Surgical robotic system

Abstract

The application discloses a surgical robot system, which comprises a master console, a surgical robot comprising a controller, a surgical tool and a sleeve; the surgical tool is extendable and accommodated in the sleeve and comprises a flexible part with a distal end, and a remote center of motion is arranged on a central axis of the sleeve; the controller is configured to: control translational motion of the sleeve relative to the central axis, and reset the remote center of motion according to a terminal position of the sleeve; determine a relative position relationship between the flexible part and the sleeve according to the remote center of motion, and control motion of the flexible part according to control information. The application resets the remote center of motion and determines the relative position relationship between the flexible part and the sleeve, so that different motion constraints are used to prevent damage caused by motion of the flexible part relative to the sleeve.

Description

[0001] This application is a divisional application of application number 202311067426.4, filed on August 23, 2023, entitled "Surgical Robot System", the full text of which is incorporated herein by reference. Technical Field

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

[0003] During the use of surgical robots, surgical tools (including surgical instruments and endoscopes) are typically controlled by the surgeon sitting at the main operating table, who uses a master-slave motion control method to control the slave operating devices to perform corresponding surgical actions. To improve the smoothness of the surgical procedure, surgical tools can be mounted on the robotic arm of the patient's surgical platform and activated via software, allowing the surgeon to perform master-slave control operations.

[0004] In existing surgical devices, the spatial constraints of the trocar's mechanical design result in different operable spaces for surgical tools inside and outside the trocar, thus affecting the applicable surgical scenarios. Existing solutions lack constraints on the movement of surgical tools inside and outside the trocar. This means that when the operator controls the flexible part of the surgical tool to extend outside or retract inside the trocar, the flexible part may be bent, causing collisions between the bent portion and the trocar port, resulting in damage to the flexible part or the trocar port. Summary of the Invention

[0005] To address the technical problem that existing surgical instruments have a large degree of freedom of movement inside and outside the cannula, making them prone to damage during operation, this invention proposes the following technical solution:

[0006] A first aspect of the present invention provides a control method for a surgical robot system, the surgical robot system including a main control console and a surgical robot, wherein the surgical robot includes a controller, surgical tools, and a cannula, the main control console being communicatively connected to the surgical robot; the surgical tools are extendable and accommodated within the cannula, and include a distal flexible portion, the flexible portion including at least one joint mechanism, the joint mechanism including a base portion and a joint portion; the controller is configured to perform motion control of the surgical tools, including: in response to the main control console sending control information for the surgical tools, determining a first relative positional relationship or a second relative positional relationship between the flexible portion and the cannula; and, according to the control information, performing motion control on the flexible portion according to a preset first constraint associated with the first relative positional relationship; or...

[0007] Optionally, the flexible portion includes an end effector, a first joint mechanism, and a second joint mechanism. The first joint mechanism includes a first base portion and a first joint portion, and the second joint mechanism includes a second base portion and a second joint portion. The second joint portion is coupled to the first base portion, and the first joint portion is coupled to the end effector. Determining whether the flexible portion and the sleeve have a first relative positional relationship or a second relative positional relationship includes: determining whether at least one of the end effector, the first base portion, and the second base portion satisfies a preset positional relationship relative to the port position of the sleeve; if at least one satisfies the preset positional relationship, then the flexible portion and the sleeve are determined to have the first relative positional relationship; if at least one does not satisfy the preset positional relationship, then the flexible portion and the sleeve are determined to have the second relative positional relationship.

[0008] Optionally, the first base portion is provided with a first coordinate system, the second base portion is provided with a second coordinate system, and a remote motion center is provided on the central axis of the sleeve. The remote motion center is provided with a preset distance threshold relative to the port position. Determining whether at least one of the end tool, the first base portion, and the second base portion satisfies the preset positional relationship relative to the port position of the sleeve includes: determining the first axial distance between the first coordinate system and the second coordinate system and the remote motion center in the direction of the far end of the central axis of the sleeve; comparing the magnitude of each first axial distance with the preset distance threshold, and based on the comparison result, determining whether the end tool, the first base portion, and the second base portion satisfy the preset positional relationship relative to the port position of the sleeve.

[0009] Optionally, acquiring the dimensional information of the flexible portion and determining the axial distance between the target lesion area and the port position, and controlling the translational movement of the cannula relative to the central axis based on each of the dimensional information and the axial distance, includes: determining the segment lengths of the end tool, the first base portion, and the second base portion according to the dimensional information; setting the translational range of the cannula relative to the central axis of the cannula according to each of the segment lengths and the second axial distance, and controlling the cannula to move within the translational range; or, setting each translational node of the cannula relative to the central axis of the cannula according to each of the segment lengths and the second axial distance, and controlling the cannula to move at each of the translational nodes, such that the termination position of the cannula is located at one of the translational nodes.

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

[0011] Optionally, the first degree of freedom constraint includes: the movement of the end tool performing a functional operation, and the rotational movement of the first joint portion and the second joint portion about their own central axis, and the rotational and translational movements 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 portion along the first base portion; 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 portion along the second base portion.

[0012] Optionally, the controller is further configured to: determine the switching status of the flexible part between the first relative position relationship and the second relative position relationship during the movement; determine the current movement state of the flexible part according to the switching status and the control information, and control the joint part to move according to the joint pose shape corresponding to the movement state.

[0013] Optionally, controlling the joint portion to move according to the joint pose corresponding to the motion state includes: when the control information is propulsion control, setting the joint pose corresponding to the motion state as: the memory pose of the joint portion when the flexible portion is about to switch from the first relative position relationship to the second relative position relationship; when the control information is backward control, setting the joint pose corresponding to the motion state as: the straightened pose of the joint portion; and controlling the joint portion to move according to the memory pose or the straightened pose.

[0014] Optionally, the remote motion center is provided with a third coordinate system; the number of 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 positional relationship between the joint base and the end effector of 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 corresponding flexible part of each surgical tool based on the third relative positional relationship; display the three-dimensional model diagram on the display device; or, according to the switching of the flexible part between the first relative positional relationship and the second relative positional relationship, extract a two-dimensional view of the corresponding perspective from the three-dimensional model diagram and display the two-dimensional view on the display device. The surgical robot includes a controller, surgical instruments, and a cannula; the surgical instruments are extendable and accommodated within the cannula, and include a distal flexible portion; the controller is configured to perform motion control on the surgical instruments; the control method includes: in response to control information on the surgical instruments, determining a first relative positional relationship or a second relative positional relationship between the flexible portion and the cannula; according to the control information, performing motion control on the flexible portion according to a preset first constraint associated with the first relative positional relationship; or, according to the control information, performing motion control on the flexible portion according to a preset second constraint associated with the second relative positional relationship; wherein, relative to the second relative positional relationship, the length of the flexible portion accommodated within the cannula is shorter in the first relative positional relationship.

[0015] Optionally, the flexible portion includes at least one joint mechanism, the joint mechanism including a base portion and a joint portion, 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 constraint on the joint mechanism includes the constraint on the degrees of freedom of motion of the joint portion.

[0016] Optionally, the flexible portion further includes an end effector, and the joint mechanism includes a first joint mechanism and a second joint mechanism. The first joint mechanism includes a first base portion and a first joint portion, and the second joint mechanism includes a second base portion and a second joint portion. The second joint portion is coupled to the first base portion, and the first joint portion is coupled to the end effector. Determining whether the flexible portion and the sleeve have a first relative positional relationship or a second relative positional relationship includes: determining whether at least one of the end effector, the first base portion, and the second base portion satisfies a preset positional relationship relative to the port position of the sleeve; if at least one satisfies the preset positional relationship, then the flexible portion and the sleeve are determined to have the first relative positional relationship; if at least one does not satisfy the preset positional relationship, then the flexible portion and the sleeve are determined to have the second relative positional relationship.

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

[0018] Optionally, the first degree of freedom includes: the movement of the end tool performing a functional operation, and the rotational movement of the first joint portion and the second joint portion about their own central axis, and the rotational and translational movements 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 portion along the first base portion; 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 portion along the second base portion.

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

[0020] Optionally, the first base portion is provided with a first coordinate system, the second base portion is provided with a second coordinate system, and a remote motion center is provided on the central axis of the sleeve. The remote motion center is provided with a preset distance threshold relative to the port position. Determining whether at least one of the end tool, the first base portion, and the second base portion satisfies the preset positional relationship relative to the port position of the sleeve includes: determining the first axial distance between the first coordinate system and the second coordinate system and the remote motion center in the direction of the far end of the central axis of the sleeve; comparing the magnitude of each first axial distance with the preset distance threshold, and based on the comparison result, determining whether the end tool, the first base portion, and the second base portion satisfy the preset positional relationship relative to the port position of the sleeve.

[0021] Optionally, the control method further includes: acquiring the size information of the flexible part and determining a second axial distance between the target lesion area and the port position; controlling the cannula to translate relative to the central axis based on each of the size information and the second axial distance; and resetting the remote motion center in response to the setting command of the remote motion center according to the termination position when the cannula translates.

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

[0023] Optionally, resetting the remote motion center in response to the setting command of the remote motion center, based on the termination position of the sleeve during translational movement, includes: determining the translational distance of the sleeve based on the termination position of the sleeve during translational movement, in response to the setting command of the remote motion center; controlling the remote motion center to move according to the translational distance to obtain the reset remote motion center, wherein the remote motion center is located within the range of the sleeve's position.

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

[0025] Optionally, determining the current motion state of the flexible part based on the switching situation and the control information includes: determining 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 that there was a time before the flexible part switched from the second relative position relationship to the first relative position relationship; if the switching situation meets the preset condition, then the current motion state of the flexible part is determined based on the control information.

