Surgical robot system

Abstract

The invention discloses a surgical robot system. The surgical robot system comprises a master console and a surgical robot comprising a controller, a surgical tool and a cannula. The surgical tool can be accommodated in the sleeve in an extending manner and comprises a flexible part at the far end, and a remote motion center is arranged on the central axis of the sleeve; the controller is configured to: control the sleeve to perform translational motion relative to the central axis, and reset the remote center of motion according to a termination position of the sleeve; according to the remote motion center, the relative position relation between the flexible part and the sleeve is determined, and motion control is conducted on the flexible part according to the control information. The remote motion center is reset, and the relative position relation between the flexible part and the casing pipe is determined, so that different motion constraints are used, and the flexible part is prevented from being damaged when moving relative to the casing pipe.

Description

[0001] This application is a divisional application with application number 202311067426.4 filed on August 23, 2023 and application name “Surgical Robot System”. The full text of the application is incorporated into this application by reference. Technical Field

[0002] The present invention belongs to the field of medical devices, and in particular relates to a surgical robot system. Background Art

[0003] When using a surgical robot, the surgeon sitting in front of the main operating table usually controls the operating equipment (including surgical instruments and endoscopes) to perform the corresponding surgical actions through master-slave motion control. In order to improve the smoothness of the surgical operation, the surgical tools are installed on the robotic arm of the patient's surgical platform and activated by software before being handed over to the surgeon for master-slave control.

[0004] In the existing solutions of the operation equipment, due to the space constraints of the trocar in the mechanical structure design, the operable space of the surgical tool inside and outside the trocar is different, so the corresponding applicable surgical scenes are also different. The existing solutions do not configure constraints on the movement of the surgical tool inside and outside the trocar, so when the operator controls the flexible part of the surgical tool to extend out of the trocar or retract into the trocar, the flexible part may be in a bent state, causing the bend to collide with the trocar port, resulting in damage to the flexible part or the trocar port. Summary of the invention

[0005] In order to solve the technical problem that the existing surgical tools have a large degree of freedom of movement inside and outside the cannula, which easily causes damage to the surgical tools during operation, the present invention proposes the following technical solutions:

[0006] A first aspect of the present invention provides a control method for a surgical robot, wherein the surgical robot system includes a main console and a surgical robot, wherein the surgical robot includes a controller, a surgical tool and a cannula, and the main console is communicatively connected to the surgical robot; the surgical tool can be extended and accommodated in the cannula, and includes a flexible portion at a distal end, the flexible portion includes at least one joint mechanism, and the joint mechanism includes a base portion and a joint portion; the controller is configured to perform motion control on the surgical tool, including: in response to the main console sending control information on the surgical tool, determining that the flexible portion and the cannula are in a first relative position relationship or a second relative position relationship; based on the control information, the flexible portion is motion controlled according to a preset first constraint associated with the first relative position relationship; or,

[0007] Optionally, the flexible part includes an end tool, a first joint mechanism and a second joint mechanism, the first joint mechanism includes a first base part and a first joint part, the second joint mechanism includes a second base part and a second joint part, the second joint part is coupled to the first base part, and the first joint part is coupled to the end tool; determining that the flexible part and the sleeve are in a first relative position relationship or a second relative position relationship includes: determining whether there is at least one port position relative to the sleeve that satisfies a preset position relationship among the end tool, the first base part and the second base part; if there is at least one that satisfies the preset position relationship, determining that the flexible part and the sleeve are in the first relative position relationship; if there is no at least one that satisfies the preset position relationship, determining that the flexible part and the sleeve are in the second relative position relationship.

[0008] Optionally, the first base part is provided with a first coordinate system, the second base part is provided with a second coordinate system, a remote motion center is provided on the central axis of the sleeve, and a preset distance threshold is provided for the remote motion center relative to the port position; the determining whether there is at least one port position satisfying a preset position relationship relative to the sleeve among the end tool, the first base part and the second base part comprises: determining a first axial distance between the first coordinate system and the second coordinate system and the remote motion center, respectively, in a distal direction of the central axis of the sleeve; comparing the size of each of the first axial distances with the preset distance threshold, and based on the comparison result, determining whether the port positions of the end tool, the first base part and the second base part relative to the sleeve satisfy the preset position relationship.

[0009] Optionally, controlling the sleeve to perform translational movement relative to the central axis based on each of the size information and the second axial distance includes: determining the lengths of each segment of the end tool, the first base portion and the second base portion according to the size information; setting a translation range of the sleeve relative to the central axis of the sleeve according to each of the segment lengths and the second axial distance, and controlling the sleeve to move within the translation range; or, setting each translation node of the sleeve relative to the central axis of the sleeve according to each of the segment lengths and the second axial distance, and controlling the sleeve to move on each of the translation nodes so that the end position of the sleeve is located on one of the translation nodes.

[0010] Optionally, optionally, the first constraint includes a first degree of freedom constraint, a second degree of freedom constraint and a third degree of freedom constraint; the motion control of the flexible part according to the control information and the preset first constraint associated with the first relative position relationship includes: if the end tool satisfies the preset position relationship and the first base part does not satisfy the preset position relationship, then according to the control information, the flexible part is motion controlled according to the first degree of freedom constraint; if the first base part satisfies the preset position relationship and the second base part does not satisfy the preset position relationship, then according to the control information, the flexible part is motion controlled according to the second degree of freedom constraint; if the second base part satisfies the preset position relationship, then according to the control information, the flexible part is motion controlled according to the third degree of freedom constraint.

[0011] Optionally, the first degree of freedom constraint includes: the movement of the end tool performing functional operations, and the rotational movement of the first joint part and the second joint part around their own central axes, and the rotational movement and translational movement along the central axis of the sleeve; the second degree of freedom constraint includes: the first degree of freedom constraint, and the bending movement of the first joint part along the first base part; the third degree of freedom constraint includes: at least one of the first degree of freedom constraint and the second degree of freedom constraint, and the bending movement of the second joint part along the second base part.

[0012] Optionally, the controller is also configured to: determine the switching situation of the flexible part between the first relative position relationship and the second relative position relationship during the movement; determine the current motion state of the flexible part based on the switching situation and the control information, and control the joint part to move according to the joint posture corresponding to the motion state.

[0013] Optionally, controlling the joint part to move according to the joint posture form corresponding to the motion state includes: when the control information is propulsion control, setting the joint posture form corresponding to the motion state to be: the memory form of the joint part when the flexible part is about to switch from the first relative position relationship to the second relative position relationship; when the control information is retreat control, setting the joint posture form corresponding to the motion state to be: the straightened form of the joint part; controlling the joint part to move according to the memory form or the straightened form.

[0014] Optionally, the remote motion center is provided with a third coordinate system; the number of the surgical tools is multiple; the surgical robot also includes a display device; the controller is further configured to: establish a kinematic model for each surgical tool based on the third coordinate system; determine the third relative position relationship between the joint base and the end tool between each surgical tool during the movement of the flexible part of each surgical tool based on the kinematic model; generate a three-dimensional model diagram of the flexible part corresponding to each surgical tool based on the third relative position relationship; display the three-dimensional model diagram on the display device; or, according to the switching of the flexible part between the first relative position relationship and the second relative position relationship, capture a two-dimensional view of the corresponding perspective in the three-dimensional model diagram, and display the two-dimensional view on the display device. The surgical robot includes a controller, a surgical tool and a sleeve; the surgical tool can be extended to be accommodated in the sleeve and includes a flexible portion at a distal end; the controller is configured to perform motion control on the surgical tool; the control method includes: in response to control information on the surgical tool, determining that the flexible portion and the sleeve are in a first relative position relationship or a second relative position relationship; based on the control information, the flexible portion is motion controlled according to a preset first constraint associated with the first relative position relationship; or, based on the control information, the flexible portion is motion controlled according to a preset second constraint associated with the second relative position relationship; wherein, in the first relative position relationship, the length of the flexible portion accommodated in the sleeve is shorter than that in the second relative position relationship.

[0015] Optionally, the flexible part includes at least one joint mechanism, and the joint mechanism includes a base part and a joint part, wherein the number of joint mechanisms constrained by the first constraint is greater than the number of joint mechanisms constrained by the second constraint, and the constraints on the joint mechanisms include constraints on the degrees of freedom of movement of the joint part.

[0016] Optionally, the flexible part also includes an end tool, the joint mechanism includes a first joint mechanism and a second joint mechanism, the first joint mechanism includes a first base part and a first joint part, the second joint mechanism includes a second base part and a second joint part, the second joint part is coupled to the first base part, and the first joint part is coupled to the end tool; the determination of the first relative position relationship or the second relative position relationship between the flexible part and the sleeve includes: among the end tool, the first base part and the second base part, determining whether there is at least one port position relative to the sleeve that satisfies a preset position relationship; if there is at least one that satisfies the preset position relationship, determining that the first relative position relationship between the flexible part and the sleeve is present; if there is not at least one that satisfies the preset position relationship, determining that the second relative position relationship between the flexible part and the sleeve is present.

[0017] Optionally, the first constraint includes a first degree of freedom, a second degree of freedom constraint and a third degree of freedom constraint; and the motion control of the flexible part according to the control information and the preset first constraint associated with the first relative position relationship includes: if the end tool satisfies the preset position relationship and the first base part does not satisfy the preset position relationship, then according to the control information, the flexible part is motion controlled according to the first degree of freedom; if the first base part satisfies the preset position relationship and the second base part does not satisfy the preset position relationship, then according to the control information, the flexible part is motion controlled according to the second degree of freedom constraint; if the second base part satisfies the preset position relationship, then according to the control information, the flexible part is motion controlled according to the third degree of freedom constraint.

[0018] Optionally, the first degree of freedom includes: the movement of the end tool to perform functional operations, and the rotational movement of the first joint part and the second joint part around their own central axes, and the rotational movement and translational movement along the central axis of the sleeve; the second degree of freedom constraint includes: the first degree of freedom, and the bending movement of the first joint part along the first base part; the third degree of freedom constraint includes: the first degree of freedom, the second degree of freedom constraint, and the bending movement of the second joint part along the second base part.

[0019] Optionally, the second constraint includes: rotational movement of the end tool, the first joint part and the second joint part around their own central axes, and rotational movement and translational movement along the central axis of the sleeve.

[0020] Optionally, the first base part is provided with a first coordinate system, the second base part is provided with a second coordinate system, a remote motion center is provided on the central axis of the sleeve, and a preset distance threshold is provided for the remote motion center relative to the port position; the determining whether there is at least one port position satisfying a preset position relationship relative to the sleeve among the end tool, the first base part and the second base part comprises: determining a first axial distance between the first coordinate system and the second coordinate system and the remote motion center, respectively, in a distal direction of the central axis of the sleeve; comparing the size of each of the first axial distances with the preset distance threshold, and based on the comparison result, determining whether the port positions of the end tool, the first base part and the second base part relative to the sleeve satisfy the preset position relationship.

[0021] Optionally, the control method also includes: acquiring size information of the flexible part, and determining a second axial distance between the target lesion area and the port position; based on each of the size information and the second axial distance, controlling the sleeve to perform translational movement relative to the central axis; and in response to a setting instruction of the remote motion center, resetting the remote motion center according to the terminal position of the sleeve during the translational movement.

