface, the human-computer interaction device captures the gesture on the third human-computer interaction interface, and determines the orientation vector for controlling the movement or rotation in the actual space according to the gesture content, and generates a custom control instruction based on this;

[0014] The control system converts the custom control instruction into the robot arm motion control instruction.

[0015] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, if the duration of the sliding gesture captured on the third human-computer interaction interface is less than a preset time threshold, the distance of the controlled movement or the angle of rotation in the actual space is determined according to the preset parameters;

[0016] If the duration of the sliding gesture captured on the third human-computer interaction interface reaches a preset time threshold, the amplitude of the controlled swing in the actual space is determined according to the time / distance of the gesture sliding: the longer the duration of the gesture sliding / the greater the sliding distance, the greater the amplitude of the controlled swing in the actual space.

[0017] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, when or after the robot arm body executes the robot arm motion control instruction, or when or after capturing a gesture on the third human-computer interaction interface, the third human-computer interaction interface synchronously updates the orientation information of the end effector relative to the surgical object in the virtual screen.

[0018] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the end effector is also provided with a signal acquisition device, which is configured to acquire position information relative to the surgical object;

[0019] The control system constructs a virtual picture of the end effector and the surgical object based on the information collected by the signal acquisition device, and the positions of the two in the picture match the information collected by the signal acquisition device.

[0020] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the terminal touch screen is configured to capture the control button trigger signal on the second human-computer interaction interface, and generate the corresponding custom control instructions according to the trigger signals of different control buttons;

[0021] The control system converts the custom control instruction into the robot arm motion control instruction.

[0022] Further, based on any one of the technical solutions or a combination of multiple technical solutions described above, when the human-computer interaction device displays the first human-computer interaction interface, the human-computer interaction device captures the control button trigger signal on the first human-computer interaction interface, and generates the corresponding custom control instructions according to the trigger signals of different control buttons;

[0023] The control system converts the custom control instruction into the robot arm motion control instruction.

[0024] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the operating handle captures the trigger signal of the physical operating key, and generates the corresponding custom control instructions according to the trigger signals of different physical operating keys;

[0025] The control system converts the custom control instruction into the robot arm motion control instruction.

[0026] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the control buttons on the first human-computer interaction interface or the second human-computer interaction interface include multiple buttons for moving forward and backward, moving left and right, moving up and down along the pin track, swinging forward and backward, swinging left and right, and rotating clockwise or counterclockwise around the pin track;

[0027] And / or, the physical operation keys of the operating handle include multiple buttons for moving forward and backward, moving left and right, moving up and down along the pin trajectory, swinging forward and backward, swinging left and right, and rotating clockwise and counterclockwise around the pin trajectory.

[0028] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, the end touch screen has the highest priority in controlling the movement of the robotic arm among the human-computer interaction device, the operating handle, and the end touch screen. When the end touch screen captures the control button trigger signal on the second human-computer interaction interface, the control of the robotic arm by the human-computer interaction device and the operating handle becomes invalid.

[0029] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, when the surgical robot performs an interventional operation or thereafter, the control of the robotic arm by the end touch screen, the human-computer interaction device and the operating handle all fail.

[0030] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, the communication connection module adopts Rabbitmq, Kafka, RocketMQ or Redis message middleware, or adopts a TCP or UDP protocol communication module.