[0026] Optionally, controlling the joint portion to move according to the joint pose corresponding to the motion state includes: when the control information is propulsion control, setting the joint pose corresponding to the motion state as: the memory pose of the joint portion when the flexible portion is about to switch from a first relative position relationship to a second relative position relationship; when the control information is retraction control, setting the joint pose corresponding to the motion state as: the straightened pose of the joint portion; and controlling the joint portion to move according to the memory pose or the straightened pose.

[0027] Optionally, the surgical tool includes an endoscope and at least one surgical instrument, and there is a corresponding relationship between the joint mechanism of the endoscope and the joint mechanism of the at least one surgical instrument. The control method further includes: when it is determined that a target joint mechanism of the endoscope or the at least one surgical instrument is in a retracted 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 surgical tools is multiple; the surgical robot also includes a display device; the control method further includes: establishing a kinematic model for each surgical tool based on the third coordinate system; determining the third relative positional relationship between the joint base and the end effector of each surgical tool during the movement of the flexible part of each surgical tool based on the kinematic model; generating a three-dimensional model diagram of the corresponding flexible part of each surgical tool based on the third relative positional relationship; displaying the three-dimensional model diagram on the display device; or, according to the switching of the flexible part between the first relative positional relationship and the second relative positional relationship, cropping a two-dimensional view of the corresponding perspective from the three-dimensional model diagram and displaying the two-dimensional view on the display device.

[0029] A second aspect of the present invention provides a surgical robot system, comprising: a surgical robot as described above and a main control unit, the main control unit being communicatively connected to the surgical robot; the controller being configured to: in response to control information sent by the main control unit, determine a first relative positional relationship or a second relative positional relationship between the flexible portion and the cannula; according to the control information, perform motion control on the flexible portion according to a preset first constraint associated with the first relative positional relationship; or, according to the control information, perform motion control on the flexible portion according to a preset second constraint associated with the second relative positional relationship; wherein, relative to the second relative positional relationship, the length of the flexible portion accommodated within the cannula is shorter in the first relative positional relationship.

[0030] A third aspect of the present invention provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described control method for a surgical robot.

[0031] The beneficial effects of this invention are as follows: When receiving control information for the surgical tool, it is necessary to determine the relative positional relationship between the flexible portion at the distal end of the surgical tool and the cannula. Different constraints are applied to the control information based on different relative positional relationships, allowing for motion control of the flexible portion with different degrees of freedom. For example, the flexible portion has more degrees of freedom outside the cannula than inside, preventing damage caused by the flexible portion entering or exiting the cannula while bent. Simultaneously, the surgical tool operates with different constraints inside and outside the cannula, making it suitable for surgical scenarios involving narrow cavities. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the surgical robot system in this invention;

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

[0034] Figure 3 This is the first flowchart of the control method for the surgical robot in this invention;

[0035] Figure 4 This is a schematic diagram of the surgical tool in this invention;

[0036] Figure 5A This is a schematic diagram of a cannula coupled with surgical tools in this invention.

[0037] Figure 5B This is another schematic diagram of the cannula coupled with surgical tools in this invention;

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

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

[0040] Figure 8A This is the first schematic diagram of the remote motion center reset on the sleeve in this invention;

[0041] Figure 8B This is the second schematic diagram of the remote motion center reset on the middle sleeve in this invention;

[0042] Figure 8C This is the third schematic diagram of the remote motion center reset on the middle sleeve in this invention;

[0043] Figure 9 This is the second flowchart of the control method for the surgical robot in this invention;

[0044] Figure 10A This is the third schematic diagram of the flexible part relative to the sleeve position in this invention;

[0045] Figure 10B This is the fourth schematic diagram of the flexible part relative to the sleeve position in this invention;

[0046] Figure 11 This is the fifth schematic diagram of the flexible part relative to the sleeve position in this invention;

[0047] Figure 12 This is a schematic diagram of the display interface in this invention;

[0048] Figure 13 This is another schematic diagram of the display interface in this invention;

[0049] Figure 14This is the third flowchart of the control method for the surgical robot in this invention. Detailed Implementation

[0050] To facilitate understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments.

[0051] The accompanying drawings illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0052] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, the term "a plurality of" includes two or more.

[0053] I. Surgical Robot System

[0054] To facilitate understanding, the structure of the surgical robot will be explained below. Please refer to [link / reference needed]. Figures 1-2 The present invention provides an embodiment of a surgical robot system, as detailed below:

[0055] like Figure 1 As shown, the surgical robot system 100 includes at least a surgical robot 10 and a main control console 20, which are communicatively connected. The surgical robot responds to the control information output by the main control 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 control console 20 communicate via a master-slave communication bus 30. Control information issued by the main control console 20 is transmitted to the surgical robot 10 through this master-slave communication bus 30. For the surgical robot's target, such as the patient 40, it is placed on the operating table 50 in the required posture. The surgical robot can be pushed next to the operating table 50 and extend its robotic arm to the preset position of the patient 40 to perform the surgical operation. The main control console 20 is operated by the physician 60, which synchronously outputs control information based on the physician's operations. The main control console 20 and the surgical robot 10 can be deployed in the same connected space or in completely isolated spaces, enabling the surgeon to... The robot can perform remote surgical operations. The robotic arm is also coupled to an endoscope (not shown in the figure) for internal intervention, used to observe the movement of tissues and surgical instruments during the operation. The tissues within the endoscopic field of view are displayed through the imaging carriage 70. The imaging carriage 70 and the endoscope are connected via an endoscope data cable 80, and the real-time video stream is sent to the imaging carriage 70 for display. At the same time, when the doctor 60 controls the surgical robot 10 on the main control console 20, the imaging carriage forwards the displayed video stream to the main control console 20 through the main image communication bus 90, and it is also displayed in real time on the main control console 20, providing the doctor 60 with the surgical field of view and the movement of surgical instruments.

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

[0058] In this embodiment, each time the main control console sends control information to the surgical robot, the surgical robot does not directly execute the corresponding surgical action based on the control information. Instead, it first verifies the relative positional relationship of the flexible parts at the current moment (first relative positional relationship and second relative positional relationship). Different relative positional 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 control command is output to cause the flexible parts to perform the surgical action. That is, the surgical robot does not completely execute the surgical action in the control information output by the main control console.

[0059] For example, the first constraint includes constraints on the executable degrees of freedom A and B of the flexible part, and the second constraint includes constraints on the executable degree of freedom B of the flexible part. The control information output by the main control console includes a first control command and a second control command, wherein the first control command instructs the flexible part to execute degree of freedom A, and the second control command instructs the flexible part to execute degree of freedom B. The surgical robot filters the control information. If the flexible part is in a second relative position, the surgical robot does not respond to the first control command, but only to the second control command, controlling the flexible part to perform surgical actions according to degree of freedom B. If the flexible part is in a first relative position, the surgical robot responds to both the first and second control commands simultaneously, controlling the flexible part to perform surgical actions according to degrees of freedom A and B. Specifically, the control information, used to transmit to the surgical robot to control the surgical tools to perform surgical actions, includes at least orientation information and distance information for controlling the movement of the flexible part. The orientation information, for example, indicates that the flexible part advances, retracts, and / or bends along the inner lumen of the cannula, and the distance information, for example, indicates the amount of advancement, retraction, and / or bending angle of the flexible part. By filtering the position and distance information, the final control command is made to meet the requirements of the first or second constraint.

[0060] In this embodiment, the first and second relative positional relationships can be determined based on the size of the movable space of the flexible part relative to the sleeve. The first relative positional relationship is determined when the flexible part has a larger movable space, and the second relative positional relationship is determined when the flexible part has a smaller movable space. The first and second constraints can also be preset according to the structural characteristics of the flexible part and the sleeve, based on the size of the movable space after coupling. For example, in the first constraint, a larger range of motion (e.g., more movable orientations and a larger movable distance) is set for the flexible part, and in the second constraint, a smaller range of motion (e.g., fewer movable orientations and a smaller movable distance) is set for the flexible part.

[0061] For example, the first relative positional relationship can be that the flexible part is outside the sleeve, and the flexible part has a larger space for movement outside the sleeve; the second relative positional relationship can be that the flexible part is inside the sleeve, and due to the physical restriction of the sleeve, the flexible part has a smaller space for movement. Compared with the second constraint, the first constraint, being not physically restricted by the sleeve, allows the range of motion of the first constraint to at least increase the radial extension range of the flexible part outside the sleeve.

[0062] In addition, in the specific surgical space, the cannula 12 is placed at the human incision 13 and set in a fixed position. At the same time, the cannula 12 is also provided with a remote motion center 14, so that the cannula 12 and the surgical instruments 11 (11-A, 11-B) can move around the remote motion center 14. The surgical instruments 11 (11-A, 11-B) coupled to the inner cavity of the cannula 12 can extend distally to reach the target tissue location (such as lesion 15). The cannula 12 is provided with a central axis 16, 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 cannula moves around the remote motion center 14 along the central axis 16, it prevents damage to the tissue.

[0063] in addition, Figure 2 The surgical instruments 11 (11-A, 11-B) coupled to the cannula shown are typically 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 instruments by operating the instrument switching function of the main control panel.

