Surgical robot system

Abstract

The embodiment of the invention provides a surgical robot system which comprises multiple operation modes, the multiple operation modes at least comprise a following mode and a camera mode, and in the following mode, the posture of a surgical instrument is controlled to follow the posture of an input device through a first action of the input device; switching the operation mode from the following mode to the camera mode according to the action of entering the endoscope mode and the first action; and a camera mode in which the position and posture of the endoscope are adjusted by a second action of the input device, the second action changing the position of the input device without changing the posture of the input device.

Description

Technical Field

[0001] The present application relates to the medical field, and in particular to a surgical robot. Background Art

[0002] Minimally invasive medical technology refers to a medical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery or biopsy inside the human body cavity. Compared with traditional surgical methods, minimally invasive medical technology has the advantages of less trauma, less pain, faster recovery, less discomfort for patients and fewer harmful side effects.

[0003] With the advancement of science and technology, minimally invasive medical surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical medical robots usually include a main control console and a slave operating device. The doctor controls the slave operating device by controlling the input device of the main control console. The slave operating device is used to respond to the control commands sent by the main control console and perform the corresponding surgical operation. The instrument is connected to the drive device of the slave operating device and is used to perform surgical operations. The distal end of the instrument includes an end device for performing surgical operations and a joint assembly connected to the end device that can move with multiple degrees of freedom.

[0004] Before and during surgery, surgeons need to use the surgical robot's endoscope to detect the patient's internal environment. There is currently no better solution for how to use multiple endoscopic operation modes to facilitate doctors' detection of the patient's internal environment and how to reduce training time and reduce misoperation. Summary of the invention

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

[0006] A plurality of drive devices for driving surgical instruments and endoscopes;

[0007] an input device for manipulating the plurality of drive devices in a plurality of operating modes, the plurality of operating modes comprising at least a follow mode, a camera mode, a reposition mode, and an adjustment mode;

[0008] A control device configured to:

[0009] In response to the action of entering the endoscope mode, the operation mode is switched from the following mode to the adjusting mode; in the following mode, the first driving device of the plurality of driving devices is controlled to move according to the first action of the input device, so as to drive the surgical instrument to follow the movement of the input device;

[0010] switching the operation mode from the following mode to the camera mode in response to an action of entering an endoscope mode and the first action, wherein in the camera mode, a second driving device of the plurality of driving devices is controlled to move according to a second action of the input device to adjust a position and a posture of the endoscope;

[0011] The operation mode is switched from the following mode to the repositioning mode in response to the entering endoscope mode action and an action opposite to the first action.

[0012] In a specific embodiment, the second action changes the position of the input device without changing the posture of the input device.

[0013] In a specific embodiment, the surgical robot system also includes a robotic arm having multiple joints, and the multiple drive devices are connected to the distal end of the robotic arm. In the adjustment mode, the control device controls the movement of the robotic arm according to the second action of the input device to rotate the endoscope around a remote motion center to adjust the position and posture of the distal end of the endoscope and maintain the position and posture of the distal end of the surgical instrument unchanged.

[0014] In a specific embodiment, in the repositioning mode, the control device controls the movement of the robotic arm according to the second action of the input device to simultaneously adjust the position and posture of the surgical instrument and the endoscope.

[0015] In a specific embodiment, in the camera mode, the adjustment mode, and the repositioning mode, the first action does not cause movement of the plurality of driving devices and the joints of the robot arm.

[0016] In a specific embodiment, it also includes pre-stored first motion boundaries and second motion boundaries for constraining the movement of the robotic arm. After the operating mode is switched from the adjustment mode to the repositioning mode, the control device synchronously switches the motion range of the robotic arm from the first motion boundary to the second motion boundary.

[0017] In a specific embodiment, the first motion boundary is determined according to the motion range of the joint assembly of the surgical instrument, and the second motion boundary is determined according to the motion range of multiple joints of the robotic arm.

[0018] In a specific embodiment, the control device calculates the first target position of the robotic arm based on the second action. When the first target position exceeds the first motion boundary or the second motion boundary, the control device constrains the robotic arm from further movement and generates an impedance force command for the input device to hinder the input device from continuing to move, so as to generate an impedance force on the input device to hinder the input device from continuing to move.

[0019] In a specific embodiment, the impedance force increases as the distance between the first target position and the first motion boundary or the second motion boundary increases.

[0020] In a specific embodiment, the control device calculates the second target position of the robotic arm based on the second action. If the second target position is closer to the first motion boundary or the second motion boundary than the first target position, the control device releases the constraint on the motion of the robotic arm and stops generating the impedance force command.

[0021] In a specific embodiment, the endoscope includes a camera, a wrist joint and a parallel joint, the wrist joint is connected between the camera and the parallel joint, the wrist joint movement changes the position and posture of the camera, the parallel joint movement changes the position of the camera and keeps its posture unchanged, and the second action manipulates the wrist joint movement without manipulating the parallel joint movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic top view of a surgical robot system according to an embodiment of the present application arranged in an operating room;

[0023] Figure 2A A schematic diagram of a main control console of a surgical robot system according to an embodiment of the present application;

[0024] Figure 2B A schematic diagram of a slave operating device of a surgical robot system according to an embodiment of the present application;

[0025] Figure 3A A schematic diagram of a surgical tool according to an embodiment of the present application;

[0026] Figure 3B This is a schematic diagram of the internal structure of a holding device according to an embodiment of the present application;

[0027] Figure 4A A schematic diagram of a slave operating device according to an embodiment of the present application;

[0028] Figure 4B A schematic diagram of a kinematic model of a slave operating device according to an embodiment of the present application;

[0029] Figure 5 A schematic diagram of a kinematic model of a surgical tool according to an embodiment of the present application;

[0030] Figure 6 A schematic diagram of multiple surgical tools passing through a cannula according to an embodiment of the present application;

[0031] Fig. 7A A schematic diagram of the relationship between the coordinate system of an input device and the coordinate system of a display device according to an embodiment of the present application;

[0032] Figure 7B A schematic diagram of the relationship between the coordinate system of the end of the surgical tool and the coordinate system of the end of the endoscope according to one embodiment of the present application;

[0033] Figure 8 This is a flow chart of a following mode control method according to an embodiment of the present application;

[0034] Fig. 9 A flowchart of a control method for an adjustment mode according to an embodiment of the present application;

[0035] Fig.10 This is a flow chart of an endoscope alignment control method according to one embodiment of the present application;

[0036] Fig.11 This is a flow chart of a control method for switching between multiple operation modes according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings below. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood, and is not a limitation of the present application.

[0038] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time, or it may refer to that the two elements are interactively connected through signals. When an element is considered to be "coupled" / "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time, or it may refer to that the two elements are interactively connected through signals. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are only for the purpose of illustration and are not intended to be the only implementation method. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the drawings. For example, if the device is flipped in the drawings, the elements or features described as "below" or "below" other elements or features will be oriented as "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0039] The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the surgeon during surgery, and "proximal end" refers to the end close to the surgeon during surgery. The term "plurality" used herein includes two or more.

[0040] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including a terminal device, which may be a surgical tool for performing a surgical procedure, such as a biopsy needle, an electrocauterizer, a clamp, a stapler, a shears, an imaging device (such as an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the terminal device so that the position and orientation of the terminal device can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Further, the terminal device also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include storage information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system elements.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "and / or" and "and / or" used herein include any and all combinations of one or more related listed items.