[0022] Optionally, controlling the sleeve to perform translational movement relative to the central axis based on each of the size information and the second axial distance includes: determining the lengths of each segment of the end tool, the first base portion and the second base portion according to the size information; setting a translation range of the sleeve relative to the central axis of the sleeve according to each of the segment lengths and the second axial distance, and controlling the sleeve to move within the translation range; or, setting each translation node of the sleeve relative to the central axis of the sleeve according to each of the segment lengths and the second axial distance, and controlling the sleeve to move on each of the translation nodes so that the end position of the sleeve is located on one of the translation nodes.

[0023] Optionally, in response to the setting instruction of the remote motion center, resetting the remote motion center according to the terminal position of the sleeve when performing the translational motion includes: in response to the setting instruction of the remote motion center, determining the translation distance of the sleeve according to the terminal position of the sleeve when performing the translational motion; controlling the remote motion center to move according to the translation distance to obtain the reset remote motion center, wherein the remote motion center is located within the position range of the sleeve.

[0024] Optionally, the control method also includes: determining a switching situation of the flexible part between the first relative position relationship and the second relative position relationship during the movement; determining a current motion state of the flexible part based on the switching situation and the control information, and controlling the joint part to move according to a joint posture corresponding to the motion state.

[0025] Optionally, determining the current motion state of the flexible part according to the switching situation and the control information includes: judging whether the switching situation meets a preset condition, wherein the preset condition includes that the flexible part is currently gradually switching between a first relative position relationship and a second relative position relationship, and before that, the flexible part switches from the second relative position relationship to the first relative position relationship; if the switching situation meets the preset condition, determining the current motion state of the flexible part according to the control information.

[0026] Optionally, controlling the joint part to move according to the joint posture form corresponding to the motion state includes: when the control information is thrust control, setting the joint posture form corresponding to the motion state to be: the memory form of the joint part when the flexible part is about to switch from the first relative position relationship to the second relative position relationship; when the control information is retreat control, setting the joint posture form corresponding to the motion state to be: the straightened form of the joint part; controlling the joint part to move according to the memory form or the straightened form.

[0027] Optionally, the surgical tool includes an endoscope and at least one surgical instrument, and a corresponding relationship is set between the joint mechanism of the endoscope and the joint mechanism of the at least one surgical instrument. The control method also includes: when determining that a target joint mechanism in the endoscope or the at least one surgical instrument is in a retraction state or a reset state, controlling another joint mechanism that has a corresponding relationship with the target joint mechanism to perform coordinated movement.

[0028] Optionally, the remote motion center is provided with a third coordinate system; the number of the surgical tools is multiple; the surgical robot also includes a display device; the control method also includes: based on the third coordinate system, establishing a kinematic model for each surgical tool; based on the kinematic model, during the movement of the flexible part of each surgical tool, determining the third relative position relationship between the joint base and the end tool of each surgical tool; based on the third relative position relationship, generating a three-dimensional model diagram of the flexible part corresponding to each surgical tool; displaying the three-dimensional model diagram on the display device; or, according to the switching of the flexible part between the first relative position relationship and the second relative position relationship, capturing a two-dimensional view of the corresponding perspective in the three-dimensional model diagram, and displaying the two-dimensional view on the display device.

[0029] The second aspect of the present invention provides a surgical robot system, comprising: a surgical robot and a main console as described above, the main console being communicatively connected to the surgical robot; the controller being configured to: determine, in response to control information sent by the main console, that the flexible part and the sleeve are in a first relative position relationship or a second relative position relationship; perform motion control on the flexible part according to a preset first constraint associated with the first relative position relationship based on the control information; or, perform motion control on the flexible part according to a preset second constraint associated with the second relative position relationship based on the control information; wherein, relative to the second relative position relationship, the length of the flexible part accommodated in the sleeve is shorter in the first relative position relationship.

[0030] A third aspect of the present invention provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned surgical robot control method are implemented.

[0031] The beneficial effect of the present invention is that when receiving control information for a surgical tool, it is necessary to determine the relative positional relationship between the flexible part at the distal end of the surgical tool and the cannula. In different relative positional relationships, different constraints are responded to the control information, and the flexible part is controlled with different degrees of freedom of movement. For example, the flexible part has more degrees of freedom of movement outside the cannula than inside the cannula, preventing the flexible part from entering and exiting the cannula in a bent state and causing damage. At the same time, the surgical tool is inside and outside the cannula, and the master-slave operation is performed with different constraints, which can be applicable to surgical scenarios with narrow cavities. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the structure of the surgical robot system of the present invention;

[0033] Figure 2is a schematic diagram of the structure of the surgical robot in the present invention;

[0034] Figure 3 is a first flow chart of the control method of the surgical robot in the present invention;

[0035] Figure 4 is a schematic diagram of the structure of the surgical tool of the present invention;

[0036] Figure 5A is a structural schematic diagram of a cannula coupled with a surgical tool in the present invention;

[0037] Figure 5B is another structural schematic diagram of a cannula coupled with a surgical tool in the present invention;

[0038] Figure 6 is a first schematic diagram of the position of the flexible portion relative to the sleeve in the present invention;

[0039] Figure 7 is a second schematic diagram of the position of the flexible portion relative to the sleeve in the present invention;

[0040] Fig. 8A It is the first schematic diagram of the remote motion center reset on the sleeve in the present invention;

[0041] Figure 8B is a second schematic diagram of resetting the remote motion center on the middle sleeve in the present invention;

[0042] Figure 8C is a third schematic diagram of resetting the remote motion center on the middle sleeve in the present invention;

[0043] Fig. 9 is a second flow chart of the control method of the surgical robot in the present invention;

[0044] Fig. 10A is a third schematic diagram of the position of the flexible portion relative to the sleeve in the present invention;

[0045] Fig. 10B is a fourth schematic diagram of the position of the flexible portion relative to the sleeve in the present invention;

[0046] Fig.11 is a fifth schematic diagram of the position of the flexible portion relative to the sleeve in the present invention;

[0047] Fig.12 is a schematic diagram of the display interface in the present invention;

[0048] Fig.13 is another schematic diagram of the display interface in the present invention;

[0049] Fig.14This is the third flow chart of the control method of the surgical robot in the present invention. DETAILED DESCRIPTION

[0050] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments.

[0051] The preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0052] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those understood by a person skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example, the term "plurality" includes two or more.

[0053] 1. Surgical Robot System

[0054] For ease of understanding, the structure of the surgical robot is described below. Figure 1-Figure 2 The present invention provides an embodiment of a surgical robot system, which is specifically as follows:

[0055] like Figure 1 As shown, the surgical robot system 100 includes at least a surgical robot 10 and a main console 20, and the main console 10 and the surgical robot 20 are communicatively connected. The surgical robot responds to the control information output by the main console, and performs master-slave operations based on the received control information to complete the corresponding surgical actions.

[0056] Specifically, in an exemplary surgical environment, the surgical robot 10 and the main console 20 are connected to each other through a master-slave communication bus 30, and the control information sent by the main console 20 is transmitted to the surgical robot 10 through the master-slave communication bus 30; the object to be operated by the surgical robot, such as a patient 40, is placed on an operating table 50 in a required posture, and the surgical robot can be pushed to the side of the operating table 50, and the robotic arm is extended to the preset position of the patient 40 to perform the surgical operation; the main console 20 is controlled by a doctor 60, and the control information is synchronously output according to the operation of the doctor 60, wherein the main console 20 and the surgical robot 10 can be deployed in the same connected space or in completely isolated different spaces, so that the doctor can operate the main console 20 in a controlled manner. The robot arm can realize remote surgical operations; the robotic arm is also coupled with an in vivo interventional endoscope (not shown in the figure) to observe the movement of tissues and surgical tools during the operation, and the tissues within the field of view of the endoscope are displayed through the imaging trolley 70, and the imaging trolley 70 and the endoscope are communicated through the endoscope data line 80, and the real-time video stream is sent to the imaging trolley 70 for display through the endoscope data line; at the same time, when the doctor 60 controls the surgical robot 10 at the main console 20, the imaging trolley forwards the displayed video stream to the main console 20 through the main image communication bus 90, and the main console 20 also presents it in real time, providing the doctor 60 with the surgical field of view and the movement of surgical tools.

[0057] like Figure 2 As shown, the surgical robot 10 is used to actually perform surgical actions, and specifically includes a controller (not shown in the figure), a surgical tool 11 (surgical tool 11-A, surgical tool 11-B) and a cannula 12; the surgical tool 11 is coupled to the controller and can be extended to be accommodated in the inner cavity of the cannula 12, and includes a flexible portion 111 at the distal end; the controller is configured to perform motion control on the surgical tool 11; and: in response to control information sent by the main console 10, determine that the flexible portion 111 and the cannula 12 are in a first relative position relationship or a second relative position relationship; according to the control information, the flexible portion 111 is motion controlled according to a preset first constraint associated with the first relative position relationship; or, according to the control information, the flexible portion 111 is motion controlled according to a preset second constraint associated with the second relative position relationship.

[0058] In this embodiment, each time the main console sends control information to the surgical robot, the surgical robot will not directly perform the corresponding surgical action based on the control information; instead, it will first check the relative position relationship (first relative position relationship and second relative position relationship) of the flexible part at the current moment, and different relative position relationships are associated with corresponding motion constraints (first constraint and second constraint); based on the determined motion constraints, the control information is adjusted, and the actual execution control instructions are output to actuate the flexible part to perform the surgical action. That is, for the control information output by the main console, the surgical robot does not completely execute the surgical action in the control information.

[0059] Exemplarily, the first constraint includes constraints related to the executable degrees of freedom A and B of the flexible part, and the second constraint includes constraints related to the executable degree of freedom B of the flexible part; the control information output by the main console includes a first control instruction and a second control instruction, wherein the first control instruction instructs the flexible part to execute the degree of freedom A, and the second control instruction instructs the flexible part to execute the degree of freedom B; the surgical robot filters the control information, and if the flexible part is in the second relative position relationship, the surgical robot does not respond to the first control instruction, but only responds to the second control instruction, and controls the flexible part to perform the surgical action according to the degree of freedom B; if the flexible part is in the first relative position relationship, the surgical robot responds to the first and second control instructions at the same time, and controls the flexible part to perform the surgical action according to the degrees of freedom A and B. Specifically, the control information, when used to be transmitted to the surgical robot to control the surgical tool to perform the surgical action, at least includes the orientation information and distance information for controlling the movement of the flexible part; the orientation information, for example, indicates the advancement, retreat and / or bending of the flexible part along the inner cavity of the sleeve, and the distance information, for example, indicates the advancement amount, retreat amount and / or bending angle of the flexible part. By filtering the orientation information and the distance information, the control instruction finally formed satisfies the requirements of the first constraint or the second constraint.

[0060] In this embodiment, the first relative position relationship and the second relative position relationship can be determined based on the size of the movable space of the flexible part relative to the sleeve. When the flexible part has a larger movable space, it is determined as the first relative position relationship, and when the flexible part has a smaller movable space, it is determined as the second relative position relationship. The first constraint and the second constraint can also be pre-set according to the structural characteristics of the flexible part and the sleeve, based on the size of the movable space after the two are coupled. For example, in the first constraint, a larger movement amplitude (such as more movable directions and a larger movable distance) is set for the flexible part, and in the second constraint, a smaller movement amplitude (such as fewer movable directions and a smaller movable distance) is set for the flexible part.