[0064] II. Master-Slave Operation - Concealed Sleeve Function

[0065] The surgical robot of the present invention has been described above; please refer to the following. Figures 2-7 The present invention provides a first embodiment of a control method for a surgical robot, as detailed below:

[0066] 301. In response to control information on the surgical tool, determine that the flexible portion and the cannula have a first relative positional relationship or a second relative positional relationship;

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

[0068] 303. Based on the control information, and in accordance with a preset second constraint associated with the second relative position relationship, the flexible part is subjected to motion control.

[0069] In this embodiment, as Figure 3The flowchart shown illustrates the control method executed by the surgical robot in a surgical robot system when responding to control information sent by the main control console. The previous embodiments of the surgical robot system have already described the control process of one end of the surgical robot, which can be referred to above and will not be repeated here. It is important to note that during the control of the entire surgical tool, motion control must be executed according to the first and second relative positional relationships of the flexible parts, and according to the first and second constraints. For other parts of the surgical tool, adaptive adjustments can be made according to specific needs, such as setting different motion constraints according to the aforementioned first and second relative positional relationships. Specifically, in the first relative positional relationship, the length of the flexible part accommodated within the cannula is shorter than in the second relative positional relationship.

[0070] In one implementation, such as Figure 4 The diagram shows a surgical tool. The flexible portion 111 at the distal end of the surgical tool includes at least one joint mechanism (112-A, 112-B). The joint mechanism includes a base portion (113-A, 113-B) and a joint portion (114-A, 114-B). 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. The constraint on the joint mechanism (112-A, 112-B) includes the constraint on the degrees of freedom of motion of the joint portion (114-A, 114-B).

[0071] In this embodiment, the flexible part achieves flexible movement, such as bending movement, through at least one joint mechanism. Furthermore, the flexible movement is achieved by the joint part, with the joint base serving as a reference. That is, the orientation, distance, and other related information included in the control information are based on the joint base to control the movement of the joint part. The increased degree of freedom of the joint part due to the first constraint relative to the second constraint constitutes the flexible movement of the joint part.

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

[0073] In one embodiment, the motion of the end effector performing a functional operation, such as the opening and closing motion of an end effector gripper, is not affected by the first relative positional relationship or the second relative positional relationship, and can perform the corresponding motion action. That is, both the first constraint and the second constraint include the motion degree of freedom of the end effector performing a functional operation, and the first constraint does not increase the constraint on the motion degree of freedom of the end effector performing a functional operation relative to the second constraint.

[0074] Specifically, the motion control of the flexible part includes at least two aspects: one is motion control of the flexible part based on the central axis, and the other is motion control of the joint part based on the base part. In the former, during the movement of the flexible part, the central axis of the surgical tool will always remain parallel to the central axis of the cannula. In the latter, during the movement of the flexible part, the central axis of the joint part will at least partially deviate from the central axis of the cannula. 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] For example, the first type of motion control for the flexible part includes the following three items: the flexible part translates axially along the central axis of the cannula along with the entire surgical instrument; the flexible part rotates along its own central axis along with the entire surgical instrument; the cannula rotates along its own central axis, causing the flexible part to rotate along the central axis of the cannula along with the entire surgical instrument. In the first three types of motion control for the flexible part, the central axis of the surgical instrument is kept parallel to the central axis of the cannula, and the pose of the flexible part is a straightened shape relative to the long axis link.

[0076] For example, a second type of motion control of the joint portion includes: bending movement of the joint portion along the base portion. (e.g.) Figure 4 As shown, the joint portion 114-A of the joint mechanism 112-A is bent downward relative to the base portion 113-A toward the central axis of the sleeve, and the joint portion 114-B of the joint mechanism 112-B is bent upward relative to the base portion 113-B toward the central axis of the sleeve. The joint portions 114-A and 114-B form a preset angle with the central axis of the sleeve.

[0077] The base portion 113-A is equipped with a coordinate system XwYwZw, and the base portion 113-B is equipped with a coordinate system XbYbZb. Joint portions 114-A and 114-B perform bending movements along coordinate systems XwYwZw and XbYbZb, respectively. It is important to note that the use of two coordinate systems, XwYwZw and XbYbZb, allows for independent control of the two joint mechanisms (112-A and 112-B) within the flexible section.

[0078] In one implementation, such as Figure 4 and Figure 5A The flexible portion shown 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 flexible portion 111 is then determined to be connected to the sleeve. The first or second relative positional relationship between the tubes 12 includes: determining whether at least one of the end tool 118, the first base portion 113-A, and the second base portion 113-B satisfies a preset positional relationship relative to the port position 121 of the sleeve 12; if at least one satisfies the preset positional relationship, then the first relative positional relationship between the flexible portion 111 and the sleeve 12 is determined; if at least one does not satisfy the preset positional relationship, then the second relative positional relationship between the flexible portion 111 and the sleeve 12 is determined.

[0079] In this embodiment, the relative positional relationship between the flexible portion and the sleeve is evaluated to select motion constraints for the flexible portion under different movable spaces. The movable space of the flexible portion relative to the sleeve is distinguished here by the port position of the sleeve. The difference between the preset first constraint and the second constraint lies in increasing the flexible movement of the joint portion, which is independently controlled by the joint portion with reference to the base portion. Therefore, the relative positional relationship between the sleeve and the flexible portion can be evaluated by the relative position between the port position of the sleeve and the base portion.

[0080] Furthermore, relative to the foregoing, the first constraint does not increase the degree of freedom of motion for the end effector to perform functional operations compared to the second constraint. In another embodiment, the relative positional relationship between the end effector and the port position can also be evaluated, and the first constraint can also increase the motion of the end effector relative to the second constraint, such as the opening and closing motion of an end effector with a clamping function. This prevents damage to the cannula or surgical instruments when the end effector performs functional operations.

[0081] Specifically, the preset positional relationship can be that the end effector, the first base portion, or the second base portion is outside the port position. Since the flexible portion includes the following sequence from the distal end to the proximal end: end effector, first base portion, and second base portion, when the second base portion satisfies the preset positional relationship, the first base portion and the end effector also satisfy the preset positional relationship. And so on.

[0082] In addition, such as 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 previously mentioned, a coordinate system XwYwZw is established on the wrist base (first base portion), and a coordinate system XbYbZb is established on the shoulder-elbow base (second base portion). When the shoulder-elbow joint (second joint portion) performs flexible movements based on the shoulder-elbow base, it can achieve two degrees of rotational motion around the Xb and Yb axes, used to drive two degrees of translational motion of the wrist base in the XwYw plane. When the wrist joint (first joint portion) performs flexible movements based on the wrist base, it can also achieve two degrees of rotational motion around the Xw and Yw axes, used to adjust the posture of the surgical instrument's end-effector and the endoscope's camera lens. During the movement of the shoulder-elbow joint, the Zb axis of coordinate system XbYbZb and the Zw axis of coordinate system XwYwZw must always remain parallel.

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

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

[0085] For example, such as Figure 5A As shown, the surgical instruments coupled to the inner lumen of the cannula 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, except that the end tools 118 are a clamping / ablation functional tool and a camera, respectively.

[0086] In this system, a coordinate system XmYmZm is set at the remote motion center 14 on the central axis 16 of the cannula. The wrist joint mechanism and shoulder-elbow joint mechanism of the three surgical instruments are all inside the cannula and do not exceed the port position of the cannula. The end tools of the two surgical instruments are located outside the port position of the cannula. At this time, the endoscope 11-A and the surgical instrument 11-B can follow the cannula 12 to perform overall rotational movement around the remote motion center 14, as well as rotational movement around their own central axis and forward and backward translational movement along the central axis 116 of the cannula. At the same time, the end clamping tool can perform opening and closing movement.

[0087] During the movement of the surgical instruments, the Zm axis of the coordinate system XmYmZm can 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, in addition to the aforementioned control information, including orientation and distance information, the rotational and translational degrees of freedom of the surgical tool around its own axis can also be used to represent it.

[0089] In addition, such as Figure 5A The surgical tool installation method shown can be an initial installation state in which the surgical tool is housed within the cannula, with each joint mechanism in a software zero position. Subsequent movements of each joint mechanism are based on bending movements within this zero position. This initial installation state allows the surgical tool to move in response to the control information described above, enabling the endoscope 11-A and surgical instrument 11-B to gradually extend, thereby gradually unlocking the second constraints associated with each joint mechanism. This is suitable for surgical scenarios involving confined surgical spaces or when surgical instruments need to be used to create surgical pathways in situations where there is no surgical space.

[0090] In one implementation, the initial installation state of the surgical instruments within the cannula, in addition to, as shown in... Figure 5A The surgical instrument installation method shown can also be used in other ways, such as retracting the end tools of endoscope 11-A and surgical instrument 11-B into the cannula. However, the prerequisite is that the first shut-off mechanism, the second joint mechanism, and the long shaft connecting rod should not be located on the outside of the cannula, or even partially on the 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 located outside the port position 121 of the cannula, which is the first relative positional relationship; the movement of each joint mechanism is not restricted by the cannula (i.e., it is the first constraint). The surgical instrument 11-B can realize six degrees of freedom surgical operations in the workspace, and the endoscope 11-A can realize six degrees of freedom field exploration in the workspace. The six degrees of freedom include: two degrees of freedom of rotation and translation of the surgical instrument around its own axis, two degrees of freedom of rotation of the shoulder and elbow joints around the Xb axis and Yb axis, and two degrees of freedom of rotation of the wrist joints around the Xw axis and Yw axis.

[0092] The first constraint includes the motion constraints of the six degrees of freedom.

[0093] The first constraint adds at least two degrees of freedom constraints for the shoulder and elbow joints around the Xb and Yb axes, and two degrees of freedom constraints for the wrist joints around the Xw and Yw axes, compared to the second constraint. That is, the second constraint includes two degrees of freedom motion constraints for the rotational and translational motion of the surgical tool around its own axis.