[0042] The surgical robot system of one embodiment of the present application is as follows: Figure 1 As shown, the surgical robot system includes a main console 20 and a slave operating device 10, the main console 20 is remotely connected to the slave operating device 10, and the surgeon S can remotely operate and control the slave operating device 10 on the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired from the slave operating device 10 according to the operation of the surgeon S. The surgeon S can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional images of the patient's body, the surgeon S can control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body) with an immersive feeling.

[0043] The slave operation device 10 includes a control device, a mechanical arm 11, and a holding device 12. The control device can be arranged in the base of the slave operation device 10 or on the mechanical arm 11. In one embodiment, the control device is used to control the joint movement of the mechanical arm 11 and the movement of the driving device in the holding device 12. A plurality of surgical tools can be installed on the holding device 12, and the driving device of the holding device 12 is used to drive the movement of the surgical tools to perform various surgeries.

[0044] In one embodiment, the surgical robot system further includes a gas insufflation device, a lumen group (not shown) and a cannula 13, wherein the lumen group connects the cannula 13 to the gas insufflation device fluid. The cannula 13 is connected to the distal end of the instrument holding device 12, and the cannula is inserted into the body cavity of the patient P lying on the operating table T. The end devices of multiple surgical tools or the camera at the distal end of the endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgery-related operations or obtain environmental images inside the patient P.

[0045] In one embodiment, surgeon S can control the working mode of the gas insufflation device through the main console 10, such as injecting gas from the gas source into the body cavity of the patient P to form artificial pneumoperitoneum, or extracting gas from the body cavity of the patient P. Assistant A installs the surgical tool 40 on the instrument holding device 12 according to the surgical conditions, or replaces the surgical tool 40 from the instrument holding device 12. Surgeon S, assistant A and anesthesiologist B form a basic surgical team. The surgical tool 40 can be a surgical tool such as an electric cauterizer, a clamp, a stapler, an ultrasonic scalpel, etc. used to perform surgical operations, or an imaging device (such as an endoscope) or other surgical tools for acquiring images.

[0046] The main control console 10 is also connected to the electronic device cart 30 by remote communication, and the electronic device cart 30 is remotely connected to the slave operating device 10 by remote communication. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the above-mentioned gas blowing device and other devices. In this embodiment, the main control console 10, the slave operating device 10 and the electronic device cart 30 use wired Ethernet communication for remote communication, but the remote communication is not limited to wired Ethernet communication, and can also be other wired methods, such as but not limited to serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as but not limited to 5G, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0047] In one embodiment, Figure 2A As shown, the main console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24 and a control signal processing system 25, wherein the display device 21 is used to display the image acquired by the above-mentioned imaging system. The armrest 22 is used to place the arm and / or hand of the doctor S (for example, surgeon S) so that the doctor S can operate the input device 23 more comfortably, and the observation device 24 is used to observe the image displayed by the display device. According to actual needs, the armrest can also be omitted; or the observation device 24 can be omitted, and direct observation can be performed in this case. The doctor S controls the movement of the surgical tool of the slave operation device 10 by operating the input device 23. The control signal processing system of the main console 20 processes the input signal of the input device 23 and then sends a control command to the slave operation device. The slave operation device 10 responds to the control command of the main console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be set in the slave operation device 10, for example, in the base of the slave operation device 10. The control signal processing system 25 can be a device with the above-mentioned control device.

[0048] The surgical robot system generally also includes an imaging system portion (not shown) that enables the doctor S to observe the surgical site from outside the patient's body. The imaging system portion generally includes a surgical tool 40 with a video image acquisition function (e.g., a surgical tool 40 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 with an image acquisition function includes an optical device of one or more imaging sensors (e.g., a CCD or CMOS sensor) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the surgical tool 40 with an image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly to be processed and displayed on a video display device.

[0049] In one embodiment, Figure 2B As shown, the mechanical arm 11 of the slave operating device 10 of the surgical robot system includes a base 110, a column 120 connected to the base 110, an upper arm 130, a lower arm 140 and a vertical arm 150 connected in sequence. The mechanical arm also includes a plurality of joints J1-J5 for connecting the column 120, the upper arm 160, the lower arm 140 and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122, the support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1, the first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the part of the mechanical arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 through the second joint J2, the upper arm 130 is connected to the lower arm 140 through the third joint J3, and the lower arm 140 is connected to the vertical arm 150 through the fourth joint J4. The second joint J2, the third joint J3 and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are perpendicular to the horizontal plane. The vertical arm 150 and the weapon holding device 112 are connected through the fifth joint J5, and the axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0050] The control device 160 is configured to control the linkage of multiple joints J1-J5 to achieve various positions of the entire robotic arm 11, adjust the position and posture of the weapon holding device 112, and realize the rotational movement of the weapon holding device 112 around the remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0051] In one embodiment, the instrument holding device 112 further includes a sleeve 115, which is detachably connected to the instrument holding device 112 via a docking device 114. The central axis 106 of the instrument holding device 112 substantially coincides with the axis 118 of the sleeve 115. The instrument holding device 112 drives the sleeve 115 to rotate around a remote motion center 116. Since the remote motion center 116 is located at the incision 117, the patient P will not be injured when the sleeve 115 rotates around the remote motion center 116.

[0052] In one embodiment, the operating device 10 also includes a control panel 170 disposed on the support column 121, and the control panel 170 includes at least one switch 171. The switch 171 is used to input positioning instructions to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 11 to quickly realize the positioning of the robotic arm 11 in various predetermined postures, such as unfolding into a posture for arranging sterile curtains.

[0053] In one embodiment, the holding device 112 can be loaded with multiple surgical tools 40, and the multiple surgical tools 40 pass through the same cannula 115 and enter the body from the incision 117. Figure 3A As shown, the surgical tool 40 includes an instrument box 41, a long shaft 42, a joint assembly 43, and an end device 44. The surgical tool 40 is detachably mounted on the drive system on the holding device 112 of the operating device 10. The instrument box 41 has a transmission device (not shown in the figure), which includes multiple transmission units (such as winches). The transmission units are connected to the joint assembly 43 and the end device 44 through multiple cables. The multiple transmission units are respectively coupled to multiple actuators (such as motors) in the drive system and driven by the actuators. Multiple actuators receive control instructions from the control device, and according to the control instructions, they drive the transmission units to move so as to drive the end device 44 to move. For example, the drive unit drives the transmission unit to rotate so as to retract / pull the cable to control the movement of the end device. The end device 44 can perform multiple Cartesian degrees of freedom through the joint assembly 43, such as translational movement (including lateral movement and / or longitudinal movement) to change the position of the end device 44 and pitch, yaw and roll movement to change the posture of the mode device 44. It can be understood that translation and pitch, translation, yaw and roll can be moved independently or simultaneously. The end device 44 is used to perform operations related to surgical operations. Depending on the requirements of the surgical operation, the end device 44 can be an electric cauterizer, a clamp, a stapler, scissors, an ultrasonic scalpel, a camera, an imaging device, etc., wherein the camera or imaging device is used to obtain images of the inside of the human body.

[0054] In one embodiment, Figure 3BAs shown, the driving system of the holding device 112 includes at least a first driving device 2201 and a second driving device 2202. The surgical instruments 310 of the plurality of surgical tools are detachably mounted on the first driving device 2201, and the endoscopes 320 of the plurality of surgical tools are detachably mounted on the second driving device 2202. The plurality of actuators in the first driving device 2201 are coupled to the transmission device in the instrument box 311 of the surgical instrument 310. The first driving device 2201 is used to drive the joint assembly 313 of the surgical instrument 310 to perform multiple degrees of freedom and the self-rotation of the long axis 312. The plurality of actuators in the second driving device 2202 are coupled to the transmission device in the instrument box 321 of the endoscope 320. The second driving device 2202 is used to drive the joint assembly 323 of the endoscope 321 to perform multiple degrees of freedom and the self-rotation of the long axis 322.