[0061] Exemplarily, the first relative position relationship may be that the flexible part is outside the sleeve, and the flexible part has a larger movable space outside the sleeve; the second relative position relationship may be that the flexible part is inside the sleeve, and due to the physical limitation of the sleeve, the flexible part has a smaller movable space. Compared with the second constraint, the first constraint is not physically limited by the sleeve, so that the range of motion set by the first constraint at least increases the radial extension range of the flexible part outside the sleeve.

[0062] In addition, in a specific surgical space, the sleeve 12 is arranged at the human incision 13 and set at a fixed position, and a remote motion center 14 is also provided on the sleeve 12, so that the sleeve 12 and the surgical tool 11 (11-A, 11-B) can move around the remote motion center 14; the surgical tool 11 (11-A, 11-B) coupled to the inner cavity of the sleeve 12 can extend distally to reach the target tissue position (such as the lesion 15); a central axis 16 is provided on the sleeve 12, and the remote motion center 14 is preferably set at the intersection of the central axis 16 and the center of the human incision 13, so that when the sleeve moves along the central axis 16 around the remote motion center 14, damage to the tissue is prevented.

[0063] in addition, Figure 2 The surgical tools 11 (11-A, 11-B) coupled to the inner cavity of the sleeve shown are usually equipped with at least one endoscope 112-A and at least two surgical instruments 112-B in order to achieve hand-eye coordination during the operation. When three or more surgical instruments are installed, the doctor needs to switch between different surgical tools by operating the instrument switching function of the main console.

[0064] 2. Master-slave operation-sleeve hiding function

[0065] The surgical robot of the present invention is described above. Figure 2-Figure 7 The present invention provides a first embodiment of a control method for a surgical robot, which is specifically as follows:

[0066] 301. In response to control information of the surgical tool, determine that the flexible portion and the sleeve are in a first relative position relationship or a second relative position relationship;

[0067] 302. Perform motion control on the flexible portion according to the control information and a preset first constraint associated with the first relative position relationship; or

[0068] 303. Perform motion control on the flexible portion according to the control information and a preset second constraint associated with the second relative position relationship.

[0069] In this embodiment, Figure 3The flowchart shown introduces the control method executed by the surgical robot in the surgical robot system when responding to the control information sent by the main console. The previous embodiment of the surgical robot system has introduced the control process of the single end of the surgical robot. Please refer to the aforementioned content and will not be repeated here. It should be noted that in the control process of the entire surgical tool, it is necessary to perform motion control according to the first constraint and the second constraint based on at least the first relative position relationship and the second relative position relationship of the flexible part. For other parts of the surgical tool, adaptive adjustments can also be made according to specific needs, such as setting different motion constraints according to the aforementioned first relative position relationship and the second relative position relationship. Among them, the length of the flexible part accommodated in the sleeve is shorter in the first relative position relationship than in the second relative position relationship.

[0070] In one embodiment, if Figure 4 A schematic diagram of a surgical tool is shown, in which the flexible portion 111 at the distal end of the surgical tool includes at least one joint mechanism (112-A, 112-B), and the joint mechanism includes a base portion (113-A, 113-B) and a joint portion (114-A, 114-B), wherein the number of joint mechanisms (112-A, 112-B) constrained by the first constraint is greater than the number of joint mechanisms (112-A, 112-B) constrained by the second constraint, and the constraints on the joint mechanisms (112-A, 112-B) include constraints on the degrees of freedom of movement of the joint portions (114-A, 114-B).

[0071] In this embodiment, the flexible part realizes flexible motion, such as bending motion, through at least one joint mechanism. Furthermore, the flexible motion is realized by the joint part, and the joint base acts as a reference, that is, the orientation, distance and other related information contained in the control information is based on the joint base to control the motion control of the joint part. The degree of freedom of motion of the joint part increased by the first constraint relative to the second constraint is the flexible motion of the joint part.

[0072] In addition, the surgical tool may also include a proximal long-axis connecting rod 115, which may be made of a rigid material; a central axis 116 of the surgical tool, which is parallel to or coincides with the central axis of the sleeve; and a driving unit 117, which is used to control the long-axis connecting rod 115, the joint mechanism (112-A, 112-B), and the active device arrangement position of the end tool 118 to perform the movement. The long-axis connecting rod 115 connects the base part (113-A, 113-B) and the driving unit 117, and can realize the rotational movement around its own axis according to the control information, drive the rotational movement of the flexible part, and perform axial translation along the central axis of the sleeve, drive the flexible part to perform axial translation.

[0073] In one embodiment, the movement of the end tool to perform functional operations, such as the opening and closing movement of the end clamping tool, has a degree of freedom that is not affected by the first relative position relationship and the second relative position relationship, and can perform corresponding movement actions. That is, the first constraint and the second constraint both include the degree of freedom of movement of the end tool to perform functional operations, and the first constraint does not increase the constraint on the degree of freedom of movement of the end tool to perform functional operations relative to the second constraint.

[0074] Specifically, the flexible part includes at least two aspects of motion control, one is the motion control of the flexible part based on the central axis, and the other is the motion control of the joint part based on the base part. The former will always keep the central axis of the surgical tool parallel to the central axis of the sleeve during the movement of the flexible part, and the latter will make the central axis of the joint part at least partially deviate from the central axis of the sleeve during the movement of the flexible part. That is, the first constraint includes at least these two aspects of motion control of the flexible part, and the second constraint includes at least the first aspect of motion control of the flexible part based on the central axis.

[0075] Exemplarily, the first type of motion control of the flexible part includes the following three items: the flexible part moves axially along the central axis of the sleeve along with the entire surgical tool; the flexible part rotates along its own central axis along with the entire surgical tool; the sleeve rotates along its own central axis, driving the flexible part to rotate along the central axis of the sleeve along with the entire surgical tool. In the first three types of motion control of the flexible part, the central axis of the surgical tool is kept parallel to the central axis of the sleeve, and the posture of the flexible part here is a straightened state relative to the long axis connecting rod.

[0076] Exemplarily, the second type of motion control of the joint portion includes: the joint portion moves along the bending motion of the base portion. Figure 4 As shown, the joint part 114-A of the joint mechanism 112-A is bent toward the bottom of the central axis of the sleeve relative to the base part 113-A, and the joint part 114-B of the joint mechanism 112-B is bent toward the top of the central axis of the sleeve relative to the base part 113-B, and the joint part 114-A and the joint part 114-B form a preset angle with the central axis of the sleeve.

[0077] The base part 113-A is provided with a coordinate system XwYwZw, the base part 113-B is provided with a coordinate system XbYbZb, and the joint part 114-A and the joint part 114-B perform bending motion along the coordinate system XwYwZw and the coordinate system XbYbZb, respectively. It should be noted that the two coordinate systems XwYwZw and XbYbZb are provided here, so that the two joint mechanisms (112-A, 112-B) in the flexible part can be independently controlled.

[0078] In one embodiment, if Figure 4 and Figure 5A The flexible portion shown in the figure also includes an end tool 118, the joint mechanism includes a first joint mechanism 112-A and a second joint mechanism 112-B, the first joint mechanism 112-A includes a first base portion 113-A and a first joint portion 114-A, the second joint mechanism 112-B includes a second base portion 113-B and a second joint portion 114-B, the second joint portion 114-B is coupled to the first base portion 113-A, and the first joint portion 114-A is coupled to the end tool 118; the determination of the flexible portion 111 and the sleeve The first relative position relationship or the second relative position relationship between the tubes 12 includes: determining whether there is at least one item in the end tool 118, the first base part 113-A and the second base part 113-B that satisfies the preset position relationship relative to the port position 121 of the sleeve 12; if there is at least one item that satisfies the preset position relationship, determining that the first relative position relationship is between the flexible part 111 and the sleeve 12; if there is not at least one item that satisfies the preset position relationship, determining that the second relative position relationship is between the flexible part 111 and the sleeve 12.

[0079] In this embodiment, the relative position relationship between the flexible part and the sleeve is evaluated, and its purpose is to select the motion constraint of the flexible part under different movable spaces. The movable space of the flexible part relative to the sleeve is distinguished here, and the port position of the sleeve is used as the boundary. The difference between the preset first constraint and the second constraint is that the flexible movement of the joint part is increased, and the flexible movement of the joint part is an independent control of the joint part based on the base part; therefore, the relative position relationship between the sleeve and the flexible part can be evaluated by the relative position between the port position of the sleeve and the base part.

[0080] In addition, relative to the above content: the first constraint does not increase the constraint on the freedom of movement of the end tool to perform functional operations relative to the second constraint. In another embodiment, the relative position relationship between the end tool and the port position can also be evaluated, and the first constraint can also increase the movement of the end tool relative to the second constraint, such as the opening and closing movement of the end tool with a clamping function. Prevent the end tool from damaging the cannula or surgical tool when performing functional operations.

[0081] Specifically, the preset position relationship may be that the end tool, the first base part or the second base part is outside the port position, and since the flexible part includes the end tool, the first base part, and the second base part in order from the distal end to the proximal end, when the second base part satisfies the preset position relationship, the first base part and the end tool also satisfy the preset position relationship. And so on.

[0082] In addition, if Figure 4 As shown, the first joint mechanism can be a wrist joint mechanism, and the second joint mechanism can be a shoulder-elbow joint mechanism. As mentioned above, a coordinate system XwYwZw is established on the wrist base (first base part), and a coordinate system XbYbZb is established on the shoulder-elbow base (second base part). When the shoulder-elbow joint (second joint part) performs flexible movement based on the shoulder-elbow base, it can realize two-degree-of-freedom rotational movement around the Xb axis and the Yb axis, which is used to drive the wrist base to perform two-degree-of-freedom translational movement in the XwYw plane; when the wrist joint (first joint part) performs flexible movement based on the wrist base, it can also realize two-degree-of-freedom rotational movement around the Xw axis and the Yw axis, which is used to adjust the posture of the end tool of the surgical instrument and the camera lens of the endoscope. During the movement of the shoulder-elbow joint, the Zb axis of the coordinate system XbYbZb and the Zw axis of the coordinate system XwYwZw must always remain parallel.

[0083] In this application scenario, combined with the aforementioned control information including orientation information and distance information, it can be further represented by two degrees of freedom information of the shoulder and elbow joints around the Xb axis and the Yb axis, and two degrees of freedom information of the wrist joints around the Xw axis and the Yw axis.

[0084] Among them, the long-axis connecting rod, shoulder-elbow joint mechanism and wrist joint mechanism can be motion-decoupled, that is, the three can perform motion control independently; and the multi-joint mechanisms can also be jointly moved, for example, the joint motion between the shoulder-elbow joint mechanism and the wrist joint mechanism is based on the shoulder-elbow base, which can realize the posture (position and attitude) adjustment of each joint mechanism and the end tool in the shoulder-elbow base coordinate system.

[0085] For example, Figure 5A As shown, the surgical tools coupled to the inner cavity of the sleeve 12 include: an endoscope 11-A and two surgical instruments 11-B. The main structures of the surgical instruments 11-B and the endoscope 11-A are the same, and the difference is that the end tools 118 are functional tools for clamping / ablation and a camera respectively.

