Surgical robotic system

Abstract

The embodiment of the present application provides a surgical robot system, including a surgical tool and a control device, wherein the surgical tool includes a terminal device, a long shaft and a joint assembly with multiple motion degrees of freedom, the surgical tool is configured to be rotatable around a remote motion center; the control device is configured to rotate a distal end surface of the terminal device of the surgical tool around an axis, and the position of a center point of the distal end surface relative to the remote motion center is kept unchanged by controlling the joint assembly to move, wherein the center point is located on the axis.

Description

TECHNICAL FIELD

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

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

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

[0004] During pre-operation and intra-operation, a surgeon needs to detect an environment in a patient's body by using an endoscope of a surgical robot. There is currently no good solution for how to facilitate the surgeon to detect the environment in the patient's body in a small surgical space. SUMMARY

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

[0006] a surgical tool including an end device, an elongated shaft and a joint assembly having multiple degrees of freedom of movement, the surgical tool being configured to be rotatable about a remote center of motion;

[0007] a control device configured to control the joint assembly to move so as to rotate a distal end face of the end device about a first axis and maintain a position of a center point of the distal end face relative to the remote center of motion unchanged, wherein the center point is located on the first axis.

[0008] In one specific embodiment, the control device is further configured to control the joint assembly to move so as to rotate the distal end face about a second axis and maintain the position of the center point relative to the remote center of motion unchanged, the first axis being perpendicular to the second axis and intersecting at the center point.

[0009] In one embodiment, the control device is further configured to control the joint assembly to maintain the pose of the distal end face unchanged when the distal end face rotates around a third axis perpendicular to the first and second axes and intersecting the center point.

[0010] In one embodiment, the joint assembly includes a wrist joint for changing the pose and position of the distal end face and a linear motion joint for driving the long shaft to move distally or proximally along the axis of the long shaft; the control device controls the wrist joint and the linear motion joint to cooperate to maintain the position of the center point of the distal end face relative to the remote center unchanged when the distal end face rotates around the first or second axis.

[0011] In one embodiment, the joint assembly includes a parallel joint for changing the position of the distal end face without changing its pose; the control device is further configured to control the parallel joint and the linear motion joint to cooperate to change the position of the distal end face and maintain the distance of the center point to a first plane unchanged, the first plane passing through the remote center and perpendicular to the axis of the long shaft.

[0012] In one embodiment, the surgical robotic system further includes a feed drive for driving the surgical tool to move linearly along the axis of the long shaft; the control device controls the joint assembly and the feed drive to cooperate to maintain the position of the center point relative to the remote center unchanged when the distal end face rotates around the first or second axis.

[0013] In one embodiment, the control device is further configured to control the joint assembly and the feed drive to cooperate to change the position of the distal end face and maintain the distance of the center point to a first plane unchanged, the first plane passing through the remote center and perpendicular to the axis of the long shaft.

[0014] In one embodiment, the cooperation between the wrist joint and the linear motion joint includes driving the long shaft to move distally when the wrist joint moves away from the axis of the long shaft and driving the long shaft to move proximally when the wrist joint moves towards the axis of the long shaft.

[0015] In one embodiment, the cooperation includes driving the long shaft to move distally when the joint assembly moves away from the axis of the long shaft and driving the long shaft to move proximally when the wrist joint moves towards the axis of the long shaft.

[0016] In one embodiment, the third axis forms a non-zero angle with the axis of the long shaft, and the long shaft is rotatable about the axis of the long shaft to rotate the end face about the third axis.