[0055] In one embodiment, the driving system of the holding device 112 further includes a first feeding driving device 2211 and a second feeding driving device 2212. The first feeding driving device 2211 is used to drive the first driving device 2201 to move linearly along the guide rail 2213, thereby driving the surgical instrument 310 to perform a feeding movement between the proximal end and the distal end. The second feeding driving device 2212 is used to drive the second driving device 2202 to move linearly along the guide rail 2214, thereby driving the endoscope 320 to move linearly.

[0056] Figure 4A is a schematic diagram of a slave operating device 200 according to an embodiment of the present application. Figure 4B FIG. 5 is a schematic diagram of a kinematic model of a slave operating device 500 according to an embodiment. Figure 4A As shown, the kinematic model 500 includes kinematic information associated with many active devices, and the kinematic information is based on known kinematic models for the various mechanism links (such as the above-mentioned column, upper arm, lower arm and vertical arm) and joints of the slave operating device 200. The kinematic information is further based on information associated with the position and posture of each joint of the slave operating device 200. The information associated with the position and posture of the joint is obtained by measuring the linear position of the linear motion joint and the rotational position of the rotational joint using one or more position sensors (such as encoders). The kinematic model 500 includes several coordinate systems or coordinate systems and coordinate system transformation relationships (such as homogeneous transformation of coordinate systems) to transform the position and posture of the target object from the description in one coordinate system to the description in another coordinate system. The kinematic model 500 can simultaneously use one or several coordinate systems and coordinate system transformation relationships involved therein to establish a kinematic relationship between adjacent or non-adjacent coordinate systems through forward transformation or reverse transformation. In some embodiments, the kinematic model 500 is used to Figure 4A The kinematic relationship of the slave operating device 200 is modeled.

[0057] The kinematic model 500 includes a base coordinate system 510 for kinematic modeling of the positions and postures of the joints of the slave operating device 200. The base coordinate system 510 is established on the base 210 and remains relatively stationary with respect to the base of the slave operating device 200. In some embodiments, the base coordinate system 510 is used as a benchmark reference point for modeling between the moving joints of the slave operating device 200. Once the base coordinate system 510 is determined, the geometric relationship between the origin of the coordinate system and the orientation of the coordinate axes on the mechanical components of the base 210 is also determined. In addition, in order to facilitate an intuitive description of the motion information of each moving joint, the Z-axis orientation of the base coordinate system 510 can be perpendicular to the ground or floor surface on which the slave operating device 200 is placed.

[0058] The kinematic model 500 further includes a column coordinate system 520, which is used to model the position and posture of the lifting column 240, and the coordinate system and the lifting column 240 that is allowed to move remain in a relatively static state. In some embodiments, considering the convenience and rapidity of establishing the coordinate system transformation relationship between adjacent coordinate systems, on the basis of satisfying the coordinate system establishment rules, the Z axis of the lifting column coordinate system 520 can coincide with the central axis 202 of the lifting column 240, the orientation of the X axis and the Y axis of the column coordinate system 520 can be parallel to the coordinate axis of the base coordinate system 510, and the origin of the coordinate system 520 can be determined at the intersection of the central axis 202 of the lifting column and the horizontal center plane 201 of the boom 250. In some embodiments, one or more sensors can be used to measure the translation position of the lifting column 240 relative to the fixed support column 220, and further used to determine the coordinate system transformation relationship 515 between the column coordinate system 520 and the base coordinate system 510.

[0059] The kinematic model 500 further includes a boom coordinate system 530 from the operating device 200, which is established at the end of the boom 250. In some embodiments, it can be established at the intersection of the horizontal center plane 201 of the boom 250 and the rotation axis 203 of the third joint J3, and is used to describe the motion information of the boom 250. On the basis of satisfying the coordinate system establishment rule, the Z axis of the boom coordinate system 530 can coincide with the rotation axis 203 of the third joint J3. In some embodiments, one or more sensors can be used to measure the rotation position of the boom 250 relative to the lifting column 240, and further used to determine the coordinate system transformation relationship 525 between the boom coordinate system 530 and the column coordinate system 520. In some embodiments, based on the coordinate system transformation relationships 515 and 525, a kinematic model between the coordinate systems 530 and 510 can be established, and can further be used to describe the motion information of the position and posture of the boom 250 in the base coordinate system 510. In some embodiments, based on the known motion information of the position and posture of the upper arm 250 in the base coordinate system 510, based on the coordinate system transformation relationships 515 and 525, the motion information of the joints of the lifting column 240 and the upper arm 250 can be determined through inverse kinematic transformation.

[0060] The kinematic model 500 further includes a forearm coordinate system 540, which is established at the end of the forearm 260. In some embodiments, the coordinate system 540 can be established at the intersection of the horizontal center plane 205 of the forearm 260 and the rotation axis 204 of the fourth joint J4, and is used to describe the motion information of the forearm 260. On the basis of satisfying the coordinate system establishment rule, the Z axis of the forearm coordinate system 540 can coincide with the central axis 204 of the vertical arm 270. In some embodiments, one or more sensors can be used to measure the rotation position of the forearm 260 relative to the boom 250, and further used to determine the coordinate system transformation relationship 535 between the forearm coordinate system 540 and the boom coordinate system 530. In some embodiments, based on the coordinate system transformation relationships 525 and 535, a kinematic model between the coordinate systems 540 and 520 can be established, and can further be used to describe the posture motion information of the forearm 260 relative to the lifting column 240. In some embodiments, based on the combination of coordinate system transformation relationships 515, 525 and 535, a kinematic model between coordinate systems 540 and 510 can be established, and can further be used to describe the motion information of the position and posture of the forearm 260 in the base coordinate system 510. In some embodiments, based on the known motion information of the position and posture of the forearm 260 in the base coordinate system 510, based on the coordinate system transformation relationships 515, 525 and 535, after kinematic inverse transformation, the motion information of the joints of the lifting column 240, the upper arm 250 and the forearm 260 can be determined.

[0061] The kinematic model 500 further includes a vertical arm coordinate system 550, which is established at the end of the vertical arm 270. In some embodiments, the vertical arm coordinate system 550 can be established at the intersection of the central axis 204 of the vertical arm 270 and the rotation axis 206 of the fifth joint J5, and is used to describe the motion information of the vertical arm 270. On the basis of satisfying the coordinate system establishment rules, the Z axis of the vertical arm coordinate system 550 can coincide with the rotation axis 206 of the fifth joint J5. In some embodiments, one or more sensors can be used to measure the rotation position of the vertical arm 270 relative to the forearm 260, and further used to determine the coordinate system transformation relationship 545 between the vertical arm coordinate system 550 and the forearm coordinate system 540. In some embodiments, based on the combination of coordinate system transformation relationships 515 to 545, a kinematic model between the coordinate systems 550 and 510 can be established, and can further be used to describe the motion information of the position and posture of the vertical arm 270 in the base coordinate system 510. In some embodiments, based on the known motion information of the position and posture of the vertical arm 270 in the base coordinate system 510, based on the coordinate system transformation relationship 515~545, after inverse kinematic transformation, the motion information of the joints of the lifting column 240, the upper arm 250, the lower arm 260 and the vertical arm 270 can be determined.