[0086] Among them, by setting the coordinate system XmYmZm at the remote motion center 14 on the central axis 16 of the sleeve, the wrist joint mechanisms and shoulder and elbow joint mechanisms of the three surgical tools are all inside the sleeve and do not exceed the port position of the sleeve, while the end tools of the two surgical instruments are outside the port position of the sleeve. At this time, the endoscope 11-A and the surgical instrument 11-B as a whole can follow the sleeve 12 to perform overall rotational motion around the remote motion center 14, and can perform rotational motion around its own central axis and forward and backward translational motion along the central axis 116 of the sleeve, and the end clamping tool can perform opening and closing motion.

[0087] In the process of moving the surgical tool, the Zm axis of the coordinate system XmYmZm can also always remain parallel to the Zb axis of the coordinate system XbYbZb and the Zw axis of the coordinate system XwYwZw.

[0088] In this application scenario, combined with the aforementioned control information including orientation information and distance information, it can be further represented by the rotational freedom information and translational freedom information of the surgical tool around its own axis.

[0089] In addition, if Figure 5A The surgical tool installation method shown can be an initial installation state in which the surgical tool is accommodated in the sleeve, and each joint mechanism is in the software zero position, and the subsequent movement of each joint mechanism is based on the zero position for bending movement. Through this initial installation state, the surgical tool applies the movement mode of the response control information as described above, so that the endoscope 11-A and the surgical instrument 11-B can be gradually extended to gradually unlock the second constraints related to each joint mechanism, which is used in a small surgical space operation, or when the surgical instrument needs to be operated to open a surgical channel in the absence of a surgical space.

[0090] In one embodiment, the surgical tool is initially installed in the cannula, except for the following Figure 5A The surgical tool installation method shown can also be other installation methods, such as retracting the end tools of the endoscope 11-A and the surgical instrument 11-B into the sleeve. However, the prerequisite to be observed is that the first closing mechanism, the second joint mechanism and the long axis connecting rod should not be arranged outside the sleeve, or part of them should be outside.

[0091] like Figure 5B As shown, the shoulder and elbow bases and wrist bases of the surgical instrument 11-B and the endoscope 11-A are both outside the port position 121 of the sleeve, which belongs to the first relative position relationship; the movement of each joint mechanism is not restricted by the sleeve (i.e., it belongs to the first constraint), the surgical instrument 11-B can realize six-degree-of-freedom surgical operations in the workspace, and the endoscope 11-A can realize six-degree-of-freedom visual field exploration in the workspace; the six degrees of freedom include: two degrees of freedom of rotation and translation of the surgical tool around its own axis, two degrees of freedom of rotation of the shoulder and elbow joint around the Xb axis and the Yb axis, and two degrees of freedom of rotation of the wrist joint around the Xw axis and the Yw axis. The first constraint includes the motion constraint of the six degrees of freedom.

[0092] Compared with the second constraint, the first constraint adds at least two degrees of freedom constraints of the shoulder and elbow joints around the Xb axis and the Yb axis, and two degrees of freedom of the wrist joint around the Xw axis and the Yw axis, that is, the second constraint includes: two degrees of freedom motion constraints of the surgical tool around its own axis, namely, rotational motion and translational motion.

[0093] In one embodiment, the control information includes at least one degree of freedom information of the aforementioned six degrees of freedom, indicating the orientation information and distance information for controlling the movement of the flexible part. The control information is filtered so that it is finally output to the controller to actuate the movement of the flexible part to satisfy the first constraint or the second constraint.

[0094] Exemplarily, when the control information is filtered, for example, the control information includes two degrees of freedom of the shoulder and elbow joint around the Xb axis and the Yb axis, and the rotational movement around its own axis, then the flexible part, when in the second relative position relationship, will filter out the two degrees of freedom information of the shoulder and elbow joint around the Xb axis and the Yb axis, and will not respond to the control instructions of the two degrees of freedom, but only respond to the control instructions of the rotational movement around its own axis, so as to actuate the long-axis connecting rod to rotate around its own axis and drive the rotation of the flexible part.

[0095] In addition, by controlling the endoscope to move forward and backward along the central axis of the cannula, the field of view of the endoscope can be continuously adjusted so that the wrist joint and shoulder and elbow joints of the surgical instrument are covered within the field of view, thereby assisting the surgical instruments to avoid collision with each other during operation. Similarly, by controlling the surgical instruments to move forward and backward along the central axis of the cannula, the operating distance between the surgical instruments and the lesions and human tissues can be adjusted.

[0096] In one embodiment, the first constraint includes a first degree of freedom, a second degree of freedom constraint and a third degree of freedom constraint; the motion control of the flexible part according to the control information and the preset first constraint associated with the first relative position relationship includes: if the end tool satisfies the preset position relationship and the first base part does not satisfy the preset position relationship, then according to the control information, the flexible part is motion controlled according to the first degree of freedom; if the first base part satisfies the preset position relationship and the second base part does not satisfy the preset position relationship, then according to the control information, the flexible part is motion controlled according to the second degree of freedom constraint; if the second base part satisfies the preset position relationship, then according to the control information, the flexible part is motion controlled according to the third degree of freedom constraint.

[0097] In this embodiment, Figure 6 As shown, a simplified schematic diagram of four relative positional relationships between the flexible portion and the sleeve is presented (eg Figure 6 a to d in the figure). The preset position relationship is that the end tool 601, the first base portion 602 and the second base portion 603 are located outside the port position 604 (equivalent to Figure 6 The area above the port location 604 is shown).

[0098] Specifically, for Figure 6 In a, the end tool 601, the first base portion 602 and the second base portion 603 are all located inside the port position 604, that is, the three do not satisfy the preset position relationship, and at this time, the flexible portion and the sleeve are in the second relative position relationship. Figure 6 In b, the end tool 601 is located outside the port position 604, and the first base portion 602 and the second base portion 603 are both located inside the port position 604, and the first degree of freedom is used to control the motion of the flexible portion; Figure 6 In c, the end tool 601 and the first base portion 602 are both located outside the port position 604, and the second base portion 603 is located inside the port position 604. At this time, the second degree of freedom constraint is used to control the motion of the flexible portion; Figure 6 In d, the end tool 601, the first base portion 602 and the second base portion 603 are all outside the port position 604, and the third degree of freedom constraint is used to control the motion of the flexible portion.

[0099] It should be noted that if Figure 6 As shown, when the first joint part and / or the second joint part performs bending movement, the coordinate axes Zw and Zb of the first base part and the second base part are still in a parallel state. Preferably, the coordinate axes Zw and Zb remain parallel to the central axis of the surgical tool or the central axis of the sleeve.

[0100] In one embodiment, the first degree of freedom includes: the movement of the end tool to perform functional operations, and the rotational movement of the first joint part and the second joint part around their own central axes, and the rotational movement and translational movement along the central axis of the sleeve; the second degree of freedom constraint includes: the first degree of freedom, and the bending movement of the first joint part along the first base part; the third degree of freedom constraint includes: the first degree of freedom, the second degree of freedom constraint, and the bending movement of the second joint part along the second base part.

[0101] Specifically, for Figure 6 b in which the flexible part is controlled to move in accordance with the first degree of freedom, the first degree of freedom including the degree of freedom of movement of the end tool to perform functional operations, the degree of freedom of rotation of the first joint part and the second joint part around their own axis and the degree of freedom of translation, the own axis can be the Zw axis of the first base part and the Zb axis of the second base part. Figure 6 In c, the second degree of freedom constraint also includes: two rotational degrees of freedom of the first joint part around the Xw axis and the Yw axis of the second base part. Figure 6d in, the third degree of freedom constraint also includes: two rotational degrees of freedom of the second joint part around the Xb axis and the Yb axis in the second base part.

[0102] In one embodiment, for Figure 6 In a, the second constraint includes: rotational movement of the end tool, the first joint part and the second joint part around their own central axes, and rotational movement and translational movement along the central axis of the sleeve.

[0103] In one embodiment, if Figure 7 As shown, the first base part 701 is provided with a first coordinate system XwYwZw, the second base part 702 is provided with a second coordinate system XbYbZb, a remote motion center 704 is provided on the central axis of the sleeve 703, and the remote motion center 704 is provided with a preset distance threshold f relative to the port position 705; in the end tool 706, the first base part 701 and the second base part 702, determining whether there is at least one port position relative to the sleeve that satisfies the preset position relationship includes: determining the first axial distance (d1, d2) between the first coordinate system XwYwZw and the second coordinate system XbYbZb and the remote motion center 704, respectively, in the distal direction of the central axis of the sleeve; comparing the size of each of the first axial distances (d1, d2) with the preset distance threshold f, and based on the comparison result, determining whether the end tool 706, the first base part 701 and the second base part 702 meet the preset position relationship relative to the port position 705 of the sleeve 703.

[0104] In this embodiment, for example, if the first axial distance d1 between the first coordinate system XwYwZw and the remote motion center 704 is greater than the preset distance threshold f, it is determined that the first base part 701 satisfies the preset position relationship; if the first axial distance d2 between the second coordinate system XbYbZb and the remote motion center 704 is less than the preset distance threshold f, it is determined that the second base part 702 does not satisfy the preset position relationship.

[0105] Furthermore, the straightened length d3 of the first joint portion is also known. When the first axial distance d1 is less than the preset distance threshold f, it is further determined whether d1+d3 is greater than the preset distance threshold f. If so, it is determined that the end tool 706 satisfies the preset position relationship. Otherwise, the end tool 706 does not satisfy the preset position relationship.

[0106] Exemplarily, the first coordinate system and the second coordinate system can represent the first axial distance with positive and negative numbers based on the relative position between the remote motion center. If the first coordinate system and the second coordinate system are in the direction of the remote motion center toward the distal end, the first axial distance between the two is represented by a positive number; if the first coordinate system and the second coordinate system are in the direction of the remote motion center toward the proximal end, the first axial distance between the two is represented by a negative number. For example, the first axial distance d1 between the first coordinate system XwYwZw and the remote motion center 704 is a positive number, and the first axial distance d2 between the second coordinate system XbYbZb and the remote motion center 704 is a negative number.

[0107] In a preferred technical solution, a spatial coordinate system can be constructed relative to the surgical robot to determine the position coordinates of the remote motion center, the first coordinate system, and the second coordinate system in the spatial coordinate system; the distances between the remote motion center and the first coordinate system and the second coordinate system are calculated based on the position coordinates; based on the size between the distance and the preset distance threshold, the first relative position relationship or the second relative position relationship between the flexible part and the sleeve is determined, wherein the first relative position relationship indicates that the flexible part is in a non-sleeve-hiding state of the sleeve, and the second relative position relationship indicates that the flexible part is in a sleeve-hiding state of the sleeve; in the non-sleeve-hiding state, the first constraint with more motion freedom constraints is applied to control the motion of the flexible part, and in the sleeve-hiding state, the second constraint with fewer motion freedom constraints is applied to control the motion of the flexible part. In the sleeve-hiding state and the non-sleeve-hiding state, the control information is filtered to realize the control of the flexible part with different degrees of freedom constraints, that is, the sleeve-hiding function of the flexible part relative to the sleeve is realized under the master-slave control of the surgical robot by the main console.

[0108] The first constraint increases the bending freedom of at least one joint mechanism in the flexible part relative to the second constraint, so that the conversion of the flexible part between the sleeve-hiding state and the sleeve-unhiding state can avoid the bending of the joint mechanism from damaging the sleeve and the flexible part. The bending movements of multiple joint mechanisms can be independently controlled based on their respective freedom constraints, making the control of the flexible part to handle the lesion more flexible and applicable to more scenarios, such as operating in a narrow surgical space, operating surgical instruments to open a surgical channel in the absence of surgical space, or treating lesions closer to the body surface.