[0094] In one implementation, the control information includes at least one of the aforementioned six degrees of freedom, representing the orientation and distance information for controlling the movement of the flexible part. The control information is filtered so that the final output to the controller actuates the movement of the flexible part, satisfying either the first constraint or the second constraint.

[0095] For example, when filtering control information, such as the control information including the two degrees of freedom of the shoulder and elbow joint around the Xb and Yb axes, and the rotational motion around its own axis, the flexible part, in the second relative position, will filter out the two degrees of freedom information of the shoulder and elbow joint around the Xb and Yb axes, and will not respond to the control commands of the two degrees of freedom, but will only respond to the control commands of the rotational motion around its own axis, so as to cause the long shaft connecting rod to rotate around its own axis and drive the rotation of the flexible part.

[0096] Furthermore, by controlling the endoscope to move back and forth 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-elbow joint of the surgical instruments are included in the field of view, thereby helping to prevent the surgical instruments from colliding with each other during operation. Similarly, by controlling the surgical instruments to move back and forth along the central axis of the cannula, the operating distance between the surgical instruments and the lesion and human tissue can be adjusted.

[0097] 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 step of controlling the motion of the flexible part according to the control information and the preset first constraint associated with the first relative positional relationship includes: if the end tool satisfies the preset positional relationship and the first base part does not satisfy the preset positional relationship, then the flexible part is motion controlled according to the first degree of freedom according to the control information; if the first base part satisfies the preset positional relationship and the second base part does not satisfy the preset positional relationship, then the flexible part is motion controlled according to the second degree of freedom constraint according to the control information; if the second base part satisfies the preset positional relationship, then the flexible part is motion controlled according to the third degree of freedom constraint according to the control information.

[0098] In this embodiment, as Figure 6 As shown, a simplified schematic diagram illustrates four relative positional relationships between the flexible section and the sleeve (e.g., Figure 6(a to d in the text). The preset positional 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 port location 604 shown.

[0099] Specifically, targeting Figure 6 In point a, the end tool 601, the first base portion 602, and the second base portion 603 are all located inside the port position 604, meaning that none of the three satisfy the preset positional relationship. Therefore, the flexible portion and the sleeve are in a second relative positional relationship. Regarding... Figure 6 In step b, the end effector 601 is located outside the port position 604, while the first base portion 602 and the second base portion 603 are both located inside the port position 604. Therefore, the first degree of freedom is used to control the motion of the flexible portion. Figure 6 In case c, the end effector 601 and the first base portion 602 are both located outside the port position 604, while the second base portion 603 is located inside the port position 604. Therefore, the second degree of freedom constraint is used to control the motion of the flexible portion. Figure 6 In the case of d, the end tool 601, the first base part 602, and the second base part 603 are all located outside the port position 604, so the third degree of freedom constraint is used to control the motion of the flexible part.

[0100] It should be noted that, such as Figure 6 As shown, when the first joint portion and / or the second joint portion undergo bending motion, the coordinate axes Zw and Zb of the first base portion and the second base portion remain parallel. Preferably, the coordinate axes Zw and Zb are parallel to the central axis of the surgical tool or the central axis of the cannula.

[0101] In one embodiment, the first degree of freedom includes: the movement of the end-effector performing a functional operation, and the rotational movement of the first joint portion and the second joint portion about their own central axis, and the rotational and translational movements 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 portion along the first base portion; 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 portion along the second base portion.

[0102] Specifically, targeting Figure 6 In step b, the flexible part is motion-controlled according to a first degree of freedom. This first degree of freedom includes the degree of freedom for the end-effector to perform functional operations, the rotational degree of freedom and translational degree of freedom for the first and second joint parts about their own axes, and the axes themselves can be the Zw axis of the first base part and the Zb axis of the second base part. For... Figure 6 In the context of c, the second degree of freedom constraint also includes: two rotational degrees of freedom for the first joint portion about the Xw and Yw axes of the second base portion. For... Figure 6 In the third degree of freedom constraint, d also includes two rotational degrees of freedom of the second joint portion around the Xb and Yb axes of the second base portion.

[0103] In one implementation, for Figure 6 In the second constraint, a includes: rotational movement of the end tool, the first joint portion, and the second joint portion about their own central axis, and rotational and translational movement along the central axis of the sleeve.

[0104] In one implementation, such as Figure 7 As shown, the first base portion 701 is provided with a first coordinate system XwYwZw, the second base portion 702 is provided with a second coordinate system XbYbZb, and a remote motion center 704 is provided on the central axis of the sleeve 703. The remote motion center 704 is provided with a preset distance threshold f relative to the port position 705. Determining whether at least one of the end tool 706, the first base portion 701, and the second base portion 702 satisfies the preset positional relationship relative to the port position of the sleeve 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 in the far end direction of the central axis of the sleeve; comparing the magnitude of each first axial distance (d1, d2) with the preset distance threshold f, and based on the comparison result, determining whether the end tool 706, the first base portion 701, and the second base portion 702 satisfy the preset positional relationship relative to the port position 705 of the sleeve 703.

[0105] 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, then the first base part 701 is determined to satisfy 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, then the second base part 702 is determined not to satisfy the preset position relationship.

[0106] Furthermore, the straightening length d3 of the first joint 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 it is greater, 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.

[0107] For example, the first coordinate system and the second coordinate system can represent the first axial distance with positive and negative numbers based on their relative positions between the remote motion centers. If the first coordinate system and the second coordinate system are located in the orientation of the remote motion center towards the far end, the first axial distance between them is represented by a positive number; if the first coordinate system and the second coordinate system are located in the orientation of the remote motion center towards the near end, the first axial distance between them 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.

[0108] 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 within this spatial coordinate system. Based on the position coordinates, the distances between the remote motion center and the first and second coordinate systems are calculated. Based on the magnitude of these distances compared to a preset distance threshold, a first relative positional relationship or a second relative positional relationship between the flexible part and the cannula is determined. The first relative positional relationship indicates that the flexible part is in the cannula's open sleeve state, while the second relative positional relationship indicates that the flexible part is in the cannula's concealed sleeve state. In the open sleeve state, a first constraint with more degrees of freedom is applied to control the movement of the flexible part; in the concealed sleeve state, a second constraint with fewer degrees of freedom is applied to control the movement of the flexible part. In both the concealed and open sleeve states, the control information is filtered to achieve control of the flexible part with different degrees of freedom constraints, i.e., under the master-slave control of the surgical robot by the master console, the concealed sleeve function is implemented for the flexible part relative to the cannula.

[0109] The first constraint, compared to the second constraint, adds a degree of freedom for bending motion in the flexible portion, including at least one joint mechanism. This allows the flexible portion to switch between concealed and open sleeve states, preventing bending damage to the sleeve and flexible portion from the joint mechanism. Furthermore, the bending motion of multiple joint mechanisms can be independently controlled based on their respective degree of freedom constraints, making the control of the flexible portion for lesion treatment more flexible and applicable to more scenarios, such as operations in confined surgical spaces, creating surgical channels when there is no surgical space, or treating lesions close to the body surface.

[0110] III. Concealed Sleeve Function - Reset Remote Fitness Center

[0111] Please refer to the following: Figures 8A to 8C The present invention provides a second embodiment of a control method for a surgical robot, as detailed below:

[0112] like Figure 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 region 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 cannula is controlled to translate relative to the central axis; in response to the setting command of the remote motion center 801, the remote motion center 801 is reset according to the termination position when the cannula translates.

[0113] In this embodiment, the entire cannula containing the surgical tools is controlled to translate so that when the distal tool, the first base portion, or the second base portion is translated to a position that is exactly in the first relative relationship with the cannula, the nearest movement limit of the distal tool, the first joint portion, or the second joint portion can reach the target lesion area. At this time, the doctor inputs the setting command of the remote motion center on the main control panel to reset the remote motion center on the cannula.

[0114] Still refer to Figure 8A Based on the dimensional information, the 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 each segment length (d1, d2, d3) and the second axial distance d4, the translation range of the sleeve relative to the central axis of the sleeve can be set, and the sleeve can be controlled to move within the translation range. Alternatively, based on each segment length (d1, d2, d3) and the second axial distance d4, each translation node of the sleeve relative to the central axis of the sleeve can be set, and the sleeve can be controlled to move at each translation node, such that the termination position of the sleeve is located at one of the translation nodes.

[0115] Specifically, taking the nearest endpoint 805 at the target lesion site, based on the dimensional information of the flexible portion, the segment length d1 of the end tool 802, the segment length d2 of the first base portion 803, and the segment length d3 of the second base portion 804 can be determined. When the end tool is exactly in the first relative position to the cannula, its distance from the target lesion area must be greater than or equal to the segment length d1 to ensure that the nearest movement limit of the end tool can reach the target lesion area. Similarly, it can be deduced that the distance from the first base portion to the target lesion area must be greater than or equal to the segment length d2, and the distance from the second base portion to the target lesion area must be greater than or equal to the segment length d3.

[0116] As mentioned above, since the end tool 802, the first base portion 803 and the second base portion 804 are exactly in the first relative position of the cannula, the segment lengths d1, d2 and d3 can also be determined as the distances between the port position 806 and the nearest endpoint 805 when the nearest end movement limit of the end tool 802, the first base portion 803 and the second base portion 804 can reach the target lesion area.