[0031] The beneficial effects brought by the technical solution provided by the present invention are as follows:

[0032] a. The present invention supports multiple control scenarios. By using different control schemes in different surgical scenarios, the system is easier to use and more practical;

[0033] b. When the patient moves or breathes abnormally, the doctor can respond quickly and adjust the terminal position through the terminal touch screen to maintain the stability and smoothness of the operation;

[0034] c. To meet the scenario of customized control, the terminal control technology allows doctors to customize the terminal landing posture based on experience to achieve better surgical results. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the structure of a surgical robot with a multi-mode controllable terminal position provided by an exemplary embodiment of the present invention;

[0037] Figure 2 A system framework diagram of four end-position control of a surgical robot provided by an exemplary embodiment of the present invention;

[0038] Figure 3 A schematic diagram of control buttons of a human-computer interaction interface provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0041] In one embodiment of the present invention, a surgical robot with a multi-mode controllable terminal position is provided. Figure 1 The surgical robot includes a robot body 100, an end effector 200, a communication connection module 300, and a remote control host 400. The end effector 200 is rigidly connected to the robot body 100. The remote control host 400 includes a control system, a human-machine interaction device, and an operating handle with physical operation keys (not shown). The human-machine interaction device is configured with a first human-machine interaction interface displaying control buttons. The end effector is provided with an end touch screen 210, which is configured with a second human-machine interaction interface displaying control buttons.

[0042] The human-machine interaction device is also configured with a third human-machine interaction interface, which synchronously displays a virtual picture of the end effector moving relative to the surgical object in the surgical environment;

[0043] The robotic arm body 100 and the end touch screen 210 are connected to the control system via the communication connection module 300. The control system is configured to generate robotic arm motion control instructions based on the first human-computer interaction interface, the second human-computer interaction interface, the third human-computer interaction interface or the signal triggered by the operating handle, and send the robotic arm motion control instructions to the robotic arm body 100.

[0044] The surgical robot of this embodiment can realize the control of its terminal position in four ways, such as Figure 2 As shown, the four methods are: by operating the control button on the second human-machine interaction interface of the terminal touch screen, by operating the control button on the first human-machine interaction interface of the human-machine interaction device of the remote control host 400, by operating the physical operation button of the operating handle of the remote control host 400, and by performing gesture control on the third human-machine interaction interface of the human-machine interaction device. Under these four control methods, a custom control instruction will be generated according to the operation of the control button, the physical operation button or the gesture; then the communication connection module forwards the custom control instruction to the control system of the remote control host 400, and the communication connection module can adopt Rabbitmq, Kafka, RocketMQ or Redis message middleware, or adopt TCP or UDP protocol communication module; the instruction converter of the control system converts the custom control instruction into the robot arm motion control instruction, which is an instruction that can be executed by the robot arm body, and then the robot arm body 100 drives the end effector 200 to complete the movement and / or rotation that meets the operation expectations.

[0045] like Figure 3As shown, the following control buttons can be set on the first human-computer interaction interface and the second human-computer interaction interface: forward and backward movement button, left and right movement button, up and down movement button along the pin track, forward and backward swing button, left and right swing button, clockwise and counterclockwise rotation button around the pin track; the custom control instruction here is to determine which control instruction the current operation corresponds to according to a preset rule. For example, it is preset that each press of the control button represents left movement, and the control instruction is defined as moving the robot arm to the left by one step unit, such as 2mm; each press of the control button representing upward movement, the control instruction is defined as moving the robot arm upward along the pin track by one step unit, such as 1mm; each press of the control button representing forward movement, the control instruction is defined as moving the robot arm forward by one step unit, such as 1.5mm; each press of the control button representing clockwise rotation, the control instruction is defined as rotating the robot arm clockwise around the pin track by one step angle, such as 0.2°; when the control button for left swing is pressed, the control instruction is defined as swinging the robot arm to the left with a set swing amplitude; the same applies to other directions. The present invention does not exclude that the control buttons for left / right / forward / backward / clockwise rotation / counterclockwise rotation also support a long press function. If these control buttons are long pressed, the robotic arm will continue to perform the corresponding movement until the long press operation ends.