[0017] The present application provides in a second aspect a surgical robotic system comprising at least:

[0018] a surgical tool comprising an end effector, a long shaft, and a joint assembly having multiple degrees of freedom of motion, the surgical tool being configured to rotate about a remote center of motion;

[0019] a feed drive configured to drive the surgical tool to move linearly along the axis of the long shaft;

[0020] a control device configured to control the joint assembly and the feed drive in coordination to maintain a center point of an end face of the end effector at a constant position relative to the remote center of motion as the end face rotates about an axis, the center point being located on the axis. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 a top view of a surgical robotic system according to one embodiment of the present application arranged in an operating room;

[0022] Figure 2A a schematic diagram of a master control console of a surgical robotic system according to one embodiment of the present application;

[0023] Figure 2B a schematic diagram of a slave operating device of a surgical robotic system according to one embodiment of the present application;

[0024] Figure 3A a schematic diagram of a surgical tool according to one embodiment of the present application;

[0025] Figure 3B a schematic diagram of the internal structure of a tool holding device according to one embodiment of the present application;

[0026] Figure 4A a schematic diagram of a slave operating device according to one embodiment of the present application;

[0027] Figure 4B a schematic diagram of a kinematic model of a slave operating device according to one embodiment of the present application;

[0028] Figure 5 a schematic diagram of a kinematic model of a surgical tool according to one embodiment of the present application;

[0029] Figure 6 a schematic diagram of multiple surgical tools passing through a sleeve according to one embodiment of the present application;

[0030] Figure 7A This is a schematic diagram showing the relationship between the coordinate system of the input device and the coordinate system of the display device according to an embodiment of this application;

[0031] Figure 7B This is a schematic diagram showing the relationship between the coordinate system of the surgical tool tip and the coordinate system of the endoscope tip in one embodiment of this application;

[0032] Figure 8 This is a flowchart of a follow mode control method according to an embodiment of this application;

[0033] Figure 9 This is a flowchart of a control method for adjusting the mode according to an embodiment of this application;

[0034] Figure 10 This is a flowchart of an endoscope alignment control method according to an embodiment of this application;

[0035] Figure 11 This is a flowchart illustrating a control method for switching between multiple operating modes according to an embodiment of this application. Detailed Implementation

[0036] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0037] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0038] As used herein, the terms "distal" and "proximal" are directional terms that are commonly used in the field of interventional medical devices, where "distal" refers to the end of the device that is farthest from the surgeon during a procedure, and "proximal" refers to the end of the device that is closest to the surgeon during a procedure. As used herein, the term "plurality" includes two and more than two.

[0039] The term "instrument" is used herein to describe a medical device that is used for insertion into a patient's body and for performing a surgical or diagnostic procedure, which instrument includes an end effector, which can be a surgical tool for performing a surgical procedure, such as a biopsy needle, an electrocautery, a forceps, a stapler, a scissors, an imaging device (e.g., an endoscope or an ultrasound probe), and the like. Some of the instruments used in embodiments of the present application further include an articulating member (e.g., a joint assembly) that provides the end effector with one or more mechanical degrees of freedom for movement in position and orientation relative to the shaft of the instrument. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing jaws. The instrument can also include a memory that can be updated by the surgical system, whereby the memory system can provide one-way or two-way communication between the instrument and one or more system elements.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used herein, the terms "and / or" and "at least one of" include any and all combinations of one or more of the associated listed items.

[0041] A surgical robotic system according to an embodiment of the present application is shown in Figure 1 The surgical robotic system includes a master console 20 and a slave operating apparatus 10, the master console 20 is communicatively connected to the slave operating apparatus 10, and a surgeon S can remotely operate the slave operating apparatus 10 at the master console 20. The master console 20 is configured to transmit a control signal to the slave operating apparatus 10 according to the operation of the surgeon S and display an image acquired by the slave operating apparatus 10, and the surgeon S can observe a three-dimensional image of a patient's body provided by an image system through the master console 10, and the surgeon S can control the slave operating apparatus 10 to perform an operation (e.g., perform a surgery or acquire an image of the patient's body) with an immersive feeling by observing the three-dimensional image of the patient's body.