[0062] The kinematic model 500 further includes a weapon coordinate system 560, which is established at the end of the weapon 280. In some embodiments, the weapon coordinate system 560 can be established at the end of the weapon 280 and on the vertical center plane 207 of the weapon 280 (for example, on the docking portion of the end of the weapon) to describe the motion information of the weapon 280. In some embodiments, one or more sensors can be used to measure the rotational position of the weapon 280 relative to the vertical arm 270, and further used to determine the coordinate system transformation relationship 555 between the weapon coordinate system 560 and the vertical arm coordinate system 550. In some embodiments, based on the combination of coordinate system transformation relationships 515-555, a kinematic model between coordinate systems 560 and 510 can be established, and further used to describe the motion information of the position and posture of the weapon 280 in the base coordinate system 510. In some embodiments, based on the known motion information of the position and posture of the armed device 280 in the base coordinate system 510, based on the coordinate system transformation relationship 515~555, after inverse kinematic transformation, the motion information of each joint of the robotic arm 211 can be determined, and the end point of the robotic arm 211 from the operating device 200 can be accurately controlled.

[0063] The kinematic model 500 further includes a remote motion center coordinate system 570 of the manipulator 211, the origin of which coincides with the remote motion center 116. In some embodiments, the coordinate system transformation relationship 565 between the remote motion center coordinate system 570 and the arm coordinate system 560 can be determined through the geometric relationship of the mechanism on the arm 280. In addition, based on the combination of coordinate system transformation relationships 515-565, a coordinate transformation relationship 575 between the coordinate systems 570 and 510 can be established, and can be further used to describe the position motion information of the remote motion center 116 of the manipulator 211 in the cart base base coordinate system 510 and the posture motion information of the arm 280. In some embodiments, the position motion information of the remote motion center 116 in the base coordinate system 510 and the posture motion information of the arm 280 are known. Based on the coordinate transformation relationship 575, after kinematic inverse transformation, the motion information of each joint of the manipulator 211 can be determined, and then the translation and rotation motion of the handheld and dragged arm 280 in the workspace can be realized.

[0064] Figure 5 FIG. 1 is a simplified schematic diagram of a kinematic model of a plurality of surgical tools 40 for a surgical robot according to an embodiment of the present application. Figure 5 As shown, the multiple surgical tools 40 include surgical instruments and endoscopes. In order to accurately control the motion of the surgical tools, a base coordinate system 610 is usually established for each surgical tool 40, an axial movement coordinate system 620 is established for the translational motion freedom along the central axis 106 of the holding device 112, and a rotation coordinate system 630 is established for the rotational freedom of the surgical tools 40 around their respective long axis axes. In addition, as shown in FIG. Figure 6 As shown, a parallel joint coordinate system 640 , a wrist joint coordinate system 650 , and a terminal coordinate system 660 are respectively established for other degrees of freedom of movement of the distal end of the surgical tool 40 , wherein the parallel joint coordinate system 640 is established on the proximal base of the proximal joint 4221 of the parallel joint 422 .

[0065] In some embodiments, based on the coordinate system transformation relationships 615-655, a kinematic model relationship 665 between the end coordinate system 660 and the surgical tool base coordinate system 610 can be established, and can further be used to describe the position and motion information of the end device of the surgical tool or the endoscope image in the base coordinate system 610. In some embodiments, based on the known position and motion information of the surgical tool end coordinate system 660 in the surgical tool base coordinate system 610, the coordinate system transformation relationship 665 is inversely transformed and solved, and the motion information of each motion joint of the surgical tool can be calculated. In some embodiments, the fixed kinematic relationship between each surgical tool base coordinate system 610 is known, and based on the coordinate system transformation relationship 665, the position and pose information of the surgical instrument end device in the endoscope image can be obtained, so that the master-slave control operation of the surgical instrument can be realized based on the master-slave motion control model. In some embodiments, a kinematic relationship 675 between the surgical tool base coordinate system 610 and the remote motion center coordinate system 560 of the patient's surgical platform can be established, so that the surgical tool 40 and the robot arm 211 establish a connection.

[0066] In one embodiment, Figure 6 As shown, multiple surgical tools include surgical instruments 410, 430 and endoscope 420, and surgical instruments 410, 430 and endoscope 420 pass through cannula 115 together. In this embodiment, surgical tool 410 is a surgical instrument whose end device 411 is a bipolar cautery forceps, surgical tool 420 is a surgical instrument whose end device 424 is a camera, and surgical tool 430 is a surgical instrument whose end device 424 is a needle forceps. The two surgical instruments 410, 430 and endoscope 420 have joint components of the same configuration. In some other embodiments, they can also be other numbers of surgical tools, such as 4 surgical tools. In some other embodiments, according to requirements, the configurations of the joint components of surgical tools 410, 420, 430 can be different to achieve different degrees of freedom of movement.

[0067] In one embodiment, surgical tool 420 includes a proximal instrument box ( Figure 6 The invention relates to a surgical robot 424, wherein the joint assembly comprises a parallel joint 422 and a wrist joint 423, wherein the parallel joint 422 comprises a proximal joint 4211, a middle section 4223 and a distal joint 4222, wherein the proximal joint 4211 and the distal joint 4222 move simultaneously to change the position of the camera 424, but the posture of the camera 424 can be maintained unchanged. For the detailed movement principle of the parallel joint 422, please refer to Chinese patent applications CN202111604327.6 (instruments and surgical robots with parallel joints) and CN202111604322.3 (instruments and surgical robots with parallel joints). The movement of the wrist joint 423 can change the position and posture of the camera 424 to explore the internal environment.

[0068] In some embodiments, the main console 20 has four different operation modes for operating surgical tools 410, 420, 430. The first mode in the four operation modes is a follow-up mode. Fig. 7A The figure shows a simplified schematic diagram of the motion relationship of the input device 23 of an embodiment of the present application. A Cartesian space coordinate system ML is established at the handle position at the end of the left input device 23L, a Cartesian space coordinate system MR is established at the handle position at the end of the right input device 23R, and a Cartesian display screen coordinate system MB is established at the display device 21. Based on the mechanical structure design, both the left input device 23L and the right input device 23R have six degrees of freedom of motion. The six degrees of freedom of the left input device 23L include three coordinate axes X along the coordinate system ML. ML , Y ML , Z ML The three degrees of freedom of translation and the degrees of freedom about the coordinate axis X ML , Y ML , Z ML Similarly, the right input device 23R also has three rotational degrees of freedom along the coordinate axis X MR , Y MR , Z MR Three degrees of freedom of translation and about the coordinate axis X MR , Y MR , Z MR Three rotational degrees of freedom. Through the kinematic relationship between the coordinate systems ML and MR of the input device 23 and the coordinate system MB of the display device, the six degrees of freedom motion information of the surgeon's S hand can be converted to the display screen coordinate system MB through motion, so that the surgeon's S hand motion information can be stored and recorded in the main console.