[0109] 3. Sleeve Hiding Function - Reset Remote Motion Center

[0110] See below Figures 8A to 8C The present invention provides a second embodiment of a control method for a surgical robot, which is specifically as follows:

[0111] like Fig. 8AAs shown, by acquiring the size information (d1, d2 and d3) of the flexible part and determining the second axial distance d4 between the target lesion area H1 and the remote motion center 801; based on each of the size information (d1, d2 and d3), the preset distance threshold f and the second axial distance d4, the sleeve is controlled to perform translational motion relative to the central axis; in response to the setting instruction of the remote motion center 801, the remote motion center 801 is reset according to the terminal position of the sleeve when performing the translational motion.

[0112] In this embodiment, the entire sleeve containing the surgical tool is controlled to translate, so that when the end tool, the first base portion, or the second base portion translates to the first relative position relationship of the sleeve, the closest end motion limit of the end tool, the first joint portion, or the second joint portion can reach the target lesion area. At this time, the doctor inputs the remote motion center setting command on the main console to reset the remote motion center on the sleeve.

[0113] Still refer to Fig. 8A , the respective segment lengths (d1, d2, d3) of the end tool 802, the first base portion 803 and the second base portion 804 can be determined based on the size information; the translation range of the sleeve relative to the central axis of the sleeve is set according to each of the segment lengths (d1, d2, d3) and the second axial distance d4, and the sleeve is controlled to move within the translation range; or, the respective translation nodes of the sleeve relative to the central axis of the sleeve are set according to each of the segment lengths (d1, d2, d3) and the second axial distance d4, and the sleeve is controlled to move on each of the translation nodes, so that the terminal position of the sleeve is located on one of the translation nodes.

[0114] Specifically, taking the nearest endpoint 805 on the target lesion site, based on the size information of the flexible part, the segment length d1 of the end tool 802, the segment length d2 of the first base part 803, and the segment length d3 of the second base part 804 can be determined. When the end tool is just in the first relative position relationship of the sleeve, its distance from the target lesion area must be greater than or equal to the segment length d1, so that the nearest end movement limit of the end tool can reach the target lesion area. Similarly, it can be obtained that the distance from the first base part to the target lesion area must be greater than or equal to the segment length d2, and the distance from the second base part to the target lesion area must be greater than or equal to the segment length d3.

[0115] Based on the above, since the end tool 802, the first base portion 803 and the second base portion 804 are just in the first relative position relationship of the sleeve, the segment length d1, the segment length d2 and the segment length d3 can also be determined as: when the closest movement limit of the end tool 802, the first base portion 803 and the second base portion 804 can reach the target lesion area, the distance between the port position 806 and the closest end point 805.

[0116] Further, when the end tool 802, the first base portion 803, and the second base portion 804 are just in the first relative position relationship of the sleeve, determining the translation range of the sleeve relative to the central axis of the sleeve specifically includes:

[0117] When the end tool 802 is just in the first relative position relationship of the sleeve, the first translation range R1 is: R 1 ≥ f + d1 - d4;

[0118] When the first base portion 803 is just in the first relative position relationship of the sleeve, the second translation range R2 is: R2≥f+d2-d4;

[0119] When the second base portion 804 is just in the first relative position relationship of the sleeve, the third translation range R3 is: R3≥f+d3-d4;

[0120] Furthermore, in order to ensure that the cannula is still in the patient's body after translation, the fourth translation range R4 is determined as: R4<f.

[0121] In one embodiment, based on the above R1, R2, R3, and R4, the final translation range R of the sleeve relative to the central axis of the sleeve is set as follows: (f+d1-d4|f+d1-d4|f+d1-d4)≤R≤f. The sleeve can be operated on the console to perform any translation movement within the translation range R.

[0122] In another embodiment, the sleeve is set with respect to each translation node of the central axis of the sleeve (the translation lengths are: f+d1-d4, f+d1-d4, f+d1-d4). By operating on the main console, the sleeve is made to perform a jumping translation movement on each translation node, and the port position coincides with the translation node. Further, forward and backward translation buttons are preset, and in response to the touch operation of the forward button, the port position of the sleeve moves to the adjacent more distal translation node, and in response to the touch operation of the backward button, the port position of the sleeve moves to the adjacent more proximal translation node.

[0123] By setting the translation range or translation node of the cannula during translational movement, on the one hand, the cannula will not be withdrawn from the body, and on the other hand, when the surgical tool passes through the inner cavity of the cannula and enters the patient's body, at least one of the end tool, the first base part, and the second base part extends out of the cannula, and at least one of the end tool, the first joint part, and the second joint part can move with the first constraint, so that the end tool can process the target lesion area. It should be noted that the setting method of the translation range or translation node also benefits from the fact that when the end tool, the first joint mechanism and the second mechanism are outside the cannula, the first constraint can be independently controlled, so that the surgical operation can be performed outside the cannula in a partially hidden sleeve manner.

[0124] In one embodiment, in response to the setting instruction of the remote motion center, resetting the remote motion center according to the terminal position of the sleeve when performing translational motion includes: responding to the setting instruction of the remote motion center, determining the translation distance of the sleeve according to the terminal position of the sleeve when performing translational motion; controlling the remote motion center to move according to the translation distance to obtain a reset remote motion center, wherein the remote motion center is located within the position range of the sleeve.

[0125] In this embodiment, Figure 8B As shown, when the target lesion area is close to the human body incision 801, the target lesion area H1 cannot be processed because the closest end movement limit of the end tool 802 is located at a deeper position than the target lesion area H1 ( Figure 8B a), so the cannula needs to be moved so that the depth of the most proximal movement limit of the end tool 802 is shallower until it reaches the target lesion area H1 ( Figure 8B b). The translation distance D of the control sleeve is then reversely translated by the distance D of the remote motion center 803 to obtain the reset position of the remote motion center 803 ( Figure 8B c), and under the constraints of the translation range or translation node, the remote motion center 803 is located within the position range of the sleeve, which is equivalent to the sleeve being located within the patient's body surface.

[0126] In this embodiment, Figure 8CAs shown, in the flexible part of the surgical tool, if the end tool 801, the first joint mechanism 802, and the second joint mechanism 803 cannot be independently controlled, all three need to be extended out of the port position 804 of the sleeve so that the end tool 801 can treat the target lesion area H1. When the sleeve is translated to the extreme position about to exit the human incision 805, the most proximal movement limit of the end tool 801 is still deeper than the target lesion area H1, and the target lesion area H1 cannot be treated. In this case, the sleeve needs to be further translated to exit the body, and a protective cover 806 is added between the sleeve and the human incision 805 to prevent the environment from infecting the patient through the human incision 805. ( Figure 8C d)

[0127] In this embodiment, since the end tool 801, the first joint mechanism 802, and the second joint mechanism 803 are independently controlled, it is not necessary to extend all three of them out of the sleeve, and only one of them needs to be extended to achieve the end tool 801 to treat the target lesion area H1. Based on this, the sleeve can be withdrawn a shorter distance within the translation range, and the closest movement limit of the end tool 801 can reach the target lesion area H1 / H2, so that the sleeve does not need to be withdrawn from the body, reducing the risk of infection to the patient, and the end tool 801 can also treat the target lesion area H1 / H2. Figure 8C e and f).

[0128] Furthermore, as the target lesion area is closer to the body surface, the retraction distance of the cannula is controlled, such as Figure 8C The target lesion area in f is relative to the target lesion area H1 Figure 8C The target lesion area H2 in the middle d is closer to the body surface to control the extension of one or more of the end tool 801, the first joint mechanism 802, and the second joint mechanism 803. While taking into account that the sleeve does not need to be withdrawn from the body to reduce the risk of infection to the patient, the freedom of movement of the flexible part is increased as much as possible, for example, Figure 8C The flexible part of the middle e can realize two rotational degrees of freedom of the first joint part and the translation and rotational degrees of freedom along the central axis (four degrees of freedom), so that the end part realizes the freedom of movement of functional operation, but Figure 8C The flexible part of medium f can only realize translation and rotational freedom (two degrees of freedom) along the central axis.

[0129] In addition, it is further detected whether the difference between the translation distance of the cannula and the preset distance threshold is within the preset difference threshold; if so, the cannula can be controlled to advance in the distal direction so that the difference exceeds the preset difference threshold, thereby preventing the port position of the cannula from just fitting against the human incision, so that when the relative radial displacement between the cannula and the patient is too large, the human incision or the tissue part fitting against the cannula is damaged.

[0130] 4. Sleeve Hiding Function - Retraction and Reset

[0131] See below Fig. 9 , Fig. 10A and Fig. 10B The present invention provides a third embodiment of a control method for a surgical robot, which is specifically as follows:

[0132] 901. Determine a switching condition between the first relative position relationship and the second relative position relationship of the flexible portion during movement;

[0133] 902. Determine a current motion state of the flexible portion according to the switching condition and the control information;

[0134] 903. Control the joint part to move according to the joint posture corresponding to the movement state.

[0135] In this embodiment, the first relative position relationship of the flexible part includes at least one of the end tool, the first base part and the second base part satisfying the preset position relationship, which is specifically expressed as at least one being outside the position of the sleeve port. When the end tool is set to satisfy the preset position relationship, the flexible part and the sleeve belong to the first relationship, when the first base part is set to satisfy the preset position relationship, the flexible part and the sleeve belong to the second relationship, when the second base part is set to satisfy the preset position relationship, the flexible part and the sleeve belong to the third relationship, and the first relative position relationship includes the first relationship, the second relationship and the third relationship; determining the switching situation of the flexible part between the first relative position relationship and the second relative position relationship is: determining the sequential switching situation between the first relationship, the second relationship, the third relationship and the second relative position relationship.

[0136] Specifically, Fig. 10A The a to d shown in the figure represent the position of the flexible part relative to the sleeve in the second relative position relationship, the first relationship, the second relationship, and the third relationship in sequence. Therefore, the first relative position relationship is obtained when the flexible part is in the second relative position relationship and extends to the distal end through the inner cavity of the sleeve.

[0137] Further, when the relative position relationship between the flexible part and the sleeve is switched from the second relative position relationship to the first relative position relationship for the first time, it is determined that the current motion state of the flexible part belongs to the first type of state; when it is switched from the first relative position relationship to the second relative position relationship, or when it is switched from the second relative position relationship back to the first relative position relationship again, it is determined that the current motion state of the flexible part belongs to the second type of state. The motion state includes the first type of state and the second type of state. The final motion state of the first type of state or the second type of state is determined in combination with the translational motion information relative to the central axis in the control information.

[0138] In one embodiment, if Fig. 10A As shown, when controlling the movement of the joint part based on the final form, the specific movement control method is as follows:

[0139] 1) Based on the first type of state and the control information, the first motion state of the flexible part is determined for propulsion control; based on the first motion state, the control information is completely mapped to the real-time joint posture morphology to control the joint part.

[0140] 2) Based on the first type of state and the control information that the control is backward control, determine the current second motion state of the flexible part; based on the second motion state, control the joint part in the straightened form P1.

[0141] 3) Based on the second type of state and the control information, determine the current third motion state of the flexible part for propulsion control; based on the third motion state, control the joint part according to the memory form (P2 to P4).