[0042] The slave operating device 10 includes a control device, a mechanical arm 11, and a tool holding device 12. The control device can be disposed in a base of the slave operating device 10 or on the mechanical arm 11. In one embodiment, the control device is configured to control the movement of the joints of the mechanical arm 11 and the movement of the driving device in the tool holding device 12. The tool holding device 12 can be mounted with a plurality of surgical tools, and the driving device of the tool holding device 12 is configured to drive the surgical tools to perform various surgical operations.

[0043] In one embodiment, the surgical robot system further includes a gas blowing device, a lumen set (not shown), and a cannula 13. The lumen set fluidly connects the cannula 13 with the gas blowing device. The cannula 13 is connected to a distal end of the tool holding device 12, and is inserted into a body cavity of a patient P lying on a surgical bed T. The distal end of the tool holding device 12 or the camera of an endoscope is inserted into the body cavity of the patient P through the cannula 13 to perform a surgical operation or to obtain an image of the environment in the body of the patient P.

[0044] In one embodiment, the surgeon S controls the working mode of the gas blowing device through the master console 10, such as injecting gas from a gas source into the body cavity of the patient P to form an artificial pneumoperitoneum or sucking gas from the body cavity of the patient P. The assistant A installs or replaces the surgical tool 40 on the tool holding device 12 according to the surgical situation. The surgeon S, the assistant A, and the anesthesiologist B form a basic surgical team. The surgical tool 40 can be an electric cauter, a forceps, a stapler, an ultrasonic knife, or other surgical tools for performing surgical operations, or an image device (such as an endoscope) for obtaining images or other surgical tools.

[0045] The master console 10 is also remotely connected with an electronic equipment cart 30, which is remotely connected with the slave operating device 10. The electronic equipment cart 30 can include an energy generating device, an image signal processing device, and the gas blowing device. In this embodiment, the master console 10, the slave operating device 10, and the electronic equipment cart 30 are remotely communicated through wired Ethernet communication, but the remote communication is not limited to wired Ethernet communication, and can be other wired communication, such as serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication, such as 5G, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0046] In one embodiment, as shown in FIG. 1, the master console 10 includes a display device 20, a control device 21, and a mechanical arm 22. The display device 20 is configured to display a surgical site image obtained by the surgical tool 40 or an image device (such as an endoscope) in the tool holding device 12. The control device 21 is configured to control the movement of the joints of the mechanical arm 22 and the movement of the driving device in the tool holding device 12. Figure 2AAs shown, master console 20 includes a display device 21 for displaying images acquired by the imaging system, an armrest 22 for the physician S (e.g., a surgeon S) to rest his arms and / or hands on to more comfortably operate input devices 23, a viewing device 24 for viewing the images displayed by display device 21, and a control signal processing system 25. The armrest 22 can be omitted as desired; or the viewing device 24 can be omitted, in which case viewing can be direct. Physician S manipulates the movement of the surgical tools from slave console 10 by operating input devices 23, and control signal processing system 25 of master console 20 processes input signals from input devices 23 to send control commands to slave console 10. Slave console 10 responds to the control commands from master console 20 and performs the corresponding operations. In some embodiments, control signal processing system 25 can also be provided in slave console 10, e.g., in the base of slave console 10. Control signal processing system 25 can be the same device as the control device described above.

[0047] The surgical robotic system also typically includes an imaging system portion (not shown) that enables physician S to view the surgical site from outside the patient's body. The imaging system portion typically includes a surgical tool 40 having image acquisition capability (e.g., a tool having an image acquisition device) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 having image acquisition capability includes optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images within the patient's body. The one or more imaging sensors can be positioned at the distal end of the surgical tool 40 having image acquisition capability, and the signals produced by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on the video display device.