[0117] Furthermore, when the end tool 802, the first base portion 803, and the second base portion 804 are exactly in a first relative positional relationship with the sleeve, the translation range of the sleeve relative to the central axis of the sleeve is determined, specifically including:

[0118] When the end tool 802 is exactly in the first relative position of the sleeve, the first translation range R1 is: R1≥f+d1-d4;

[0119] When the first base part 803 is exactly in the first relative position of the sleeve, the second translation range R2 is: R2≥f+d2-d4;

[0120] When the second base part 804 is exactly in the first relative position of the sleeve, the third translation range R3 is: R3≥f+d3-d4;

[0121] Furthermore, in order to ensure that the cannula remains inside the patient's body after translation, the fourth translation range R4 is determined to be: R4 < f.

[0122] In one embodiment, based on R1, R2, R3, and R4 described above, the final translation range R of the sleeve relative to its central axis is set as: (f+d1-d4|f+d1-d4|f+d1-d4)≤R≤f. The sleeve can then be arbitrarily translated within the translation range R by operating it on the main control panel.

[0123] In another embodiment, translation nodes are set relative to the central axis of the sleeve (translation lengths are f+d1-d4, f+d1-d4, f+d1-d4 respectively). Through operation on the main control panel, the sleeve performs a jumping translational movement at each translation node, at which point the port position coincides with the translation node. Further, forward and backward translation buttons are preset. Responding to the touch of the forward button moves the sleeve's port position to an adjacent, more distant translation node, and responding to the touch of the backward button moves the sleeve's port position to an adjacent, more near translation node.

[0124] By setting the translation range or translation node during the translational movement of the cannula, the cannula is prevented from exiting the body. Furthermore, when the surgical instrument passes through the cannula's lumen into the patient's body, at least one of the distal end tool, the first base portion, and the second base portion extends outside the cannula, and at least one of the distal end tool, the first joint portion, and the second joint portion can move under a first constraint, enabling the distal end tool to treat the target lesion area. It should be noted that this method of setting the translation range or translation node also benefits from the fact that when the distal end tool, the first joint mechanism, and the second mechanism are outside the cannula, the first constraint can be independently controlled, allowing for surgical operations to be performed outside the cannula using a partially concealed sleeve technique.

[0125] In one embodiment, resetting the remote motion center in response to the setting command of the remote motion center, based on the termination position of the sleeve during translational movement, includes: determining the translational distance of the sleeve based on the termination position of the sleeve during translational movement, in response to the setting command of the remote motion center; controlling the remote motion center to move according to the translational distance to obtain the reset remote motion center, wherein the remote motion center is located within the range of the sleeve's location.

[0126] In this embodiment, as Figure 8B As shown, when the target lesion area is located close to the human incision 801, the nearest movement limit of the end tool 802 is located at a deeper position than the target lesion area H1, making it impossible to process the target lesion area H1. Figure 8B (a) Therefore, the cannula needs to be moved to make the depth of the proximal movement limit of the distal tool 802 shallower until it reaches the target lesion area H1 ( Figure 8B (b) The translation distance D of the control sleeve is then calculated by the reverse translation distance D of the remote motion center 803, yielding the position of the reset remote motion center 803. Figure 8B (c) At the same time, under the constraints of the translation range or translation node, the remote motion center 803 is located within the position range of the cannula, which is equivalent to the cannula being located inside the patient's body surface.

[0127] In this embodiment, as Figure 8CAs shown, in the flexible part of the surgical instrument, if the distal end tool 801, the first joint mechanism 802, and the second joint mechanism 803 cannot be controlled independently, all three need to extend beyond the port position 804 of the cannula in order for the distal end tool 801 to treat the target lesion area H1. When the cannula is moved to its limit position, about to exit the human incision 805, the nearest movement limit of the distal end tool 801 is still deeper than the target lesion area H1, making it impossible to treat the target lesion area H1. In this case, the cannula needs to be further moved to exit the body, and a protective sleeve 806 needs to be added between the cannula and the human incision 805 to prevent environmental infection from entering the patient through the human incision 805. Figure 8C d)

[0128] In this embodiment, since the distal end tool 801, the first joint mechanism 802, and the second joint mechanism 803 are independently controlled, it is not necessary for all three to extend outside the cannula. Only one of them needs to extend to allow the distal end tool 801 to treat the target lesion area H1. Based on this, the cannula can be withdrawn a smaller distance within its translational range, and the closest movement limit of the distal end tool 801 can reach the target lesion area H1 / H2. This allows the cannula to remain outside the body, reducing the risk of infection to the patient while still enabling the distal end tool 801 to treat the target lesion area H1 / H2. Figure 8C (e and f in the text).

[0129] Furthermore, as the target lesion area moves closer to the body surface, the retraction distance of the cannula is controlled, such as... Figure 8C The target lesion area H1 in the middle 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 ensuring the cannula does not need to be withdrawn from the body to reduce the risk of infection to the patient, it also maximizes the freedom of movement of the flexible parts, such as in... Figure 8C The flexible part of the middle section (e) allows for two rotational degrees of freedom in the first joint and four degrees of freedom (translation and rotation along the central axis), enabling the end section to achieve functional motion degrees of freedom. Figure 8C The flexible part of f can only achieve translational and rotational degrees of freedom along the central axis (two degrees of freedom).

[0130] In addition, the difference between the translational distance of the cannula and the preset distance threshold is further checked to see if it 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, preventing the end position of the cannula from being exactly in contact with the human incision. This would cause damage to the human incision or the tissue in contact with the cannula if the relative radial displacement between the cannula and the patient is too large.

[0131] IV. Concealing Sleeve Function - Retraction and Reset

[0132] Please refer to the following: Figure 9 , Figure 10A and Figure 10B The present invention provides a third embodiment of a control method for a surgical robot, as detailed below:

[0133] 901. Determine the switching between the first relative positional relationship and the second relative positional relationship of the flexible part during the movement;

[0134] 902. Based on the switching situation and the control information, determine the current motion state of the flexible part;

[0135] 903. Control the joint portion to move according to the joint posture shape corresponding to the motion state.

[0136] In this embodiment, the first relative positional relationship of the flexible part includes at least one of the end tool, the first base part, and the second base part satisfying a preset positional relationship, specifically, at least one of them being located outside the sleeve port position. When the end tool is set to satisfy the preset positional relationship, the flexible part and the sleeve belong to a first relationship; when the first base part is set to satisfy the preset positional relationship, the flexible part and the sleeve belong to a second relationship; when the second base part is set to satisfy the preset positional relationship, the flexible part and the sleeve belong to a third relationship. The first relative positional relationship includes the first relationship, the second relationship, and the third relationship. Determining the switching situation of the flexible part between the first relative positional relationship and the second relative positional relationship involves determining the sequential switching situation between the first relationship, the second relationship, the third relationship, and the second relative positional relationship.

[0137] Specifically, such as Figure 10A The numbers a to d shown sequentially represent the positions of the flexible portion relative to the sleeve under the second, first, second, and third relative positional relationships, respectively. Therefore, the first relative positional relationship is obtained when the flexible portion extends distally through the inner cavity of the sleeve in the second relative positional relationship.

[0138] Furthermore, when the relative positional relationship between the flexible part and the sleeve first switches from the second relative positional relationship to the first relative positional relationship, the current motion state of the flexible part is determined to be of the first type; when it switches from the first relative positional relationship to the second relative positional relationship, or switches back from the second relative positional relationship to the first relative positional relationship, the current motion state of the flexible part is determined to be of the second type. The motion state includes both the first and second type states. Combining this with the translational motion information relative to the central axis in the control information, the final motion state, whether the first or second type, is determined.

[0139] In one implementation, such as Figure 10A As shown, when controlling the movement of the joint based on the final shape, the specific motion control method is as follows:

[0140] 1) Based on the first type of state and control information for propulsion control, determine the current first motion state of the flexible part; based on the first motion state, fully map the control information to the real-time joint pose and shape, and control the joint part.

[0141] 2) Based on the first type of state and control information, the retraction control is used to determine the current second motion state of the flexible part; based on the second motion state, the joint part is controlled in the straightening form P1.

[0142] 3) Based on the second type of state and 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 pattern (P2 to P4).

[0143] 4) Based on the second type of state and control information, the current fourth motion state of the flexible part is determined as a backward control; based on the fourth motion state, the joint part is controlled in the straightened form P1.

[0144] If motion control mode 2) and motion control mode 4) switch from backward control to forward control, then they will enter motion control mode 1) and motion control mode 4) respectively.

[0145] In one embodiment, determining the current motion state of the flexible part based on the switching situation and the control information includes: determining 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 that there was a prior switch of the flexible part from the second relative position relationship to the first relative position relationship; if the switching situation meets the preset condition, then the current motion state of the flexible part is determined based on the control information.

[0146] In this embodiment, when the switching condition 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 relative to the sleeve is either switching from the second relative position relationship to the first relative position relationship (reset state) or switching from the first relative position relationship to the second relative position relationship (retreat state). Therefore, it can be determined that the flexible part needs to switch from the second relative position relationship to the first relative position relationship before this. At this time, according to the control information, which is forward control or backward control, the joint part is controlled by the aforementioned motion control method 3) or motion control method 4).

[0147] Specifically, regarding the statement "prior to the switching of the flexible portion from the second relative positional relationship to the first relative positional relationship," the position of the flexible portion relative to the sleeve prior to this change... Figure 10A Switch to 'a' (second relative position relationship) in the middle. Figure 10A b (second relation) in the text, and even further switch to Figure 10A c (third relation) or Figure 10A In the fourth relation d, it means that prior to this, at least one of the end tool, the first base portion, and the second base portion extends outward from the port position of the sleeve.