[0046] Similarly, the operating handle can also be provided with physical forward and backward movement buttons, left and right movement buttons, up and down movement buttons along the pin track, forward and backward swing buttons, left and right swing buttons, and clockwise and counterclockwise rotation buttons around the pin track, just like the first human-machine interaction interface and the second human-machine interaction interface. The difference is that the expression form of the trigger signal is different: the control buttons on the first human-machine interaction interface / the second human-machine interaction interface are virtual buttons on the touch screen, and the corresponding trigger signals are different from the expression form of the trigger signals after the physical operation keys of the operating handle are operated. However, the same thing is that the human-machine interaction device / the terminal touch screen generates custom control instructions according to the control buttons on the interaction interface, and the operating handle generates custom control instructions according to the trigger signals of different physical operation keys. The principle is to determine which custom control instruction the current operation corresponds to according to the pre-set rules as described above.

[0047] The control system converts the custom control instruction into the robot arm motion control instruction. The control system needs to obtain the coordinate system where the robot arm is located, and calculates the coordinate position of the robot arm in the coordinate system after translation / rotation / swing corresponding to the distance / angle / amplitude from the current position according to the translation / rotation / swing direction defined in the custom control instruction and the specific translation distance / rotation angle / swing amplitude, so as to obtain the robot arm motion control instruction.

[0048] The last terminal control method that is particularly critical in this application is that when the human-machine interaction device displays the third human-machine interaction interface, the human-machine interaction device captures the gesture on the third human-machine interaction interface, and determines the azimuth vector for controlling movement or rotation in the actual space according to the gesture content, and generates a custom control instruction based on this; the control system converts the custom control instruction into the robot arm motion control instruction. The generation principle of the custom control instruction and the robot arm motion control instruction here is the same as above and will not be repeated.

[0049] Since the third human-machine interaction interface displays a virtual picture of the end effector moving relative to the surgical object in the surgical environment, the virtual picture will be updated synchronously with the gestures operated on the third human-machine interaction interface. In this case, when remotely operating the third human-machine interaction interface, there is no need to pay attention to the entity of the surgical robot, but the positional relationship between the current robot end and the surgical object can be understood through the third human-machine interaction interface. The present invention does not limit the distance and orientation of the remote space. The remote control host 400 (including the human-machine interaction device and the operating handle) in this embodiment can be in the machine room or in the operating room, and can be within 3 meters from the mechanical arm body 100 of the surgical robot, or 50 meters away from the mechanical arm body 100.

[0050] The synchronous update screen mentioned here can have different implementation plans:

[0051] Solution 1: The virtual screen is a virtual three-dimensional space constructed according to the actual surgical environment. The robot arm body in the actual surgical environment is set to have an initial position, and the surgical object is set to have a preset position. According to the distance and orientation between the two, the robot arm body in the initial position and the surgical object in the preset position are also set in the virtual three-dimensional space. When the robot arm body moves in the actual surgical environment (the robot arm body executes the robot arm motion control instruction) or generates an instruction to move it (the orientation information of the robot arm that needs to move is calculated based on the gesture captured on the third human-computer interaction interface), the movement path of the robot arm in the virtual three-dimensional space is calculated proportionally according to the instruction.

[0052] Solution 2: A signal acquisition device is set on the end effector, such as an image sensor, infrared sensor, ultrasound, radar and other distance sensors, to collect the position information of the surgical object relative to the real surgical environment; the control system constructs a virtual screen of the end effector and the surgical object based on the information collected by the signal acquisition device, and the positions of the two in the screen match the information collected by the signal acquisition device. When the information collected by the signal acquisition device changes, the control system corrects the virtual screen.

[0053] Specifically, the terminal control method based on the third human-computer interaction interface can have different operation forms, for example: if the duration of the sliding gesture captured on the third human-computer interaction interface is less than a preset time threshold, the stepping distance of the control movement or the stepping angle of the rotation in the actual space is determined according to the preset parameters, which is analogous to the forward and backward movement button, the left and right movement button, the up and down movement button along the pin track, and the clockwise and counterclockwise rotation button around the pin track on the first human-computer interaction interface;

[0054] If the duration of the sliding gesture captured on the third human-computer interaction interface reaches a preset time threshold, the amplitude of the controlled swing in the actual space is determined according to the time / distance of the gesture sliding: the longer the duration of the gesture sliding / the greater the sliding distance, the greater the amplitude of the controlled swing in the actual space. This is analogous to the forward and backward swing buttons and left and right swing buttons on the first human-computer interaction interface.