[0069] Figure 7B FIG. 1 is a simplified schematic diagram of the motion relationship of surgical tools used in a surgical robot system according to an embodiment of the present invention. Figure 6 and Figure 7BAs shown, a coordinate system 415 is established at the end of the surgical instrument 410, and a coordinate system 435 is established at the end of the surgical tool 430. Based on the master-slave motion mapping relationship between the motion of the input device and the motion of the surgical tool, the coordinate system ML of the left input device 23L can be mapped to the coordinate system 414 of the end of the surgical tool 410, the coordinate system MR of the right input device 23R can be mapped to the coordinate system 415 of the end of the hand tool 430, and the screen coordinate system MB of the display device 21 can be mapped to the screen coordinate system 660 of the endoscope 420. Then, the motion of the coordinate system 415 of the end of the surgical tool 410 under the screen coordinate system 660 of the endoscope 420 and the coordinate system 425 of the end of the surgical tool 420 under the screen coordinate system 660 of the endoscope 420 can be obtained. Based on the motion conversion relationship between the surgical tools 410 and 430, the motion amount of the joint components of the surgical tools can be solved to complete the motion control of the corresponding motors.

[0070] Figure 8 11 is a simplified flow chart of a follow-up mode control method of a surgical robot system according to an embodiment of the present invention. In process 1111, the doctor S activates the master-slave alignment through the input device 23, thereby activating the master-slave operation function between the master console and the patient's slave operation device; in process 1112, the doctor S controls the movement of the left input device 23L and / or the right input device 23R, and based on Fig. 7A The coordinate system conversion relationship in the display device 21 is used to convert the actual motion information of the left input device 23L and the right input device 23R into the screen coordinate system MB of the display device 21. Based on the master-slave motion control model, the screen coordinate system MB of the display device 21 is equivalent to the screen coordinate system 660 of the endoscope 420 of the slave operating device. The master-slave motion mapping and data transmission of the input device 23 are performed through the master-slave communication bus. After the control device of the slave operating device obtains the motion control instruction, the joint components of the surgical tools 410 and 430 are subjected to motion solution based on the pre-stored kinematic model, so that the surgical tools 410 and 430 can follow the left input device 23L and the right input device 23R in real time to move.

[0071] In one embodiment, the four operating modes of the surgical robot system also include an adjustment mode. Figure 6 In the adjustment mode, the doctor S can control the holding device 112,280 to rotate around the remote motion center 116 by manipulating the input device 23, so that the endoscope 420 image can achieve four degrees of freedom movement, the four degrees of freedom include the endoscope 420 with the remote motion center as the rotation center, can rotate around the x-axis of the coordinate system 570 m Axis and y mThe axis performs a rotational motion with two degrees of freedom, so as to change the field of view of the endoscope 420 screen in the up and down and left and right directions, thereby facilitating the doctor S to carry out continuous surgical operations at different surgical sites and improving the fluency of surgical operations. In addition, along the central axis 118 of the sleeve 115, the endoscope 420 can perform a forward and backward movement of the degree of freedom, that is, the endoscope 420 moves linearly along the sleeve axis 118 toward the proximal end or the distal end, so as to adjust the size of the observable field of view of the endoscope screen. This degree of freedom movement helps to adjust the surgical instruments outside the field of view to the field of view at any time so that the doctor S can observe them, thereby reducing the risk of surgical operations. During the operation, the endoscope screen can be controlled to perform a rotational degree of freedom movement around the axis of the screen, so as to achieve the adjustment of the field of view of the screen in the clockwise or counterclockwise rotation direction. During this degree of freedom movement, the position of the screen axis in the remote motion center coordinate system 570 remains unchanged, and at the same time, the position of the endoscope screen center in the coordinate system 570 remains unchanged.

[0072] In one embodiment, the adjustment mode also includes moving the endoscope 420 around the axis z of the coordinate system 660. v Rotate so that the endoscope image rotates, and the endoscope 420 rotates around the axis z v During rotation, the control device controls the parallel joint 422 and the wrist joint 423 to move in conjunction with each other, thereby maintaining the postures of the parallel joint 422 and the wrist joint 423 unchanged.

[0073] In the adjustment mode, the endoscope 420 and the surgical instruments 410, 430 are linked so that when the endoscope 420 rotates around the remote center of motion 116, the distal ends of the surgical instruments 410, 430 remain stationary. Fig. 9 As shown, in process 761, based on the motion control input instruction of the input device 23, the above-mentioned four-degree-of-freedom motion control can be performed on the endoscope screen. During the motion control process of the endoscope 420, the position and posture of the end device of the surgical instrument 410, 430 in the remote motion center coordinate system 570 remain unchanged, and the joint components of the surgical instruments 410, 420 perform the joint motion control process 762 according to the kinematic model. In process 762, the robot arm, the first drive device 2201 and the first feed drive device 2211 are linked so that when the endoscope 430 rotates around the remote center 116, the position and posture of the end device of the surgical instrument 410, 420 remain unchanged, so that the surgical instrument 410, 430 can still control the endoscope 420 screen to perform multi-degree-of-freedom motion when clamping the tissue, and the surgical instrument 410, 430 can maintain the traction force on the tissue unchanged during the motion. In some embodiments, all surgical instruments installed on the holding device and in an activated state participate in the joint motion control process.

[0074] During the joint movement of the surgical instrument 410, 420 and the robotic arm, process 763 is executed simultaneously to determine in real time whether the movement of the robotic arm has reached the first movement boundary position. If the output of process 763 is "no", process 769 is executed, and the robotic arm drives the endoscope to continue to move; if the output of process 763 is "yes", process 764 is executed to trigger the boundary impedance model. In some embodiments, the first movement boundary position allows to be defined as the posture of the endoscope 430 or the posture of the robotic arm when the surgical instrument 410, 420 linked thereto moves to any set joint limit position. In process 764, the endoscope moves to the boundary position, triggering the boundary impedance model set by the software. At this time, the joint components of the surgical instruments 410, 430, the endoscope 420, and the moving joints of the robotic arm 200 stop moving in that direction. When the boundary impedance model of the movement of the endoscope 430 is triggered, if the input device continues to move in this direction, the boundary impedance force of the endoscope movement will be transmitted from the operating device to the robotic arm of the input device to execute the force feedback process 765 and realize the boundary impedance force feedback effect on the doctor S hand.

[0075] In some embodiments, the deviation between the input command for controlling the movement of the endoscope and the actual movement position of the endoscope is correlated to the magnitude of the boundary impedance force. As the position deviation increases, the effect of the boundary impedance force of the doctor S's hand gradually increases. In some embodiments, the force feedback function of the input device is allowed to be set to be turned on and / or off by the doctor S on the doctor's operating table or by an assistant on the patient's surgical platform. In some embodiments, the on and / or off setting of the main hand force feedback function of the doctor's operating table is allowed to be executed by mechanical buttons and / or touch screens and / or voice systems. When process 764 is triggered, a prompt message that the main hand movement reaches the boundary will be generated at the same time. In some embodiments, the prompt message is allowed to be executed in the form of sound and / or icon and / or number and / or progress bar and / or other forms. The output source of the prompt message is allowed to be the doctor's operating table and / or patient surgical platform and / or imaging trolley and / or other equipment. When the endoscope 430 moves to the boundary position, the doctor S needs to execute process 767 to determine whether to change the movement direction of the master-slave operation. If the output of process 767 is "no", process 768 is triggered and the robot 211 stops moving. If the output of process 767 is "yes", process 769 is triggered, the robot 211 is allowed to continue to perform motion control, the boundary impedance model is automatically closed, and the impedance boundary force of the doctor's main hand on the operating table gradually weakens until it is zero.