[0048] In one embodiment, as Figure 2BAs shown, the mechanical arm 11 of the surgical robot system from the operating device 10 includes a base 110, a column 120 connected with the base 110, a large arm 130, a small arm 140 and a vertical arm 150 connected in sequence. The mechanical arm further includes a plurality of joints J1-J5 for connecting the column 120, the large arm 160, the small 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 with the base 110, the lifting column 122 is connected with the support column 121 through the first joint J1, the first joint J1 is a linear motion joint, 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 with the distal end of the column 120. The lifting column 122 is connected with the large arm 130 through the second joint J2, the large arm 130 is connected with the small arm 140 through the third joint J3, the small arm 140 is connected with 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 the three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected with the instrument holding device 112 through the fifth joint J5, and the axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0049] The control device 160 is configured to control the linkage of the plurality of joints J1-J5 to achieve various positioning of the whole mechanical arm 11, adjust the position and posture of the instrument holding device 112 and achieve the rotary motion of the instrument holding device 112 around the remote center of motion 116. The control device 160 can be arranged in the base 110 or in the main control console 20.

[0050] In one embodiment, the instrument holding device 112 further includes a sleeve 115, the sleeve 115 is detachably connected with the instrument holding device 112 through the docking device 114, the central axis 106 of the instrument holding device 112 is substantially coincident with the axis 118 of the sleeve 115, and the instrument holding device 112 drives the sleeve 115 to rotate around the remote center of motion 116. Since the remote center of motion 116 is located at the incision 117, the sleeve 115 will not damage the patient P when rotating around the remote center of motion 116.

[0051] In one embodiment, the operating device 10 further includes a control panel 170 arranged on the support column 121, the control panel 170 includes at least one switch 171, the switch 171 is used to input a positioning instruction to the control device 160, and the control device 160 controls the movement of the mechanical arm 11 in response to the action of the switch 171 to quickly achieve the positioning of various predetermined postures of the mechanical arm 11, such as the posture of arranging the sterile drape.

[0052] In one embodiment, the instrument holder 112 can be loaded with a plurality of surgical tools 40, and the plurality of surgical tools 40 can be inserted into the body through the same trocar 115 from the incision 117. As shown in Figure 3A The surgical tool 40 includes an instrument box 41, a long shaft 42, a joint assembly 43, and an end effector 44. The surgical tool 40 is detachably mounted on a driving system of the instrument holder 112 of the operating apparatus 10. The instrument box 41 has a transmission device (not shown) therein. The transmission device includes a plurality of transmission units (e.g., winches) connected to the joint assembly 43 and the end effector 44 through a plurality of cables. The plurality of transmission units are respectively coupled to a plurality of actuators (e.g., motors) in the driving system and are driven by the actuators. The plurality of actuators receive control instructions from a control device and drive the end effector 44 to move by driving the transmission units to move. For example, the driving unit drives the transmission units to rotate to wind / unwind the cables to control the end effector to move. The end effector 44 can perform a plurality of Cartesian degrees of freedom motions through the joint assembly 43, such as translation motions (including lateral and / or longitudinal motions) for changing the position of the end effector 44 and pitch, yaw, and roll motions for changing the posture of the end effector 44. It can be understood that the translation and the pitch, the translation, the yaw, and the roll can be moved independently or simultaneously. The end effector 44 is used to perform operations related to surgical operations. According to different requirements of the surgical operations, the end effector 44 can be an electric cauter, a forceps, a stapler, a scissors, an ultrasonic knife, a camera, an imaging device, or the like. The camera or the imaging device is used to acquire images inside the human body.

[0053] In one embodiment, as shown in Figure 3B The driving system of the instrument holder 112 includes at least a first driving device 2201 and a second driving device 2202. A plurality of surgical instruments 310 of the plurality of surgical tools are detachably mounted on the first driving device 2201. An endoscope 320 of the plurality of surgical tools is detachably mounted on the second driving device 2202. A plurality of actuators in the first driving device 2201 are coupled to a transmission device in an 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 a plurality of degrees of freedom motions and a rotation motion of the long shaft 312. A plurality of actuators in the second driving device 2202 are coupled to a transmission device in an 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 a plurality of degrees of freedom motions and a rotation motion of the long shaft 322.