[0148] See Figure 10A Then, when the flexible part gradually switches between the first relative position relationship and the second relative position relationship, the switching methods include:

[0149] 1) Starting from the end tool 1001, gradually move it to expose port position 1004 until the end tool 1001 is fully exposed at port position 1004; (i.e., from...) Figure 10A Switch 'a' to Figure 10A (b)

[0150] 2) Gradually move from the end tool 1001 to the first base portion 1002, where the port is fully exposed, until the first base portion 1002 is fully exposed. Figure 10A Switching from 'c' to 'c' Figure 10A c)

[0151] 3) Gradually move from the first base portion 1002 to the second base portion 1003, where the port is fully exposed, at position 1004; (i.e., from...) Figure 10A Switching from 'c' to 'c' Figure 10A d)

[0152] 4) Starting from the second base portion 1003, gradually move back to the port position 1004 until the second base portion 1003 is completely back to the port position 1004; (i.e., from...) Figure 10A Switching d in Figure 10A c)

[0153] 5) Starting from the first base portion 1002, gradually move back to the port position 1004 until the first base portion 1002 is completely back to the port position 1004; (i.e., from...) Figure 10A Switching from 'c' to 'c' Figure 10A (b)

[0154] 6) Starting from end tool 1001, gradually move back to port position 1004 until end tool 1001 is completely back to port position 1004. (That is, from...) Figure 10A Switch from b to Figure 10A a)

[0155] In one embodiment, controlling the joint portion to move according to a joint pose corresponding to the motion state includes: when the control information is propulsion control, setting the joint pose corresponding to the motion state as: the memory pose of the joint portion when the flexible portion is about to switch from a first relative position relationship to a second relative position relationship; when the control information is reversal control, setting the joint pose corresponding to the motion state as: the straightened pose of the joint portion; and controlling the joint portion to move according to the memory pose or the straightened pose.

[0156] In this embodiment, when the control information is propulsion control, the flexible part belongs to the aforementioned switching modes 1) to 3); when the control information is backward control, the flexible part belongs to the aforementioned switching modes 4) to 6). The memory form of the joint part is: the pose of the joint part when the flexible part switched from the second relative position relationship to the first relative position relationship before. The pose of the joint part before this further includes: the pose of the joint part at the most recent moment before this, or the pose of the joint part triggered and set by the main control panel before this.

[0157] For details, please refer to Figure 10A When the flexible part belongs to the aforementioned switching method 1), the memory shape of the joint part is locally preset as follows: Figure 10A In b, the first memory form P2; when the flexible part belongs to the aforementioned switching mode 2), the memory form of the joint part is locally preset as Figure 10A In c, the second memory form P3; when the flexible part belongs to the aforementioned switching mode 3), the memory form of the joint part is preset as follows. Figure 10A The third memory form P4 in d.

[0158] 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 pose form of the joint part when the flexible part switches from the second relative position relationship to the second relationship or to the third relationship; then the memory form of the joint part can also be preset as the second memory form or the third memory form.

[0159] In another implementation, if the flexible part belongs to the aforementioned switching mode 2), and the memory form of the joint part is: the pose 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 to the third memory form.

[0160] Prior to this, if the flexible part switches from the second relative position relationship to the first relative position relationship under the following circumstances: 1) the flexible part switches from the second relative position relationship to the first relationship ( Figure 10A (a); 2) The flexible part switches from the second relative position relationship to the second relationship ( Figure 10A In case 1), when the flexible part belongs to the aforementioned switching method 2) or switching method 3), the second memory form and the third memory form can be set to the straightening form; in case 2), when the flexible part belongs to the aforementioned switching method 3), the third memory form can be set to the straightening form.

[0161] 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 form setting method of switching mode 1) to switching mode 3), which will not be elaborated here.

[0162] In this embodiment, please refer to Figure 10B When the flexible part belongs to any of the aforementioned switching methods 1) to 6), during the gradual switching process, for example when the first joint part 1005 is extended outside the sleeve ( Figure 10B Switch 'a' to Figure 10B (b) As the extension process gradually progresses, the first joint gradually returns from the straightened state P2 to the memory state P5; for example, when the second joint 1006 is extended outside the sleeve ( Figure 10B Switch from b to Figure 10B (c) As it gradually extends, the first joint gradually recovers from memory state P5 to memory state P6, until it recovers to the final memory state P(4). Figure 10B (d) When the first joint portion 1005 and the second joint portion 1006 are retracted into the sleeve, the reverse operation of the first joint portion 1005 and the second joint portion 1006 extending out of the sleeve is performed, and the memory state P6 is pulled until the memory state P5, until finally pulled until the straightened state P2.

[0163] In another implementation, such as Figure 10A As shown, during the gradual switching process of the flexible part, as the first joint portion and the second joint portion gradually extend beyond the sleeve, and as the corresponding first base portion and the second base portion fully extend beyond the sleeve, the first joint portion and the second joint portion in the straightened state are restored to their corresponding memory states P3 and P4. This achieves the transformation of the first and second joint portions from pose state P2 to pose state P6.

[0164] For example, when controlling the joint to move in a straightened shape corresponding to the retraction state, the control information sent in real time includes at least the retraction motion information of the surgical tool relative to the central axis. Based on the retraction motion information, a straightening control command and a retraction control command are configured to adjust the current shape of the joint to a straightened shape. The straightening control command and the retraction control command are sent to the controller, which actuates the joint to gradually straighten and retract.

[0165] For example, when controlling the joint to move according to the memory shape corresponding to the reset state, the control information sent in real time includes at least the advancement motion information of the surgical tool relative to the central axis. Based on the advancement motion information, a straightening control command and a retraction control command are configured to adjust the current shape of the joint to the memory shape. The straightening control command and the retraction control command are sent to the controller, which actuates the joint to gradually advance and restore.

[0166] In one embodiment, when determining the switching between the first relative positional relationship and the second relative positional relationship during the movement of the flexible part, the switching situation can be determined based on the change in the first axial distance of the flexible part during the movement.

[0167] In this embodiment, the magnitude of the first axial distance relative to a preset distance threshold is determined during the movement of the flexible part. If, as the flexible part moves, the first axial distance changes from being less than the preset distance threshold to being greater than the preset distance threshold, the flexible part is determined to switch from a second relative position relationship to a first relative position relationship. If the first axial distance changes from being greater than the preset distance threshold to being less than the preset distance threshold, the flexible part is determined to switch from a first relative position relationship to a second relative position relationship. Each change in the magnitude of the first axial distance relative to the preset distance threshold is recorded to obtain the switching status.

[0168] Furthermore, when determining whether the switching situation meets the preset conditions, it can also be determined 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 does not meet the preset distance conditions, then 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.

[0169] The preset distance conditions include the current first axial distance being less than or equal to a preset distance threshold, and the existence of a first axial distance greater than the preset distance threshold before this. If the change in the first axial distance satisfies the preset distance conditions, then the current motion state of the flexible part is determined to be either a retraction state or a reset state relative to the sleeve.

[0170] In one implementation, when the operation state is just entering the retraction or reset state, the control information can be an instantaneous control command to control the distal part to automatically move to the set pose. For example, a one-click retraction / one-click reset button can be set on the main control panel, and the doctor can touch the button to realize one-click retraction of the flexible part of the cannula or one-click extension of the cannula.

[0171] Each instantaneous control command can set the pose of a single joint mechanism; that is, each time the button is touched, an instantaneous control command is output, controlling one joint mechanism to automatically move to the set pose. Touching the button again controls the next joint mechanism to automatically move to the set pose.

[0172] In another implementation, the operating state is a continuous retraction / reset state, and the control information is a continuous control command. The remote portion moves continuously according to a pre-set pose shape as the continuous control command is sent. For example, if the pose shape is the straightened shape in the retraction state, the flexible part / joint mechanism straightens from t1 to t2 and retracts from t2 to t3 with the continuous control command; if the pose shape is the memory shape in the reset state, the flexible part / joint mechanism advances from t1 to t2 and resets from t2 to t3; or, based on the withdrawal amount, the portion of the flexible part that exits the sleeve is determined, and that portion is straightened in real-time according to the straightened shape; based on the advance amount, the portion of the remote portion that extends outside the sleeve is determined, and that portion is reset in real-time according to the memory shape.

[0173] V. Concealed Sleeve Function - Coordinated Movement

[0174] Please refer to the following: Figure 11 The present invention provides a fourth embodiment of a control method for a surgical robot, as detailed below:

[0175] The surgical tools include an endoscope and at least one surgical instrument. There is a corresponding relationship between the joint mechanism of the endoscope and the joint mechanism of the at least one surgical instrument. When a target joint mechanism of the endoscope or the at least one surgical instrument is determined to be in a retracted state or a reset state, another joint mechanism corresponding to the target joint mechanism is controlled to move in coordination.

[0176] In this embodiment, there is a flexible part in one of the endoscope and surgical instruments. As the relative sheath switches between a first relative position relationship and a second relative position relationship, and there is a switch from the second relative position relationship to the first relative position relationship before this, it is determined that the surgical instrument is in a retracted state or a reset state.

[0177] In the retracted or reset state, the advancement or retreat of the flexible parts of the surgical instrument or endoscope causes significant changes in its position and orientation. This results in a substantial shift in the instrument's position relative to the endoscope's field of view, making it easier for the instrument to slip out of the endoscope's view and lose its visible position. Therefore, it is advisable to coordinate the movement of another surgical instrument or endoscope that is not in the retracted or reset state. This minimizes the difference in position and orientation between the two instruments, reducing the probability of the instrument slipping out of the endoscope's field of view.