[0076] See again Figure 6Under the adjustment model, when the endoscope 420 performs forward and backward movement of freedom, when the master-slave motion controls the endoscope to move proximally from the outside of the cannula 115 along the central axis 118 of the cannula 115 to approach the cannula port 115a, when the distance between the proximal end of the proximal joint 4221 of the parallel joint 422 and the remote motion center 116 is greater than the distance between the cannula port 115a and the remote motion center 116, the parallel joint 422 will not collide with the cannula port. On the contrary, when the distance between the proximal end of the proximal joint 4221 of the parallel joint 422 and the remote motion center 116 is less than the distance between the cannula port 115a and the remote motion center 116, the parallel joint 422 will collide with the cannula port 115a. In order to solve the collision phenomenon between the endoscope 420 and the cannula port 115a, the endoscope 420 executes a straightening action command during the forward and backward translation movement along the central axis 118 of the cannula, that is, when the shoulder and elbow base of the endoscope 430 moves from the outside of the cannula to the cannula port, the angle α between the parallel joint 422 and the central axis 118 of the cannula 115, and the angle β between the wrist joint 423 and the central axis 118 gradually decrease until they are zero and remain unchanged.

[0077] In one embodiment, in order to provide the doctor S with favorable information prompts that the endoscope 420 is in the above-mentioned straightening action process, a virtual area Z1 is set near the sleeve 115, and the virtual area Z1 includes a first boundary S1 located at the proximal end and a second boundary S2 located at the distal end, and a spring impedance force model is established between the positions of the first boundary S1 and the second boundary S2. The control shaft generates a force command for the input device 23 according to the spring impedance force model to generate an impedance force on the joint of the input device 23 that hinders the input device 23 from continuing to move. The doctor S can know the straightening state of the endoscope 420 by feeling the impedance force.

[0078] In one embodiment, the first boundary S1 is set at the position of the cannula port 115a or the position at the distal end of the cannula port 115a, and the second boundary S2 is set between the cannula port 115a and the remote motion center 116. The distance h of the straightening process is between the first boundary S1 and the second boundary S2. The straightening speed of the endoscope 420 and the distance h are allowed to be established as a linear or nonlinear relationship model. If the distance h is smaller, the straightening speed of the endoscope is faster, and vice versa. The h value remains unchanged after the initial setting of the system is completed.

[0079] The first boundary S1 and the second boundary S2 are zero positions for triggering the spring-like impedance model, that is, at the first boundary S1 and the second boundary S2, the impedance output by the input device according to the spring-like impedance model is zero.

[0080] In one embodiment, the virtual area Z1 also includes an intermediate boundary S3 located between the first boundary S1 and the second boundary S2. When the proximal end of the proximal joint 4221 is at the intermediate boundary S3, the impedance force output by the input device 23 is maximum. When approaching from the first boundary S1 and the second boundary S2 to the intermediate boundary S3, the impedance force gradually increases. In the process from the intermediate boundary S3 to the first boundary S1 and the second boundary S2, the output impedance force gradually decreases.

[0081] Specifically, during the process of the input device 23 controlling the endoscope 420 to translate toward the proximal end along the central axis 118 of the sleeve, when the parallel joint coordinate system 640 contacts the first boundary S1, that is, when it coincides with the first boundary S1, the spring-like impedance model begins to be triggered, and as the parallel joint coordinate system 640 gradually approaches S1 from S1, the angle β between the parallel joint 422 and the central axis 118 of the sleeve gradually decreases until it is zero, and the impedance increases from zero to the maximum value at the middle boundary S3 and then gradually decreases to zero when it reaches the second boundary S2. In one embodiment, the middle boundary S3 is at the virtual area h / 2. At this time, the endoscope 420 becomes straightened. In one embodiment, the judgment of the parallel joint coordinate system 640 contacting the first boundary S1, the second boundary S2 or the middle boundary S3 can be judged by comparing the positional relationship between the parallel joint coordinate system 640 and the coordinate system established at the first boundary S1, the second boundary S2 or the middle boundary S3.

[0082] During the process of the input device 23 controlling the endoscope 420 to translate from the inside of the cannula 115 along the central axis 118 of the cannula toward the distal end, when the coordinate system 640 starts to move from the inside of the cannula and at the proximal end of the second boundary S2 to gradually approach the cannula port 115a, if the coordinate system 640 contacts the second boundary S2, the straightening action instruction is triggered, and the endoscope 420 is allowed to maintain the straightening state until the coordinate system 640 reaches the outside of the cannula outside the range of S1S2. In the process of following the coordinate system 640 from the second boundary S2 to the middle boundary S3, the impedance force output by the input device 23 gradually increases, and in the process of moving from the middle boundary S3 to the first boundary S1, the impedance force output by the input device 23 gradually decreases until it is zero.

[0083] In some embodiments, when the endoscope 420 moves from the distal end to the proximal end, when the coordinate system 640 contacts the first boundary S1, the control device stores the posture of the joint assembly of the endoscope 420 at this time in the memory. When the endoscope 420 moves from the proximal end to the distal end, when the coordinate system 640 contacts the first boundary S1 again, the control device reads the previously stored posture of the joint assembly of the endoscope 420 and restores the endoscope 420 to the posture.

[0084] Fig.10FIG. 1 is a simplified flow chart of an endoscope alignment control method according to an embodiment of the present application. Fig.10 As shown, in process 810, the endoscope is controlled by the input device 23 to perform translational movement along the axis direction of the sleeve. During the movement, the system simultaneously executes process 820. When the parallel joint base coordinate system 640 moves from the distal end of the sleeve 115 to the first boundary S1 position or moves from the proximal end of the sleeve 115 to the second boundary S2 position, the straightening function is triggered and process 830 is executed at the same time to record the S1 position or S2 position at the time of triggering. If the trigger is the first boundary S1 position, the posture of the endoscope 420 at this time is also recorded, and the motion deviation 840 of the coordinate system 640 from the reference zero position in the virtual area Z1 is calculated using the trigger position as the reference zero position. During this period, process 850 is executed at the same time, and the postures of the wrist joint and the parallel joint change, that is, the endoscope starts to perform the straightening action or restores the posture before the straightening action.

[0085] In process 860, the control device calculates the force command according to the spring-like model output and transmits the force command to the main console. After receiving the impedance force input command, the main console inputs it into the established inverse kinematic model of the input device 23 in the screen of the display device 21, executes the kinematic solution process 870, and then obtains the motion command value of each joint of the input device, executes process 880, and each joint moves according to the motion command to output the impedance force, thereby realizing the force feedback effect to prompt the doctor S the current status of the endoscope 420.

[0086] In one embodiment, the multiple operation modes of the surgical robot system also include a repositioning mode, which has some similarities with the above-mentioned adjustment mode, except that in the repositioning mode, the surgical instruments 410, 430 are not linked with the endoscope 420. Figure 6In the repositioning mode, the doctor S controls the sleeve 115 to rotate around the remote motion center 116 by operating the input device, and the surgical instruments 410, 430 and the endoscope 420 rotate around the remote motion center 116 together with the sleeve 115, so as to adjust the position and posture of the surgical instruments 410, 430 and the endoscope 420 as a whole. And the surgical instruments 410, 430 and the endoscope 420 can be controlled to move forward and backward as a whole through the input device 23, that is, to move toward the proximal end or the distal end as a whole. During the overall forward and backward movement of the surgical instruments 410, 430 and the endoscope 420, if the first joint of the parallel joint of any one of the surgical instruments 410, 430 and the endoscope 420 moves from the distal end to the proximal end and contacts the first boundary S1 of the virtual area Z1, or moves from the proximal end to the distal end and contacts the second boundary S1, the above-mentioned spring-like impedance force model will be triggered, so that the input device 23 outputs impedance force. In one embodiment, each of the surgical instruments 410, 430 and the endoscope 420 independently triggers a spring-like impedance model and accumulates the impedance on the input device 23, so that the doctor S can feel how many surgical tools are in the straightened state.