[0054] In one embodiment, the drive system of the instrument holder 112 further comprises a first feed drive 2211 for driving the first drive 2201 to move linearly along a guide rail 2213, thereby causing the surgical instrument 310 to perform a feed motion between the proximal end and the distal end. The second feed drive 2212 is configured to drive the second drive 2202 to move linearly along a guide rail 2214, thereby causing the endoscope 320 to move linearly.

[0055] Figure 4A is a schematic diagram of a kinematic model of a slave manipulator 500 according to one embodiment, Figure 4B is a schematic diagram of a kinematic model of a slave manipulator 500 according to one embodiment, Figure 4A As shown, the kinematic model 500 includes kinematic information associated with a number of active devices, the kinematic information is based on known kinematic models of the links (e.g. the column, the large arm, the small arm, and the vertical arm) and the joints of the slave manipulator 200, the kinematic information is further based on information associated with the positions and orientations of the joints of the slave manipulator 200, the information associated with the positions and orientations of the joints is measured by using one or more position sensors (e.g. encoders) to measure the linear positions of the prismatic joints and the rotational positions of the revolute joints. The kinematic model 500 includes a number of coordinate frames or coordinate systems and coordinate frame transformations (e.g. homogeneous transformations of coordinate frames), which are used to transform the positions and orientations of the target object from a description in one coordinate frame to a description in another coordinate frame. The kinematic model 500 can use one or more of the coordinate frames and the coordinate frame transformations involved to perform forward or inverse kinematic transformations to establish kinematic relationships between adjacent or non-adjacent coordinate frames. In some embodiments, the kinematic model 500 is used to model the kinematic relationships of the slave manipulator 200 in Figure 4A .

[0056] The kinematic model 500 includes a base coordinate frame 510 for modeling the positions and orientations of the joints of the slave manipulator 200, the base coordinate frame 510 is established on the base 210 and remains relatively stationary with respect to the base of the slave manipulator 200, in some embodiments, the base coordinate frame 510 is used as a reference point for modeling the kinematic relationships between the prismatic joints of the slave manipulator 200, once the base coordinate frame 510 is determined, the geometric relationships between the origin and the axes of the base coordinate frame 510 and the mechanical components of the base 210 are also determined, in addition, in order to facilitate the intuitive description of the kinematic information of the joints, the Z-axis of the base coordinate frame 510 can be oriented perpendicular to the surface of the ground or floor on which the slave manipulator 200 is placed.

[0057] The kinematic model 500 further includes a column coordinate system 520, which is used to model the position and pose of the lifting column 240, and which coordinate system remains relatively static with respect to the lifting column 240 that allows movement. In some embodiments, in consideration of the convenience and rapidity of coordinate system transformation relationship establishment between adjacent coordinate systems, on the basis of meeting coordinate system establishment rules, the Z-axis of the column coordinate system 520 can coincide with the central axis 202 of the lifting column 240, the orientations of the X-axis and the Y-axis of the column coordinate system 520 can be parallel to the coordinate axes of the base coordinate system 510, and the origin of the coordinate system 520 can be determined at the intersection position of the central axis 202 of the lifting column and the horizontal center plane 201 of the large arm 250. In some embodiments, the translational position of the lifting column 240 relative to the fixed support column 220 can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 515 between the column coordinate system 520 and the base coordinate system 510.

[0058] The kinematic model 500 further includes a large arm coordinate system 530 from the operating device 200, which is established at the end of the large arm 250. In some embodiments, it can be established at the intersection position of the horizontal center plane 201 of the large arm 250 and the rotation axis 203 of the third joint J3, for describing the motion information of the large arm 250. On the basis of meeting the coordinate system establishment rules, the Z-axis of the large arm coordinate system 530 can coincide with the rotation axis 203 of the third joint J3. In some embodiments, the rotational position of the large arm 250 relative to the lifting column 240 can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 525 between the large arm 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 further can be used to describe the motion information of the position and pose of the large arm 250 in the base coordinate system 510. In some embodiments, on the basis of knowing the motion information of the position and pose of the large arm 250 in the base coordinate system 510, based on the coordinate system transformation relationships 515 and 525, through kinematic inverse transformation, the motion information of the joints of the lifting column 240 and the large arm 250 can be determined.