[0178] Specifically, when setting the correspondence between the joint mechanisms of surgical instruments and the joint mechanisms of endoscopes, since surgical instruments are usually located at a more distal position relative to the endoscope, the camera at the end of the endoscope can capture images of the distal end tools of the surgical instruments. Based on this, the first and second joint mechanisms of the surgical instruments can be determined to be located at more distal positions than the first and second joint mechanisms of the endoscope. A first correspondence between the first joint mechanism of the endoscope and the second joint mechanism of the surgical instruments, and a second correspondence between the second joint mechanism of the endoscope and the second joint mechanism of the surgical instruments, are pre-set. Based on the first and second correspondences, the second joint mechanism of the surgical instruments is controlled to move in tandem with the first and second joint mechanisms of the endoscope.

[0179] The flexible part of the endoscope switches between a first relative position and a second relative position, including sequential switching from the second relative position to the first, second, and third positions, specifically including forward or reverse sequential switching. The switching from the second relative position to the second position can be divided into two stages: second relative position to the first position and first position to the second position. The switching from the second relative position to the third position can be divided into three stages: second relative position to the first position, first position to the second position, and second position to the third position.

[0180] For example, such as Figure 11 As shown, the device includes an endoscope 110-A, surgical instruments 110-B and 110-C. A second joint mechanism 1101 and a first joint mechanism 1102 of the endoscope 110-A are configured to correspond to 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 correspondence is as follows: as the second joint mechanism 1101 retracts into the cannula, the second joint mechanism 1103 and the second joint mechanism 1104 also retract. The second correspondence is as follows: as the first joint mechanism 1102 retracts into the cannula, the second joint mechanism 1103 and the second joint mechanism 1104 also retract into the cannula.

[0181] For details, please refer to [link / reference]. Figure 11 The initial relative positions of the various joint mechanisms among endoscope 110-A, surgical instrument 110-B, and surgical instrument 110-C are as follows: Figure 11 As shown in a; when the second joint mechanism 1101 moves from, as shown in... Figure 11 When the position in 'a' moves to the position where it begins to enter the casing (e.g.) Figure 11 When (as shown in b) occurs, according to the first correspondence, the second joint mechanism 1103 and the second joint mechanism 1104 can also begin to retract; when the first joint mechanism 1002 moves from... Figure 11 When position b in the middle moves to the position where it begins to enter the casing (e.g.) Figure 11 As shown in c), according to the second correspondence, the second joint mechanism 1103 and the second joint mechanism 1104 begin to retract into the sleeve.

[0182] In one embodiment, when the second joint mechanism 1103 and the second joint mechanism 1104 are controlled to retract according to the first correspondence, on the one hand, the second joint mechanism 1103 and the second joint mechanism 1104 are constrained from retracting into the sleeve; on the other hand, the second joint mechanism 1103 and the second joint mechanism 1104 can be constrained to retract 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 retract to the position when they are about to retract into the sleeve.

[0183] In one embodiment, when the second joint mechanism 1103 and the second joint mechanism 1104 are controlled to gradually retract according to the first correspondence, the second joint mechanism 1101 remains at the position where it begins to enter the sleeve until the second joint mechanism 1103 and the second joint mechanism 1104 retract a preset distance or the distance from the sleeve port is within a preset distance threshold.

[0184] In one embodiment, when the second joint mechanism 1103 and the second joint mechanism 1104 are controlled to gradually retreat according to the first correspondence, 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 reach the position where they begin to enter the sleeve.

[0185] 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 correspondence, 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 simultaneously and completely retracted into the sleeve.

[0186] In addition, after the first joint mechanism 1102, the second joint mechanism 1103, and the second joint mechanism 1104 have completely retracted into the cannula, 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 cannula.

[0187] In another embodiment, the first joint mechanism 1105 and the first joint mechanism 1106 can remain outside the cannula to continue performing surgical operations, for use in confined surgical spaces or to treat lesions close to the body surface.

[0188] VI. Conceal Sleeve Function - View Switching

[0189] Please refer to the following: Figures 12 to 13The present invention provides a fifth embodiment of a control method for a surgical robot, as detailed below:

[0190] The remote motion center is equipped with a third coordinate system; the number of surgical tools is multiple; the surgical robot also includes a display device; a kinematic model is established for each surgical tool based on the third coordinate system; based on the kinematic model, during the movement of the flexible parts of each surgical tool, the third relative positional relationship between the joint base and the end effector of each surgical tool is determined; based on the third relative positional relationship, a three-dimensional model diagram of the corresponding flexible part of 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 positional relationship and the second relative positional relationship, a two-dimensional view of the corresponding perspective is cropped from the three-dimensional model diagram and displayed on the display device.

[0191] In this embodiment, please refer to Figure 5B For multiple surgical tools, such as the first base portion of the endoscope 11-A and surgical instrument 11-B, which are respectively equipped with the first coordinate system XewYewZew and XiwYiwZiw, and the second coordinate system XebYebZeb and XibYibZib respectively equipped with the second base portion, a third coordinate system xmymzm is also set on the remote motion center. The third coordinate system xmymzm serves as a position reference benchmark and is used to estimate the relative positions between the first coordinate system XewYewZew, XiwYiwZiw, and the second coordinate system XebYebZeb and XibYibZib during the movement of the flexible part.

[0192] Specifically, using the third coordinate system xmymzm as the positional reference, a kinematic model is established for the surgical instruments and endoscope. This yields the third relative positional relationships between surgical instruments, between surgical instruments and the endoscope, and between their first base portion, second base portion, and end-effector. This allows for real-time dynamic display of the movement process of each surgical instrument through a UI view. This UI view includes a 3D model and a 2D view, typically displayed on the main control panel screen, but can also be displayed on the surgical robot and / or imaging trolley.

[0193] like Figure 12 As shown, the display area of ​​the UI view can be the display area 1201 at the bottom of the screen, the display area 1202 on the left side of the screen, the display area 1203 on the right side of the screen, or the 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 various surgical tools in the display interface. The default position of the UI view display area is at the bottom of the screen, 1201.

[0194] Furthermore, based on the switching between the first and second relative positional relationships of the flexible part, the various execution processes of the flexible part can be determined. According to the different execution processes of the flexible part, two-dimensional views with associated perspectives are extracted from the three-dimensional model diagram to more clearly display the relative movement positions of the various surgical tools during the different execution processes of the flexible part. The two-dimensional views with different perspectives include at least a top view, a side view, and a front view.

[0195] In one implementation, when determining the various execution processes of the flexible part based on the switching between the first relative positional relationship and the second relative positional relationship, the flexible part is determined to be in the first execution process when it gradually switches from the second relative positional relationship to the first relative positional relationship and from the first relative positional relationship to the second relative positional relationship; the flexible part is determined to be in the second execution process when it switches from the second relative positional relationship to the first relative positional relationship and remains in the first relative positional relationship; and the flexible part is determined to be in the third execution process before the master-slave control is activated (when the flexible part is in the second relative positional relationship for the first time).

[0196] For further details, please refer to Figure 13 When the flexible part is in the first execution process, a top view 1301 of the 3D model is captured; when the flexible part is in the second execution process, a side view 1302 of the 3D model is captured; and when the flexible part is in the third execution process, a front view 1303 of the 3D model is captured. To avoid the 2D view obscuring the surgical field of view in the display interface as little as possible, a 2D view is usually displayed in the display area. When the flexible part switches between the first, second, and third execution processes, the captured top view 1301, side view 1302, and front view 1303 are automatically switched and displayed. These three 2D views can also be manually selected and switched via touch screen buttons on the main control console, surgical robot, and / or imaging trolley.

[0197] The above sections have provided detailed explanations of the master-slave sleeve concealment function, the remote motion center reset corresponding to the sleeve concealment function, the retraction and resetting of surgical instruments relative to the cannula, the coordinated movement of multiple surgical instruments, and the view switching of surgical instruments during different execution processes in the surgical robot control method. Next, based on the aforementioned embodiments of the surgical robot control method, a preferred embodiment of the complete process will be provided. Please refer to [link to relevant documentation]. Figure 14 The details are as follows:

[0198] In steps 1401 to 1402, the surgical tool is mounted on the controller and inserted into the patient's body through a cannula placed in the incision. To ensure the safety of the surgical tool operation, the concealed sleeve function must be activated before master-slave operation. This allows the relevant algorithms to be used to execute the control method of the surgical robot. If activation fails, the master-slave operation control signal is disconnected, and the surgical tool cannot be controlled; that is, the surgical robot does not respond to the control information input from the main control panel to perform surgical actions. After the concealed sleeve function is successfully activated, the main control panel can control the movement of the surgical tool.

[0199] Regarding step 1403, if the surgical tool does not extend the cannula, when performing the master-slave control operation of step 1411 on the surgical tool, it responds to the control information output by the master console and determines that the surgical tool is in a second relative position relative to the cannula. At this time, the surgical tool is motion 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 motion of the end tool). The wrist joint (first joint part) and the shoulder and elbow joint (second joint part) do not perform bending motion and remain in a straight state.

[0200] For steps 1404 to 1405, if the surgical instrument is extended from the cannula, the relative positional relationship between the flexible part and the cannula is further detected during the extension process to determine the motion constraints of the flexible part. This includes the following situations:

[0201] A. During the process of the surgical instrument moving outward along the central axis of the cannula, if the first coordinate system XwYwZw of the wrist base (first base part) and the first axial distance between the remote motion center and the central axis of the cannula are less than the preset distance threshold f, then the wrist joint (first joint part) and the shoulder and elbow joint (second joint part) remain in a straight state and do not perform bending movements, thereby effectively avoiding collision between the wrist joint and the port position of the cannula; that is, the relative position relationship is the second relative position relationship, and the motion constraint is the second constraint.