[0087] In one embodiment, after the operation mode of the surgical robot system is switched from the adjustment mode to the repositioning mode, the motion boundary of the robotic arm is synchronously switched from the first motion boundary to the second motion boundary, wherein the second motion boundary is determined according to the limit position of the joint of the robotic arm.

[0088] In one embodiment, the multiple operation modes of the surgical robot system described above also include a camera mode, and the movement of the endoscope 420 can be independently controlled through the input device 23, while the remote motion center 116 and the surgical instruments 410, 430 remain stationary.

[0089] In one embodiment, the camera mode includes a first camera mode and a second camera mode. In the first camera mode, the input device 23 controls the movement of the parallel joint 422 of the endoscope 420 alone, thereby changing the position of the camera 424. In one embodiment, in the first camera mode, the input device 23 controls the movement of the wrist joint 423 alone, while keeping the parallel joint 422 stationary, and the movement of the wrist joint 423 includes the movement of the wrist joint around the coordinate axis y of the coordinate system 650. w Rotation and coordinate axis x w The two degrees of freedom of axial rotation can change the position and posture of the camera 424 through the movement of the wrist joint 423.

[0090] In one embodiment, in the first camera mode, the input device 23 manipulates the parallel joint 422 of the endoscope and the first feed drive device 2201 to change the position of the distal end surface 424a of the camera 424, and maintain the distance from the center point P1 of the distal end surface 424a of the camera 424 to the first plane M1 unchanged, and the first plane M1 passes through the remote motion center 116 and is perpendicular to the long axis axis 421a and the sleeve center axis 118. In one embodiment, the joint assembly includes a linear motion joint, and the parallel joint 422 and the parallel joint are linked to change the position of the distal end surface 424a of the camera 424, and maintain the distance from the center point P1 of the distal end surface 424a of the camera 424 to the first plane M1 unchanged.

[0091] In one embodiment, in the first camera mode, the input device 23 controls the parallel joint 422 and the wrist joint 423 to move together. When the parallel joint 422 moves to the physical boundary, the wrist joint 423 starts to rotate, or when the wrist joint 423 moves to the physical boundary, the parallel joint 422 starts to rotate, thereby making the working space of the camera 424 larger.

[0092] Reference Figure 6 In one embodiment, in the second camera mode, according to the input of the input device 23, the control device can control the wrist joint 423, the parallel joint 422 and the second feed drive device to work in conjunction, so that when the distal end face 424a of the camera 424 rotates around the end face coordinate system 660, the position of the end face center point P1 relative to the remote motion center 116 is maintained unchanged, wherein the end face center point P1 coincides with the origin of the coordinate system 660.

[0093] Specifically, the control device controls the wrist joint 423 to rotate around the coordinate axis x of the coordinate system 650. w Rotation, parallel joint 422 around the coordinate axis x of coordinate system 640 b The second feed drive device drives the long shaft 421 to move along the linear motion of its axis 421a, so that the end surface 424a of the endoscope 422 moves around the first axis x of the coordinate system 660. v The control device controls the wrist joint 423 to rotate around the coordinate axis y of the coordinate system 650, and maintains the position of the center point P1 relative to the remote center 116 unchanged. w Rotation, parallel joint 422 around the coordinate axis y of coordinate system 640 b The second feeding motion device drives the long axis 421 to move linearly along its axis 421a, so that the end surface 424a of the endoscope 422 moves around the second axis y of the coordinate system 660. v By rotating and maintaining the position of the center point P1 relative to the remote center 116 unchanged, the second camera mode can be suitable for detecting the surrounding environment in a narrow surgical space.

[0094] In one embodiment, the joint assembly of the endoscope 430 further includes a linear motion joint (not shown), and the linear motion joint drives the long axis 421 along the axis 421a, thereby realizing the forward and backward feeding movement of the camera 424. v Or the second axis y v During rotation, the control device controls the wrist joint and the linear motion joint to maintain the position of the end face center point P1 relative to the remote motion center 570 unchanged. The wrist joint 423 and the linear motion joint are linked, including that when the wrist joint 423 moves away from the long axis 421A, the linear motion joint drives the long axis to move toward the distal end; when the wrist joint moves toward the axial direction of the long axis, the linear motion joint drives the long axis to move toward the proximal end.

[0095] In one embodiment, the present application also provides a method 5000 for switching between the above-mentioned multiple operation modes, such as Fig.11 As shown, in process 5111, after the surgical robot system is turned on, it is usually in a default standby state, and the various motion joints of the slave operating device and the main console are in a state of maintaining the current position and not moving, waiting for the doctor S to operate and use them. At the same time, the various motion joints of the robotic arm of the slave operating device and the input device of the doctor's main console are in an initial state, which is usually a fixed posture set by the system.

[0096] In process 5112, the method detects whether a doctor S is present at the main console 20. If the doctor S is detected to be present, process 5113 may be entered, otherwise the method returns to process 5111. The presence of the doctor S may be detected by infrared, distance sensor, camera or pressure sensor, etc.

[0097] In process 5113, the method determines the action of the operation mode selection performed by the doctor S. If it is determined that the doctor S performs the action of selecting to enter the follow mode, then in process 5114, the method sets the surgical robot system to move in the follow mode; if it is determined that the doctor S selects to enter the endoscope mode, then in process 5210, the surgical robot system is set to move in the endoscope mode, wherein the actions of selecting to enter the follow mode and the endoscope mode are different. In one embodiment, the action of selecting to enter the follow mode is that the doctor S presses the left input device 23L and the right input device 23R at the same time, or rotates the left input device 23L and the right input device 23R at the same time. In one embodiment, the action of selecting to enter the endoscope mode is that the doctor S steps on the pedal, or presses a button, or other inputs such as voice prompts. It can be understood that the actions of selecting to enter the follow mode and the endoscope mode can also be other actions, just ensure that the actions of selecting the follow mode and the endoscope mode are different. In this embodiment, the endoscope mode includes the above-mentioned adjustment mode, repositioning mode and camera mode. In some embodiments, the endoscope also includes other modes for operating the endoscope, such as endoscope cleaning mode, fluorescence mode, etc.

[0098] In process 5115, the method determines whether the doctor S has performed an action to enter the endoscope mode, such as the doctor S stepping on a pedal, or pressing a button, or other inputs such as voice prompts. If "yes", process 5210 switches the operation mode of the surgical robot system from the follow mode to the endoscope mode. If "no", it enters process 5116. In process 5116, the method determines whether to exit the follow mode. If "yes", the method loops back to process 5111. If it is judged as "no", the surgical robot system is kept in the follow mode. In some embodiments, the operation of whether to exit the follow mode is that the doctor S disconnects the master-slave control between the main console 20 and the slave operating device 10.

[0099] In one embodiment, in process 5210, the method sets the surgical robot system to a default endoscope mode of the endoscope mode. In this embodiment, the default endoscope mode is the above-mentioned adjustment mode.

[0100] In process 5211, the method determines whether the surgical robot system exits the endoscope mode. If "yes", the method proceeds to process 5217. In process 5217, the method determines whether the doctor S is in place. If the doctor S is in place, the method sets the surgical robot system to the follow-up mode. If "no", the method loops back to process 5111. The action of exiting the endoscope mode can be releasing the pedal, or releasing the button, or other inputs such as voice prompts.