[0055] In summary, the terminal position of the surgical robot can be controlled by different people in different places: the doctor or nurse can control the terminal position of the robot by operating the second human-machine interaction interface of the terminal touch screen 210 at the terminal, or can control the terminal position of the robot on the operating handle of the remote control host 400 to meet the customized control scenario. The terminal control technology allows the doctor to customize the terminal landing position according to experience to achieve better surgical results.

[0056] The robot's end posture can also be controlled on the human-machine interaction device of the remote control host 400. This is divided into two control methods: through the first human-machine interaction interface and the third human-machine interaction interface. When the human-machine interaction device and the surgical robot are not located in the same room, it is more advantageous to use the third human-machine interaction interface for control, because the operator can visually control the posture of the surgical robot's end through a virtual screen that simulates the surgical environment.

[0057] In one embodiment of the present invention, the highest priority of controlling the movement of the manipulator among the human-machine interaction device, the operating handle, and the terminal touch screen is the terminal touch screen. In other words, when the terminal touch screen captures the control button trigger signal on the second human-machine interaction interface, the control of the manipulator by the human-machine interaction device and the operating handle becomes invalid. The control system can ignore the custom control instructions sent by other parties (such as the human-machine interaction device or the operating handle) received during this stage from the time when the terminal touch screen sends the custom control instruction to the time when the corresponding manipulator movement control instruction is executed. On the contrary, when the custom control instructions sent by other parties are being analyzed and processed or the manipulator body is executing the control instructions corresponding to the human-machine interaction device or the operating handle, the control system receives the custom control instructions sent from the terminal touch screen, then the manipulator body terminates the current movement and waits for the new manipulator movement control instructions converted from the custom control instructions sent from the terminal touch screen. The doctor can be in an emergency, such as when the patient moves or breathes abnormally. Usually, the doctor is close to the end of the manipulator body at this time, so he can respond quickly to make an action to adjust the end posture through the terminal touch screen to maintain the stability and fluency of the operation.

[0058] The above four terminal control methods provided in the embodiments of the present invention are only for the preparation stage before the operation. That is, for example, in interventional surgery, when the surgical robot performs the interventional operation or afterwards, the control of the robotic arm by the terminal touch screen, human-computer interaction device and operating handle will all fail, that is, the control system will no longer convert the custom control instructions it sends into robotic arm motion control instructions.

[0059] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0060] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A surgical robot with multi-mode controllable terminal posture, comprising a robotic arm body, an end effector, a communication connection module, and a remote control host, wherein the end effector is rigidly connected to the robotic arm body, the remote control host comprises a control system, a human-machine interaction device, and an operating handle with physical operation keys, the human-machine interaction device is configured with a first human-machine interaction interface displaying control keys, characterized in that: The end effector is provided with an end touch screen, which is equipped with a second human-machine interaction interface with display control buttons; The human-machine interaction device is also configured with a third human-machine interaction interface, which synchronously displays a virtual picture of the end effector moving relative to the surgical object in the surgical environment; The robotic arm body and the end touch screen are connected to the control system through the communication connection module. The control system is configured to generate robotic arm motion control instructions based on the first human-computer interaction interface, the second human-computer interaction interface, the third human-computer interaction interface or the signal triggered by the operating handle, and send the robotic arm motion control instructions to the robotic arm body.

2. The surgical robot with multi-mode controllable terminal posture according to claim 1, characterized in that: When the human-machine interaction device displays the third human-machine interaction interface, the human-machine interaction device captures the gesture on the third human-machine interaction interface, and determines the orientation vector for controlling movement or rotation in the actual space according to the gesture content, and generates a custom control instruction based on the orientation vector; The control system converts the custom control instruction into the robot arm motion control instruction.