[0202] 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 f in the first axial distance between the remote motion center and the sleeve's central axis, then the master-slave control operation can realize the rotational movement of the wrist joint in two degrees of freedom, thereby adjusting the posture of the end tool; while the shoulder-elbow joint remains straight and does not perform bending movement, thus effectively avoiding collision between the shoulder-elbow joint and the sleeve's port position. That is, the relative positional relationship is the second relationship, and the motion constraint is the second degree of freedom constraint.

[0203] C. If the first axial distance corresponding to the shoulder and elbow base is greater than or equal to f, then the shoulder, elbow, and wrist joints are all outside the sleeve, achieving two degrees of freedom of rotational motion respectively, and realizing six degrees of freedom of movement of the surgical tool under 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.

[0204] For steps 1406 to 1407, if the first axial distance corresponding to the shoulder and elbow base in step 1406 is equal to f, then the surgical tool in step 1407 begins to retract into the cannula. 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 that gradually moves parallel to the central axis of the cannula. When the first axial distance corresponding to the wrist base is equal to f, the shoulder and elbow joint is fully straightened. At this time, the wrist joint can still perform bending movements according to the master-slave control operation.

[0205] As the first axial distance corresponding to the wrist base gradually decreases to less than f, the wrist joint performs a straightening action that gradually becomes parallel to the central axis of the sleeve until the wrist joint is fully straightened; while the wrist joint is performing the straightening action, the shoulder and elbow joints remain straight. At this time, the connecting rod in the long axis diagram is allowed to perform rotational motion around its own axis.

[0206] For steps 1408 to 1410, the corresponding movements are performed according to the operable sequence of the wrist and shoulder / elbow joints described in step 1404. During the extension of the surgical instrument from the cannula, the wrist and shoulder / elbow joints automatically return to their original positions before being withdrawn from the cannula in step 1407, until the shoulder / elbow joints are completely outside the cannula, and then six-degree-of-freedom master-slave control operations are performed. The execution of step 1410 is as described in step 1405, and will not be repeated here.

[0207] In one implementation, steps 1407 and 1409 can be implemented by establishing a mechanical model to provide force feedback prompts on the main control panel, or by adding a progress bar showing the movement of the surgical tool along the central axis of the cannula on the observation window of the main control panel display interface, or by other means, to indicate to the doctor that the surgical tool is in the process of retracting into the cannula (step 1407) or extending out of the cannula for the second time (step 1409).

[0208] For example, the force feedback prompt can be a vibration prompt on the main handpiece or a spring force prompt on the main handpiece. The spring force prompt refers to the inverse kinematics calculation performed on the main handpiece based on the force feedback.

[0209] Furthermore, when displaying two-dimensional views of multiple surgical tools in the interface, the default settings are to display a top view when controlling the surgical robot to perform steps 1401-1402, a side view when performing steps 1404, 1407 and 1409, and a front view when performing steps 1405, 1410 and 1411.

[0210] It should be noted that other sorting schemes that can be easily conceived by those skilled in the art within the technical scope disclosed in this invention should also be within the protection scope of this invention, and will not be elaborated here.

[0211] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional units or 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the modules in the mobile terminal can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0212] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps described in the various method embodiments above.

[0213] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the above-described method embodiments.

[0214] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0215] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0216] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determination" or "if the described condition or event is detected" may be interpreted, depending on the context, as "once determination," "in response to determination," "once the described condition or event is detected," or "in response to the detection of the described condition or event."

[0217] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0218] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0219] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0220] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0221] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0222] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0223] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0224] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A surgical robot system, characterized in that, The surgical robot system includes a main control console and a surgical robot, wherein the surgical robot includes a controller, surgical tools and a cannula, and the main control console is communicatively connected to the surgical robot; The surgical instrument can be extended and accommodated within the cannula, and includes a flexible portion at the distal end. A remote motion center is provided on the central axis of the cannula. The flexible part includes an end tool, a first joint mechanism, and a second joint mechanism. The first joint mechanism includes a first base portion and a first joint portion. The second joint mechanism includes a second base portion and a second joint portion. The second joint portion is coupled to the first base portion. The first joint portion is coupled to the end tool. The first base portion is provided with a first coordinate system. The second base portion is provided with a second coordinate system. The remote motion center is provided with a preset distance threshold relative to the port position of the sleeve. The controller is configured to perform motion control of the surgical tool, including: In response to the setting command of the remote motion center, the remote motion center is reset according to the termination position when the sleeve translates relative to the central axis; In response to the control information sent by the main control console to the surgical tool, the axial distances between the first coordinate system and the second coordinate system and the reset remote motion center are determined in the direction of the distal end of the central axis of the cannula, based on the reset remote motion center. Compare the magnitude of each axial distance with a preset distance threshold, and based on the comparison result, determine whether the port positions of the end tool, the first base portion, and the second base portion relative to the sleeve satisfy a preset positional relationship. If at least one of the end tool, the first base portion, and the second base portion satisfies the preset positional relationship, then determine that the flexible portion and the sleeve have a first relative positional relationship. If at least one of the preset positional relationships does not exist, then the flexible part and the sleeve are determined to have a second relative positional relationship. Based on the control information, the flexible part is motion controlled according to preset motion constraints associated with the first and second relative positional relationships.

2. The surgical robot system according to claim 1, characterized in that, Controlling the translational movement of the sleeve relative to the central axis includes: Obtain the dimensional information of the flexible portion, and determine another axial distance between the remote motion center and the target lesion area; Based on each of the stated dimensional information and the other axial distance, the sleeve is controlled to translate relative to the central axis.

3. The surgical robot system according to claim 2, characterized in that, The step of controlling the translational movement of the sleeve relative to the central axis based on each of the aforementioned dimensional information and the other axial distance includes: Based on the dimensional information, determine the lengths of each segment of the end tool, the first base portion, and the second base portion; Based on the length of each segment and the other axial distance, the translation range of the sleeve relative to its central axis is set, and the sleeve is controlled to move within the translation range; or, Based on the length of each segment and the other axial distance, each translation node of the sleeve relative to the central axis of the sleeve is set, and the sleeve is controlled to move on each translation node, so that the termination position of the sleeve is located on one of the translation nodes.

4. The surgical robot system according to claim 1, characterized in that, The preset motion constraints include a first preset constraint and a second preset constraint; The step of controlling the motion of the flexible part according to the control information and a preset motion constraint associated with the relative position relationship includes: Based on the control information, and according to a preset first constraint associated with the first relative positional relationship, the flexible portion is motion-controlled; or, Based on the control information, the flexible part is motion controlled according to a preset second constraint associated with the second relative position relationship; In this context, relative to the second relative positional relationship, the length of the flexible portion contained within the sleeve is shorter in the first relative positional relationship. When the length of the flexible portion contained within the sleeve is shorter, the number of joint mechanisms constraining the flexible portion is greater, and the constraints on the joint mechanisms include constraints on the degrees of freedom of movement of the first and second joint portions.

5. The surgical robot system according to claim 4, 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 step of controlling the motion of the flexible portion according to the control information and a preset first constraint associated with the first relative position relationship includes: If the end tool satisfies a preset positional relationship, and the first base portion does not satisfy the preset positional relationship, then 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 a preset positional relationship, and the second base portion does not satisfy the preset positional relationship, then the flexible portion is motion-controlled according to the second degree of freedom constraint based on the control information. If the second base portion satisfies the preset positional relationship, then according to the control information, the flexible portion is motion controlled according to the third degree of freedom constraint.

6. The surgical robot system according to claim 4, characterized in that, The first degree of freedom constraint includes: the movement of the end tool performing a functional operation, the rotational movement of the first joint portion and the second joint portion about their own central axis, and the rotational 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 motion of the first joint portion along the first base portion; The third degree of freedom constraint includes: the first degree of freedom constraint and the second degree of freedom constraint, as well as the bending motion of the second joint portion along the second base portion.

7. The surgical robot system according to claim 1, characterized in that, The controller is also configured to: Determine the switching between the first relative positional relationship and the second relative positional relationship of the flexible part during its movement; Based on the switching situation and the control information, the current motion state of the flexible part is determined, and the first and second joint parts are controlled to move according to the joint posture corresponding to the motion state.

8. The surgical robot system according to claim 7, characterized in that, The control of the first and second joints to move according to the joint posture corresponding to the motion state includes: When the control information is propulsion control, the joint pose corresponding to the motion state is set as follows: the memory pose of the first and second joints 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 backward control, the joint posture corresponding to the motion state is set as: the straightened posture of the first and second joint parts; Control the first and second joints to move according to the memory shape or the straightening shape.

9. The surgical robot system according to claim 1, characterized in that, The remote motion center is equipped with a third coordinate system; the number of surgical tools is multiple; the surgical robot also includes a display device; the controller is further configured to: Based on the aforementioned third coordinate system, a kinematic model is established for each surgical tool; Based on the kinematic model, during the movement of the flexible parts of each surgical tool, the third relative positional relationship between the joint base and the end tool of each surgical tool is determined. Based on the aforementioned third relative positional relationship, a three-dimensional model of the flexible part corresponding to each surgical tool is generated; The three-dimensional model diagram is displayed on the display device; or, Based on 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 captured in the three-dimensional model diagram, and the two-dimensional view is displayed on the display device.

Images