[0142] 4) Based on the second type of state and the control information that the control is backward control, determine the current fourth motion state of the flexible part; based on the fourth motion state, control the joint part in the straightened form P1.

[0143] Among them, if the motion control mode 2) and the motion control mode 4) are converted from the backward control to the forward control, they will enter the motion control mode 1) and the motion control mode 4) respectively.

[0144] In one embodiment, determining the current motion state of the flexible part based on the switching situation and the control information includes: judging whether the switching situation meets a preset condition, wherein the preset condition includes that the flexible part is currently gradually switching between a first relative position relationship and a second relative position relationship, and before that, the flexible part switches from the second relative position relationship to the first relative position relationship; if the switching situation meets the preset condition, determining the current motion state of the flexible part based on the control information.

[0145] In this embodiment, when the switching situation meets the preset conditions, the current motion state of the flexible part belongs to the aforementioned second type of state, that is, the flexible part is relative to the sleeve: switching from the second relative position relationship to the first relative position relationship (reset state) again, or switching from the first relative position relationship to the second relative position relationship (retraction state). Therefore, it can be determined that before this, the flexible part needs to switch from the second relative position relationship to the first relative position relationship. At this time, according to whether the control information is forward control or backward control, the aforementioned motion control method 3) or motion control method 4) is used to control the motion of the joint part.

[0146] Specifically, with respect to “before this, the flexible portion switches from the second relative position relationship to the first relative position relationship”, the position of the flexible portion relative to the sleeve has previously changed from Fig. 10A a (second relative position relationship) in the switch to Fig. 10A b (second relation) in , and even further switch to Fig. 10A c (third relation) or Fig. 10A d (the fourth relationship) in the figure; that is, before this, at least one of the end tool, the first base portion, and the second base portion extends out of the port position of the sleeve.

[0147] See also Fig. 10A , and then when the flexible part gradually switches between the first relative position relationship and the second relative position relationship, the switching method includes:

[0148] 1) Starting from the end tool 1001 to expose the port position 1004, gradually move until the end tool 1001 completely exposes the port position 1004; (i.e., from Fig. 10A Switch to Fig. 10A b)

[0149] 2) From the end tool 1001 completely exposed to the port position 1004, gradually move to the first base portion 1002 completely exposed to the port position 1004; (i.e., from Fig. 10A Switch to Fig. 10A c)

[0150] 3) completely exposing the port position 1004 from the first base portion 1002, and gradually moving to completely exposing the port position 1004 from the second base portion 1003; (i.e., from Fig. 10A Switch to Fig. 10A d)

[0151] 4) Starting from the second base portion 1003, the port position 1004 is withdrawn, and gradually moved until the second base portion 1003 is completely withdrawn to the port position 1004; (i.e., from Fig. 10A d in the switch to Fig. 10A c)

[0152] 5) Starting from the first base portion 1002, the port position 1004 is withdrawn, and gradually moved until the first base portion 1002 is completely withdrawn to the port position 1004; (i.e., from Fig. 10A Switch to Fig. 10A b)

[0153] 6) Start to retract the end tool 1001 to the port position 1004, and gradually move until the end tool 1001 is completely retracted to the port position 1004. (i.e., from Fig. 10A b in the switch to Fig. 10A a)

[0154] In one embodiment, controlling the joint part to move according to the joint posture form corresponding to the motion state includes: when the control information is propulsion control, setting the joint posture form corresponding to the motion state to be: the memory form of the joint part when the flexible part is about to switch from the first relative position relationship to the second relative position relationship; when the control information is retreat control, setting the joint posture form corresponding to the motion state to be: the straightened form of the joint part; controlling the joint part to move according to the memory form or the straightened form.

[0155] In this embodiment, when the control information is the propulsion control, the flexible part belongs to the aforementioned switching mode 1) to the switching mode 3); when the control information is the backward control, the flexible part belongs to the aforementioned switching mode 4) to the switching mode 6). The memory form of the joint part is: the posture form of the joint part when the flexible part switches from the second relative position relationship to the first relative position relationship before. Among them, the posture form of the joint part before further includes: the posture form of the joint part at the most recent moment before, or the posture form of the joint part triggered and set by the main console before.

[0156] For details, please refer to Fig. 10A When the flexible part belongs to the aforementioned switching mode 1), the memory shape of the joint part is locally preset as Fig. 10A The first memory form P2 in b; when the flexible part belongs to the aforementioned switching mode 2), the memory form of the joint part is locally preset as Fig. 10A The second memory form P3 in c; when the flexible part belongs to the aforementioned switching mode 3), the memory form of the joint part is preset to Fig. 10A The third memory form P4 in d.

[0157] In another embodiment, if the flexible part belongs to the aforementioned switching mode 1), and the memory form of the complete joint part is: the posture form of the joint part when the flexible part switches from the second relative position relationship to the second relationship, or switches to the third relationship; then the memory form of the joint part can also be preset to the second memory form, or the third memory form.

[0158] In another embodiment, if the flexible part belongs to the aforementioned switching mode 2), and the memory form of the joint part is: the posture form of the joint part when the flexible part switches from the second relative position relationship to the third relationship; then the memory form of the joint part can also be preset as the third memory form.

[0159] Wherein, before this, the flexible part switches from the second relative position relationship to the first relative position relationship if it belongs to the following situations: 1) the flexible part switches from the second relative position relationship to the first relationship ( Fig. 10A a); 2) the flexible portion switches from the second relative position relationship to the second relationship ( Fig. 10A a); for situation 1), when the flexible part belongs to the aforementioned switching mode 2) or switching mode 3), the second memory form and the third memory form can be set to the straightened form; for situation 2), when the flexible part belongs to the aforementioned switching mode 3), the third memory form can be set to the straightened form.

[0160] In addition, when the flexible part belongs to the aforementioned switching mode 4) to switching mode 6), the reverse operation can be performed according to the aforementioned morphological setting method of switching mode 1) to switching mode 3), which will not be repeated here.

[0161] In this embodiment, please refer to Fig. 10B When the flexible portion belongs to any one of the switching modes 1) to 6) described above, the flexible portion gradually switches, for example, when the first joint portion 1005 is extended out of the sleeve ( Fig. 10B Switch to Fig. 10B b), as the first joint portion gradually extends, it gradually recovers from the straightened state P2 to the memory state P5; for example, when the second joint portion 1006 is extended out of the sleeve ( Fig. 10B b in the switch to Fig. 10B c), as the first joint gradually extends, it gradually recovers from the memory state P5 to the memory state P6, until it recovers to the final memory state P(4 Fig. 10B d). When the first joint portion 1005 and the second joint portion 1006 are retracted into the sleeve, the reverse operation of extending the first joint portion 1005 and the second joint portion 1006 out of the sleeve is performed, and the memory shape P6 is pulled straight to the memory shape P5, until finally pulled to the straightened shape P2.

[0162] In another embodiment, if Fig. 10A As shown, during the gradual switching process of the flexible part, as the first joint part and the second joint part gradually extend out of the sleeve, as the corresponding first base part and the second base part fully extend out of the sleeve, the first joint part and the second joint part in the straightened state are restored to the corresponding memory states P3 and P4. The two first and second joint parts are converted from the posture state P2 to the posture state P6.

[0163] Exemplarily, when controlling the joint part to move in a straightened shape corresponding to the retraction state, the control information sent in real time includes at least the retraction movement information of the surgical tool relative to the central axis. Based on the retraction movement information, a straightening control instruction for adjusting the current shape of the joint part to a straightened shape and a retraction control instruction are configured. The straightening control instruction and the retraction control instruction are sent to the controller, which actuates the joint part to gradually straighten and retract.

[0164] Exemplarily, when controlling the joint part to move according to a memory shape corresponding to the reset state, the control information sent in real time includes at least the propulsion movement information of the surgical tool relative to the central axis. Based on the propulsion movement information, a straightening control instruction and a retreat control instruction are configured to adjust the current shape of the joint part to the memory shape. The straightening control instruction and the retreat control instruction are sent to the controller, which actuates the joint part to gradually advance and restore.

[0165] In one embodiment, when determining the switching condition between the first relative position relationship and the second relative position relationship during the movement of the flexible portion, the switching condition may be determined based on the change of the first axial distance during the movement of the flexible portion.

[0166] In this embodiment, the size of the first axial distance relative to the preset distance threshold during the movement of the flexible part is determined; if the first axial distance changes from less than the preset distance threshold to greater than the preset distance threshold as the flexible part moves, it is determined that the flexible part switches from the second relative position relationship to the first relative position relationship; if the first axial distance changes from greater than the preset distance threshold to less than the preset distance threshold, it is determined that the flexible part switches from the first relative position relationship to the second relative position relationship. Each conversion of the size of the first axial distance relative to the preset distance threshold is recorded to obtain the switching situation.

[0167] Furthermore, when judging whether the switching situation meets the preset conditions, it is also possible to judge whether the change of the first axial distance of the flexible part during the movement meets the preset distance conditions. If the change of the first axial distance meets the preset distance conditions, it is determined that the switching situation of the flexible part between the first relative position relationship and the second relative position relationship meets the preset conditions.

[0168] Among them, the preset distance condition includes that the current first axial distance is less than or equal to the preset distance threshold, and that there is a first axial distance greater than the preset distance threshold before; if the change of the first axial distance meets the preset distance condition, it is determined that the current movement state of the flexible part is a retreat state or a reset state relative to the sleeve.

[0169] In one embodiment, when the operation state is just entering the retract state or the reset state, the control information may be an instantaneous control instruction to control the distal part to automatically move to a set posture. For example, a one-key retract / one-key reset button is set on the main console, and the doctor touches the button to realize one-key retracting of the cannula of the flexible part, or one-key extension of the cannula.

[0170] Each instantaneous control instruction can only set the posture of a single joint mechanism; that is, each time the button is touched, a momentary control instruction is output, and each time a joint mechanism is controlled to automatically move to the set posture. When the button is touched again, the next joint mechanism is controlled to automatically move to the set posture.

[0171] In another embodiment, the operation state is a continuous retraction / reset state, and the control information is a continuous control instruction, which controls the distal part to continuously move according to the set posture form during the continuous sending of the continuous control instruction. For example, when the posture form is a straightened form in the retraction state, the flexible part / joint mechanism is straightened at t1-t2 and retracts at t2-t3 with the continuous control instruction; when the posture form is a memory form in the reset state, the flexible part / joint mechanism is pushed forward at t1-t2 and reset at t2-t3; or, based on the withdrawal amount, the part of the flexible part exiting the sleeve is determined, and the part is straightened in real time according to the straightened form; based on the advancement amount, the part of the distal part extending out of the sleeve is determined, and the part is reset in real time according to the memory form.

[0172] 5. Sleeve Hiding Function - Coordinated Movement

[0173] See below Fig.11 The present invention provides a fourth embodiment of a control method for a surgical robot, which is specifically as follows:

[0174] The surgical tool includes an endoscope and at least one surgical instrument. A corresponding relationship is set between the joint mechanism of the endoscope and the joint mechanism of the at least one surgical instrument. When a target joint mechanism in the endoscope or the at least one surgical instrument is determined to be in a retracted state or a reset state, another joint mechanism having a corresponding relationship with the target joint mechanism is controlled to perform coordinated movement.

[0175] In this embodiment, there is a flexible part in one of the endoscope and the surgical instrument. As the relative sleeve switches between a first relative position relationship and a second relative position relationship, and before that there is a switch from the second relative position relationship to the first relative position relationship, it is determined that the surgical tool is in a retracted state or a reset state.