3. The surgical robot with multi-mode controllable terminal position according to claim 2, characterized in that: If the duration of the sliding gesture captured on the third human-computer interaction interface is less than a preset time threshold, determining the distance of the controlled movement or the angle of rotation in the actual space according to preset parameters; If the duration of the sliding gesture captured on the third human-computer interaction interface reaches a preset time threshold, the amplitude of the controlled swing in the actual space is determined according to the time / distance of the gesture sliding: the longer the duration of the gesture sliding / the greater the sliding distance, the greater the amplitude of the controlled swing in the actual space.

4. The surgical robot with multi-mode controllable terminal posture according to claim 1, characterized in that: When or after the robot arm body executes the robot arm motion control instruction, or when or after capturing a gesture on the third human-computer interaction interface, the third human-computer interaction interface synchronously updates the orientation information of the end effector relative to the surgical object in the virtual screen.

5. The surgical robot with multi-mode controllable terminal posture according to claim 1, characterized in that: The end effector is also provided with a signal acquisition device, which is configured to acquire position information relative to the surgical object; The control system constructs a virtual picture of the end effector and the surgical object based on the information collected by the signal acquisition device, and the positions of the two in the picture match the information collected by the signal acquisition device.

6. The surgical robot with multi-mode controllable terminal position according to claim 1, characterized in that: The terminal touch screen is configured to capture the control button trigger signal on the second human-machine interaction interface, and generate corresponding custom control instructions according to the trigger signals of different control buttons; The control system converts the custom control instruction into the robot arm motion control instruction.

7. The surgical robot with multi-mode controllable terminal posture according to claim 1, characterized in that: When the human-machine interaction device displays the first human-machine interaction interface, the human-machine interaction device captures the control button trigger signal on the first human-machine interaction interface, and generates corresponding custom control instructions according to the trigger signals of different control buttons; The control system converts the custom control instruction into the robot arm motion control instruction.

8. The surgical robot with multi-mode controllable terminal posture according to claim 1, characterized in that: The operating handle captures the trigger signal of the physical operating key, and generates corresponding custom control instructions according to the trigger signals of different physical operating keys; The control system converts the custom control instruction into the robot arm motion control instruction.

9. The surgical robot with multi-mode controllable terminal posture according to any one of claims 6 to 8, characterized in that: The control buttons on the first human-machine interaction interface or the second human-machine interaction interface include a plurality of buttons for moving forward and backward, a button for moving left and right, a button for moving up and down along the pin track, a button for swinging forward and backward, a button for swinging left and right, and a button for rotating clockwise or counterclockwise around the pin track; And / or, the physical operation keys of the operating handle include multiple buttons for moving forward and backward, moving left and right, moving up and down along the pin trajectory, swinging forward and backward, swinging left and right, and rotating clockwise and counterclockwise around the pin trajectory.

10. The surgical robot with multi-mode controllable terminal posture according to claim 1, characterized in that: Among the human-computer interaction device, the operating handle and the terminal touch screen, the terminal touch screen has the highest priority in controlling the movement of the robotic arm. When the terminal touch screen captures the control button trigger signal on the second human-computer interaction interface, the human-computer interaction device and the operating handle fail to control the robotic arm.

11. The surgical robot with multi-mode controllable terminal posture according to any one of claims 1 to 8 or claim 10, characterized in that: When the surgical robot performs an interventional operation or thereafter, the control of the robotic arm by the terminal touch screen, the human-machine interaction device and the operating handle all fail.

12. The surgical robot with multi-mode controllable terminal position according to claim 11, characterized in that: The communication connection module adopts Rabbitmq, Kafka, RocketMQ or Redis message middleware, or adopts TCP or UDP protocol communication module.

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