[0101] If the determination in process 5211 is "No", the method proceeds to process 5212. In process 5212, the method determines whether the input device 23 has performed an endoscope mode switching action. If the determination in process 5212 is "No", the method keeps the surgical robot system in the default endoscope mode; if the determination in process 5212 is "Yes", the method switches the surgical robot system from the default endoscope to the selected endoscope mode. In this embodiment, the selected endoscope mode includes one of the above-mentioned repositioning mode and camera mode, but is different from the default endoscope mode. In some embodiments, the selected endoscope mode also includes other modes, such as endoscope cleaning mode, fluorescence mode, etc.

[0102] In one embodiment, in process 5212, the action for switching the endoscope mode includes at least a first action, wherein the first action controls the movement of the first drive device 2202 in the follow mode, thereby controlling the end device of the surgical instrument 410 or the surgical instrument 430 to follow the movement of the input device 23, but the first action will not cause the movement of one of the surgical instruments 410, 430 and the endoscope 420 in the endoscope mode (for example, adjustment mode, repositioning mode, camera mode), that is, in the endoscope mode, the first action will not cause the movement of the first drive device 2201, the second drive device 2202, the feed drive devices 2213, 2214 and the robotic arm.

[0103] In one embodiment, see Fig. 7A In response to entering the endoscope mode action and the first action, the method switches the surgical robot system from the follower mode to the camera mode. The first action is that the end of the right input device 23R moves around the axis Y MR rotation in the counterclockwise direction; in response to entering the endoscope mode, the surgical robot system switches from the follow-up mode to the repositioning mode by an action opposite to the first action, the action opposite to the first action is the end of the right input device 23R around the axis Y MR Rotation in clockwise direction.

[0104] In one embodiment, in the endoscope mode (e.g., adjustment mode, repositioning mode, camera mode), the input device 23 controls the movement of the robot arm 11, 211, the surgical instruments 410, 430, the endoscope 420, and the related drive system through the second action. The second action is the movement of the left input device 23L and the right input device 23R in three degrees of freedom: up and down, left and right, and front and back. The second action only changes the position of the input device 23L and the right input device 23R without changing their posture. In one embodiment, the second action controls the operation of the repositioning mode, the camera mode, and the adjustment mode by the movement of the midpoint O1 of the line connecting the origin of the left input device coordinate system ML and the origin of the right input device coordinate system MR in the display screen coordinate system MB. When the left input device 23L moves up / down and the right input device 23R moves down / up, the camera 424 is controlled to move around the third axis z of the coordinate system 660. v Rotate.

[0105] In one embodiment, if the endoscope mode is selected as the camera mode, the control device 160 controls the second driving device 2201 based on the second motion to control the movement of the joint assembly of the endoscope 430. The second motion includes the second motion of the left input device 23L and the second motion of the right input device 23R, the second motion of the left input device 23L controls the endoscope 430 to move in the first camera mode, and the second motion of the right input device 23R causes the endoscope 430 to move in the second camera mode.

[0106] In one embodiment, the first action is an action in which the input device 23 only changes its posture, and the second action is an action in which the input device 23 only changes its position. Since in the endoscope mode, whether it is the adjustment mode, the repositioning mode or the camera mode, the second action is used to control the endoscope 430, the doctor S does not need to remember multiple operating methods, thereby reducing misoperation.

[0107] In process 5215, the method determines whether to exit the current endoscope mode. If the determination is "yes", it returns to process 5217. If the determination is "no", it loops back to the default endoscope mode. The action of exiting the current endoscope mode can be releasing the pedal, or releasing the button, or other inputs such as voice prompts.

[0108] In process 5216, the method determines whether to exit the current endoscope mode, and if the determination is "yes", returns to process 5217, and if the determination is "no", the loop returns to the selected endoscope mode.

[0109] In one embodiment, the switching method is performed by the control device 160. The control device calculates the first target position of the robot arm according to the second action. When the first target position exceeds the first motion boundary or the second motion boundary, the control device generates an impedance command for the input device to generate an impedance on the input device that hinders the input device from continuing to move. The impedance command increases as the distance between the first target position and the first motion boundary or the second motion boundary increases.

[0110] In one embodiment, after the first target position exceeds the first motion boundary or the second motion boundary, if the input device continues the second action movement, the control device calculates the second target position of the robotic arm according to the second action, and if the second target position is closer to the first motion boundary or the second motion boundary than the first target position, the control device releases the constraint on the motion of the robotic arm and stops generating the impedance force command.

[0111] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A surgical robot system, characterized in that: include: A plurality of drive devices for driving surgical instruments and endoscopes; an input device for manipulating the plurality of drive devices in a plurality of operating modes, the plurality of operating modes comprising at least a follow mode, a camera mode, a reposition mode, and an adjustment mode; A control device configured to: In response to the action of entering the endoscope mode, the operation mode is switched from the following mode to the adjusting mode; in the following mode, the first driving device of the plurality of driving devices is controlled to move according to the first action of the input device so that the posture of the surgical instrument follows the posture of the input device; switching the operation mode from the following mode to a camera mode in response to an action of entering an endoscope mode and the first action, wherein in the camera mode, a second driving device of the plurality of driving devices is controlled to move according to a second action of the input device to adjust a position and a posture of the endoscope; The operation mode is switched from the following mode to the repositioning mode in response to the entering endoscope mode action and an action opposite to the first action.

2. The surgical robot system according to claim 1, characterized in that: The second motion changes the position of the input device without changing the posture of the input device.

3. The surgical robot system according to claim 1, characterized in that: The surgical robot system also includes a robotic arm having multiple joints, and the multiple driving devices are connected to the distal end of the robotic arm. In the adjustment mode, the control device controls the movement of the robotic arm according to the second action of the input device to rotate the endoscope around a remote motion center to adjust the position and posture of the distal end of the endoscope and maintain the position and posture of the distal end of the surgical instrument unchanged.

4. The surgical robot system according to claim 3, characterized in that: In the repositioning mode, the control device controls the movement of the robot arm according to the second action of the input device to simultaneously adjust the positions and postures of the surgical instrument and the endoscope.

5. The surgical robot system according to claim 4, characterized in that: In the camera mode, the adjustment mode, and the repositioning mode, the first action does not cause movement of the plurality of driving devices and joints of the robot arm.

6. The surgical robot system according to claim 5, characterized in that: It also includes a pre-stored first motion boundary and a second motion boundary for constraining the movement of the robotic arm. After the operating mode is switched from the adjustment mode to the repositioning mode, the control device synchronously switches the motion range of the robotic arm from the first motion boundary to the second motion boundary.

7. The surgical robot system according to claim 6, characterized in that: The first motion boundary is determined according to the motion range of the joint assembly of the surgical instrument, and the second motion boundary is determined according to the motion range of multiple joints of the robotic arm.

8. The surgical robot system according to claim 7, characterized in that: The control device calculates the first target position of the robotic arm based on the second action. When the first target position exceeds the first motion boundary or the second motion boundary, the control device constrains the robotic arm from further movement and generates an impedance force command for the input device to hinder the input device from continuing to move, so as to generate an impedance force on the input device to hinder the input device from continuing to move.

9. The surgical robot system according to claim 8, characterized in that: The impedance force increases as the distance between the first target position and the first movement boundary or the second movement boundary increases.

10. The surgical robot system according to claim 8, characterized in that: The control device calculates the second target position of the robotic arm based on the second action. If the second target position is closer to the first motion boundary or the second motion boundary than the first target position, the control device releases the constraints on the movement of the robotic arm and stops generating the impedance force command.

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