[0176] In the retracted or reset state, as the flexible part of the surgical instrument or endoscope advances or retreats, a large change in posture will occur, causing a large change in the position of the surgical instrument relative to the field of view of the endoscope. Under this large change, the surgical instrument is likely to leave the field of view of the endoscope and lose its visible position. Therefore, at this time, the other surgical instrument or endoscope that is not in the retracted or reset state will move in coordination with it, so that the difference in the change of posture between the two is small, reducing the probability of the surgical instrument leaving the field of view of the endoscope.

[0177] Specifically, when setting the correspondence between the joint mechanism of the surgical instrument and the joint mechanism of the endoscope, since the surgical instrument is usually at a more distal position relative to the endoscope, the camera at the end of the endoscope can capture the end tool of the more distal surgical instrument. Based on this, the first joint mechanism and the second joint mechanism of the surgical instrument can be determined. The more distal position of the first joint mechanism and the second joint mechanism of the endoscope can be determined. The first correspondence between the first joint mechanism of the endoscope and the second joint mechanism of the surgical instrument and the second correspondence between the second joint mechanism of the endoscope and the second joint mechanism of the surgical instrument are pre-set. Based on the first correspondence and the second correspondence, the second joint mechanism of the surgical instrument is controlled to move along with the first joint mechanism and the second joint mechanism of the endoscope.

[0178] Among them, the switching of the flexible part of the endoscope between the first relative position relationship and the second relative position relationship includes sequential switching from the second relative position relationship to the first relationship, the second relationship and the third relationship, specifically including forward or reverse sequential switching. The switching from the second relative position relationship to the second relationship can be divided into two switching stages: the second relative position relationship to the first relationship and the first relationship to the second relationship. The switching from the second relative position relationship to the third relationship can be divided into three switching stages: the second relative position relationship to the first relationship, the first relationship to the second relationship, and the second relationship to the third relationship.

[0179] For example, Fig.11 As shown, it includes an endoscope 110-A, a surgical instrument 110-B and a surgical instrument 110-C, and a second joint mechanism 1101 and a first joint mechanism 1102 of the endoscope 110-A are set, and a corresponding relationship between the second joint mechanism 1103 of the surgical instrument 110-B and the second joint mechanism 1104 of the surgical instrument 110-C respectively; the first corresponding relationship is: as the second joint mechanism 1101 retracts into the sleeve, the second joint mechanism 1103 and the second joint mechanism 1104 retract into the sleeve; the second corresponding relationship is: as the first joint mechanism 1102 retracts into the sleeve, the second joint mechanism 1103 and the second joint mechanism 1104 retract into the sleeve.

[0180] For details, please refer to Fig.11 The initial relative position relationship between the endoscope 110-A, the surgical instrument 110-B and the surgical instrument 110-C and the various joint mechanisms is as follows: Fig.11 As shown in a; when the second joint mechanism 1101 is Fig.11 When the position of a in the figure moves to the position where it begins to enter the casing (such as Fig.11 As shown in b), according to the first corresponding relationship, the second joint mechanism 1103 and the second joint mechanism 1104 can also start to retreat; when the first joint mechanism 1002 moves from Fig.11 When the position of b in the figure moves to the position where it begins to enter the casing (such as Fig.11 As shown in c in FIG. 1 , according to the second corresponding relationship, the second joint mechanism 1103 and the second joint mechanism 1104 begin to retreat into the sleeve.

[0181] In one embodiment, when the second joint mechanism 1103 and the second joint mechanism 1104 are controlled to retreat according to the first corresponding relationship, on the one hand, the second joint mechanism 1103 and the second joint mechanism 1104 are constrained not to retreat into the sleeve; on the other hand, the second joint mechanism 1103 and the second joint mechanism 1104 can be constrained to retreat according to the moving distance of the second joint mechanism 1101, or the second joint mechanism 1103 and the second joint mechanism 1104 can be constrained to retreat to a position where they are about to retreat into the sleeve.

[0182] In one embodiment, when the second joint mechanism 1103 and the second joint mechanism 1104 are controlled to gradually retreat according to the first corresponding relationship, the second joint mechanism 1101 stays at the position where it begins to enter the casing until the second joint mechanism 1103 and the second joint mechanism 1104 retreat a preset distance, or the distance from the casing port is within a preset distance threshold;

[0183] In one embodiment, when the second joint mechanism 1103 and the second joint mechanism 1104 are controlled to gradually retreat according to the first corresponding relationship, the second joint mechanism 1101 is controlled to gradually retreat into the sleeve at a retreat rate with a preset weight according to the input control information, so that the first joint mechanism 1102, the second joint mechanism 1103 and the second joint mechanism 1104 simultaneously arrive at the position where they begin to enter the sleeve.

[0184] In one embodiment, when the second joint mechanism 1103 and the second joint mechanism 1104 are controlled to retract into the sleeve according to the second corresponding relationship, the first joint mechanism 1102 is controlled to gradually retract into the sleeve at a retraction rate with a preset weight according to the input control information, so that the first joint mechanism 1102, the second joint mechanism 1103 and the second joint mechanism 1104 are completely retracted into the sleeve at the same time.

[0185] In addition, after the first joint mechanism 1102, the second joint mechanism 1103 and the second joint mechanism 1104 are completely retracted into the sleeve, as the endoscope 110-A continues to retract, the first joint mechanism 1105 of the surgical instrument 110-B and the first joint mechanism 1106 of the surgical instrument 110-C also gradually retract into the sleeve.

[0186] In another embodiment, the first joint mechanism 1105 and the first joint mechanism 1106 can remain outside the sleeve and continue to perform the surgical operation, which is used for operations in a narrow surgical space or treatment of lesions close to the body surface.

[0187] 6. Sleeve Hide Function-View Switching

[0188] See below Figure 12 to Figure 13The present invention provides a fifth embodiment of a control method for a surgical robot, which is specifically as follows:

[0189] The remote motion center is provided with a third coordinate system; the number of the surgical tools is multiple; the surgical robot also includes a display device; based on the third coordinate system, a kinematic model is established for each surgical tool; based on the kinematic model, during the movement of the flexible part of each surgical tool, the third relative position relationship between the joint base and the end tool of each surgical tool is determined; based on the third relative position relationship, a three-dimensional model diagram of the flexible part corresponding to each surgical tool is generated; the three-dimensional model diagram is displayed on the display device; or, according to the switching of the flexible part between the first relative position relationship and the second relative position relationship, a two-dimensional view of the corresponding perspective is intercepted in the three-dimensional model diagram, and the two-dimensional view is displayed on the display device.

[0190] In this embodiment, please refer to Figure 5B For multiple surgical tools, for example, in addition to the first base parts of the endoscope 11-A and the surgical instrument 11-B, the first coordinate systems XewYewZew and XiwYiwZiw are respectively set, and the second coordinate systems XebYebZeb and XibYibZib are respectively set on the second base parts. A third coordinate system xmymzm is also set on the remote motion center. The third coordinate system xmymzm is used as a position reference benchmark to estimate the relative positions of the first coordinate systems XewYewZew, XiwYiwZiw, the second coordinate systems XebYebZeb and XibYibZib during the movement of the flexible part.

[0191] Specifically, the third coordinate system xmymzm is used as the position reference, and a kinematic model is established for the surgical instrument and the endoscope to obtain the third relative position relationship between the surgical instruments, between the surgical instruments and the endoscope, and between the first base part, the second base part, and the end tool, so that the movement process of each surgical tool can be displayed in real time and dynamically through the UI view. The UI view includes a three-dimensional model diagram and a two-dimensional view, which is usually presented on the screen of the main console, and can also be presented on the surgical robot and / or the imaging trolley.

[0192] like Fig.12 As shown, the display area of ​​the UI view may be a display area 1201 at the bottom of the screen, a display area 1202 at the left side of the screen, a display area 1203 at the right side of the screen, or a display area 1204 at the top of the screen, or any other position in the display interface, so that the doctor can observe the relative movement positions between the various surgical tools in the display interface. The UI view display area is at the bottom 1201 of the screen by default.

[0193] Further, based on the switching of the flexible part between the first relative position relationship and the second relative position relationship, each execution process of the flexible part can be determined, and according to the different execution processes of the flexible part, a two-dimensional view of the associated perspective is cut out from the three-dimensional model diagram to more clearly display the relative movement position of each surgical tool in the different execution processes of the flexible part. The two-dimensional views of different perspectives include at least a top view, a side view, and a front view.

[0194] In one embodiment, when determining each execution process of the flexible part based on the switching of the flexible part between the first relative position relationship and the second relative position relationship, when the flexible part gradually switches from the second relative position relationship to the first relative position relationship and from the first relative position relationship to the second relative position relationship, it is determined that the flexible part is in the first execution process; after the flexible part switches from the second relative position relationship to the first relative position relationship and continues to stay in the first relative position relationship, it is determined that the flexible part is in the second execution process; before the master-slave control is activated (the flexible part is in the second relative position relationship for the first time), it is determined that the flexible part is in the third execution process.

[0195] For further information, see Fig.13 When the flexible part is in the first execution process, the top view 1301 of the three-dimensional model diagram is intercepted; when the flexible part is in the second execution process, the side view 1302 of the three-dimensional model diagram is intercepted; when the flexible part is in the third execution process, the front view 1303 of the three-dimensional model diagram is intercepted. In order to avoid the two-dimensional view from blocking the surgical field of view in the display interface as little as possible, a two-dimensional view is usually displayed in the display area. When the flexible part switches between the first, second, and third execution processes, the intercepted top view 1301, side view 1302, and front view 1303 are automatically switched and displayed. The three two-dimensional views can also be manually selected and switched through the touch screen buttons on the main console, surgical robot, and / or imaging trolley.

[0196] The above respectively describes in detail the sleeve hiding function of the master-slave operation in the control method of the surgical robot, the remote motion center reset corresponding to the sleeve hiding function, the retraction and resetting of the surgical tool relative to the sleeve, the coordinated movement of multiple surgical tools, and the view switching under different execution processes of the surgical tool. Next, combined with the aforementioned several embodiments of the control method of the surgical robot, a preferred embodiment of a complete process is provided. Please refer to Fig.14 , as shown below:

[0197] For steps 1401 to 1402, the surgical tool is installed on the controller and inserted into the patient's body through the cannula arranged in the human incision. At the same time, in order to ensure the safety of the operation of the surgical tool, the sleeve hiding function needs to be activated before the master-slave operation, so that the control method of the surgical robot can be executed using the relevant algorithm. If the activation is unsuccessful, the control signal of the master-slave operation is disconnected, and the surgical tool cannot be controlled, that is, the surgical robot does not respond to the control information input by the main console to perform the surgical action. After the sleeve hiding function is successfully activated, the main console can control the surgical tool to move.

[0198] For step 1403, if the surgical tool is not required to extend the cannula, then when the master-slave control operation of step 1411 is performed on the surgical tool, the control information output by the main console is responded to, and it is determined that the surgical tool is in a second relative position relationship with respect to the cannula. At this time, the motion of the surgical tool is controlled based on the first constraint, that is, the surgical tool is only allowed to perform rotational motion around its own central axis (or further perform clamping and opening and closing motion of the end tool), and the wrist joint (first joint part) and the shoulder and elbow joint (second joint part) do not perform bending motions and remain in a straightened state.

[0199] With respect to steps 1404 to 1405, if the surgical tool is extended out of the cannula, the relative position relationship between the flexible portion and the cannula is further detected during the process of the surgical tool extending out of the cannula to determine the motion constraint of the flexible portion, specifically including the following situations:

[0200] A. During the translation movement of the surgical tool along the central axis of the sleeve toward the outside of the sleeve, if the first coordinate system XwYwZw of the wrist base (first base part) and the first axial distance between the remote motion center in the direction of the central axis of the sleeve are less than the preset distance threshold f, the wrist joint (first joint part) and the shoulder-elbow joint (second joint part) remain in a straightened state without performing bending movement, thereby effectively avoiding collision between the wrist joint and the port position of the sleeve; that is, the relative position relationship is the second relative position relationship, and the motion constraint is the second constraint.

[0201] B. If the first axial distance corresponding to the wrist base is greater than or equal to f, and the second coordinate system XbYbZb of the shoulder-elbow base (second base part) is less than the first axial distance of the remote motion center in the central axis direction of the sleeve, the master-slave control operation can realize the rotational movement of the wrist joint with two degrees of freedom, thereby adjusting the posture of the end tool; while the shoulder-elbow joint remains in a straightened state without performing bending movement, thereby effectively avoiding the collision between the shoulder-elbow joint and the port position of the sleeve. That is, the relative position relationship is the second relationship, and the motion constraint is the second degree of freedom constraint.

[0202] C. If the first axial distance corresponding to the shoulder-elbow base is greater than or equal to f, the shoulder-elbow joint and the wrist joint are all outside the sleeve, respectively realizing two degrees of freedom of rotation, and realizing six degrees of freedom of the surgical tool under the master-slave control operation. That is, the relative position relationship is the third relationship, and the motion constraint is the third degree of freedom constraint.

[0203] For steps 1406 to 1407, if the first axial distance corresponding to the shoulder and elbow base in step 1406 is equal to f, the surgical tool in step 1407 begins to be retracted into the sleeve, and when the first axial distance corresponding to the shoulder and elbow base is less than f, the shoulder and elbow joint performs a straightening action gradually parallel to the central axis of the sleeve, and when the first axial distance corresponding to the wrist base is equal to f, the shoulder and elbow joint is completely straightened, and at this time the wrist joint can still realize bending movement according to the master-slave control operation.

[0204] As the first axial distance corresponding to the wrist base gradually decreases to f, the wrist joint performs a straightening action gradually parallel to the central axis of the sleeve until the wrist joint is completely straightened; when the wrist joint performs the straightening action, the shoulder and elbow joints remain in a straightened state. At this time, the long axis schematic link allows rotational movement around its own axis.

[0205] For steps 1408 to 1410, the corresponding movements are performed according to the operable sequence of the wrist joint and the shoulder and elbow joint in step 1404. When the surgical tool is extended out of the sleeve, the wrist joint and the shoulder and elbow joint are automatically reset to the posture before the sleeve is withdrawn in step 1407, until the shoulder and elbow joint is completely outside the sleeve, and then the six-degree-of-freedom master-slave control operation is performed. The execution of step 1410 is as described in step 1405, and will not be repeated here.

[0206] In one embodiment, step 1407 and step 1409 can be performed by establishing a mechanical model to perform force feedback prompts on the main hand end of the main console, and / or in the observation window of the main console display interface, by adding a travel progress bar of the surgical tool moving along the central axis of the cannula, and / or by other means, to prompt the doctor that the surgical tool is in the process of retracting into the cannula (step 1407) or extending the cannula for the second time (step 1409).

[0207] Exemplarily, the force feedback prompt may be a vibration prompt at the master hand end, or a spring force prompt at the master hand end, wherein the spring force prompt is achieved by performing inverse kinematics solution based on force feedback at the master hand end.

[0208] Furthermore, when the two-dimensional views between multiple surgical tools are prompted in the display interface, it is preset to display the top view when controlling the surgical robot to execute steps 1401-1402, the side view when executing steps 1404, 1407 and 1409, and the front view when executing steps 1405, 1410 and 1411.

[0209] It should be noted that other sorting schemes that can be easily thought of by those skilled in the art within the technical scope disclosed in the present invention should also be within the protection scope of the present invention and will not be described in detail here.

[0210] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the mobile terminal can be divided into different functional units or modules to complete all or part of the functions described above. The functional modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the modules in the above-mentioned mobile terminal can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0211] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0212] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0213] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0214] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0215] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce the described condition or event is detected" or "in response to detecting the described condition or event" depending on the context.

[0216] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0217] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0218] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0219] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0220] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0221] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0222] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0223] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A surgical robot system, characterized in that: The surgical robot system comprises a main console and a surgical robot, wherein the surgical robot comprises a controller, a surgical tool and a cannula, and the main console is communicatively connected with the surgical robot; The surgical tool can be extended and accommodated in the sleeve and includes a flexible portion at the distal end, and a remote motion center is set on the central axis of the sleeve; The controller is configured to perform motion control of the surgical tool, including: Controlling the sleeve to perform translational movement relative to the central axis; In response to the remote motion center setting instruction, the remote motion center is reset according to the terminal position of the sleeve during the translational motion; In response to the control information sent by the main console to the surgical tool, the relative position relationship between the flexible portion and the sleeve is determined according to the reset remote motion center; The flexible portion is motion controlled according to the control information and the preset motion constraints associated with the relative position relationship.

2. The surgical robot system according to claim 1, characterized in that: The flexible part includes an end tool, a first joint mechanism and a second joint mechanism, the first joint mechanism includes a first base part and a first joint part, the second joint mechanism includes a second base part and a second joint part, the second joint part is coupled to the first base part, and the first joint part is coupled to the end tool; Determining the relative position relationship between the flexible portion and the sleeve according to the reset remote motion center includes: According to the reset remote motion center, determining whether there is at least one port position relative to the sleeve that satisfies a preset position relationship among the end tool, the first base portion, and the second base portion; If there is at least one item that satisfies the preset position relationship, determining that the flexible portion and the sleeve are in a first relative position relationship; If there is not at least one item that satisfies the preset position relationship, it is determined that the second relative position relationship exists between the flexible portion and the sleeve.

3. The surgical robot system according to claim 2, characterized in that: The controlling the sleeve to perform translational motion relative to the central axis comprises: Acquiring the size information of the flexible portion, and determining the axial distance between the remote motion center and the target lesion area; Based on each of the size information and the axial distance, the sleeve is controlled to perform translational movement relative to the central axis.

4. The surgical robot system according to claim 3, characterized in that: The controlling the sleeve to perform translational motion relative to the central axis based on each of the size information and the axial distance comprises: Determining the lengths of each segment of the end tool, the first base portion, and the second base portion according to the size information; According to each of the segment lengths and the axial distance, the translation range of the sleeve relative to the central axis of the sleeve is set, and the sleeve is controlled to move within the translation range; or, According to each segment length and the axial distance, the sleeve is provided with respective translation nodes relative to the central axis of the sleeve, and the sleeve is controlled to move on each translation node so that the end position of the sleeve is located on one of the translation nodes.

5. The surgical robot system according to claim 2, characterized in that: The first base portion is provided with a first coordinate system, the second base portion is provided with a second coordinate system, and the remote motion center is provided with a preset distance threshold relative to the port position; The determining, based on the reset remote motion center, whether there is at least one port position relative to the sleeve that satisfies a preset position relationship in the end tool, the first base portion, and the second base portion comprises: Determine another axial distance between the first coordinate system and the second coordinate system and the reset remote motion center, respectively, in the distal direction of the central axis of the sleeve; The size between each of the other axial distances and the preset distance threshold is compared, and based on the comparison result, it is determined whether the port positions of the end tool, the first base part and the second base part relative to the sleeve meet the preset position relationship.

6. The surgical robot system according to claim 2, characterized in that: The preset motion constraint includes a preset first constraint and a preset second constraint; The controlling the motion of the flexible portion according to the control information and the preset motion constraint associated with the relative position relationship comprises: According to the control information, the flexible portion is controlled in motion according to a preset first constraint associated with the first relative position relationship; or, controlling the motion of the flexible portion according to the control information and a preset second constraint associated with the second relative position relationship; Among them, in the first relative position relationship relative to the second relative position relationship, the length of the flexible part accommodated in the sleeve is shorter, and when the length of the flexible part accommodated in the sleeve is shorter, the number of joint mechanisms constrained on the flexible part is greater, and the constraints on the joint mechanisms include constraints on the freedom of movement of the joint parts.

7. The surgical robot system according to claim 6, characterized in that: The first constraint includes a first degree of freedom constraint, a second degree of freedom constraint and a third degree of freedom constraint; The controlling the motion of the flexible portion according to the control information and the preset first constraint associated with the first relative position relationship comprises: If the end tool satisfies the preset position relationship and the first base portion does not satisfy the preset position relationship, the flexible portion is motion-controlled according to the first degree of freedom constraint based on the control information; If the first base portion satisfies the preset position relationship and the second base portion does not satisfy the preset position relationship, controlling the motion of the flexible portion according to the second degree of freedom constraint based on the control information; If the second base portion satisfies the preset position relationship, the motion of the flexible portion is controlled according to the third degree of freedom constraint based on the control information.

8. The surgical robot system according to claim 6, characterized in that: The first degree of freedom constraint includes: the movement of the end tool to perform functional operations, and the rotational movement of the first joint part and the second joint part around their own central axis, and the rotational movement and translational movement along the central axis of the sleeve; The second degree of freedom constraint includes: the first degree of freedom constraint, and the bending movement of the first joint part along the first base part; The third degree-of-freedom constraint includes: at least one of the first degree-of-freedom constraint and the second degree-of-freedom constraint, and bending movement of the second joint part along the second base part.

9. The surgical robot system according to claim 2, characterized in that: The controller is also configured to: determining a switching condition of the flexible portion between the first relative position relationship and the second relative position relationship during the movement; According to the switching situation and the control information, the current motion state of the flexible part is determined, and the joint part is controlled to move according to the joint posture corresponding to the motion state.

10. The surgical robot system according to claim 9, characterized in that: The controlling joint part to move according to the joint posture corresponding to the motion state comprises: When the control information is propulsion control, the joint posture corresponding to the motion state is set to be: the memory posture of the joint part when the flexible part is about to switch from the first relative position relationship to the second relative position relationship; When the control information is a backward control, the joint posture corresponding to the motion state is set to be: a straightened posture of the joint part; The joint part is controlled to move according to the memory shape or the straightened shape.

11. The surgical robot system according to claim 2, characterized in that: The remote motion center is provided with a third coordinate system; the number of the surgical tools is multiple; the surgical robot further includes a display device; and the controller is further configured to: Based on the third coordinate system, establishing a kinematic model for each surgical tool; Based on the kinematic model, during the movement of the flexible portion of each surgical tool, determining a third relative position relationship between the joint base and the end tool of each surgical tool; Based on the third relative position relationship, generating a three-dimensional model diagram of the flexible part corresponding to each surgical tool; Displaying the three-dimensional model image on the display device; or, According to the switching of the flexible part between the first relative position relationship and the second relative position relationship, a two-dimensional view of a corresponding viewing angle is intercepted in the three-dimensional model image, and the two-dimensional view is displayed on the display device.

Images