[0059] The kinematics model 500 further includes a wrist coordinate system 540, which is established at the end of the wrist 260. In some embodiments, the coordinate system 540 can be established at the intersection of the horizontal center plane 205 of the wrist 260 and the rotation axis 204 of the fourth joint J4, for describing the motion information of the wrist 260. Based on satisfying the coordinate system establishment rules, the Z-axis of the wrist coordinate system 540 can coincide with the vertical center axis 204 of the arm 270. In some embodiments, the rotational position of the wrist 260 relative to the arm 250 can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 535 between the wrist coordinate system 540 and the arm coordinate system 530. In some embodiments, based on the coordinate system transformation relationships 525 and 535, a kinematics model between the coordinate systems 540 and 520 can be established, and further can be used to describe the pose motion information of the wrist 260 relative to the column 240. In some embodiments, based on the combination of the coordinate system transformation relationships 515, 525 and 535, a kinematics model between the coordinate systems 540 and 510 can be established, and further can be used to describe the position and pose motion information of the wrist 260 in the base coordinate system 510. In some embodiments, based on the coordinate system transformation relationships 515, 525 and 535, the motion information of the joints of the column 240, the arm 250 and the wrist 260 can be determined through kinematics inverse transformation, based on the known position and pose motion information of the wrist 260 in the base coordinate system 510.

[0060] The kinematics 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 coordinate system 550 can be established at the intersection of the vertical center axis 204 of the vertical arm 270 and the rotation axis 206 of the fifth joint J5, for describing the motion information of the vertical arm 270. Based on 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, the rotational position of the vertical arm 270 relative to the wrist 260 can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 545 between the vertical arm coordinate system 550 and the wrist coordinate system 540. In some embodiments, based on the combination of the coordinate system transformation relationships 515-545, a kinematics model between the coordinate systems 550 and 510 can be established, and further can be used to describe the position and pose motion information of the vertical arm 270 in the base coordinate system 510. In some embodiments, based on the coordinate system transformation relationships 515-545, the motion information of the joints of the column 240, the arm 250, the wrist 260 and the vertical arm 270 can be determined through kinematics inverse transformation, based on the known position and pose motion information of the vertical arm 270 in the base coordinate system 510.

[0061] The kinematics model 500 further includes a tool holder coordinate system 560, which is established at the end of the tool holder 280. In some embodiments, the tool holder coordinate system 560 can be established at the end of the tool holder 280 and on the vertical center plane 207 of the tool holder 280 (e.g. on the docking portion of the end of the tool holder), for describing the motion information of the tool holder 280. In some embodiments, the rotational position of the tool holder 280 relative to the vertical arm 270 can be measured using one or more sensors, and further used to determine the coordinate system transformation relationship 555 between the tool holder coordinate system 560 and the vertical arm coordinate system 550. In some embodiments, based on the combination of the coordinate system transformation relationships 515-555, a kinematics model between the coordinate systems 560 and 510 can be established, and further can be used to describe the position and attitude motion information of the tool holder 280 in the base coordinate system 510. In some embodiments, based on the known position and attitude motion information of the tool holder 280 in the base coordinate system 510, the motion information of each joint of the robot arm 211 can be determined based on the kinematics inverse transformation of the coordinate system transformation relationships 515-555, and accurate motion control can be performed on the end point of the robot arm 211 of the operating device 200.

[0062] The kinematics model 500 further includes a remote center of motion coordinate system 570 of the robot arm 211, the origin of which coincides with the remote center of motion 116. In some embodiments, the coordinate system transformation relationship 565 between the remote center of motion coordinate system 570 and the tool holder coordinate system 560 can be determined through the geometric relationship of the mechanism on the tool holder 280, and in addition, based on the combination of the coordinate system transformation relationships 515-565, a coordinate transformation relationship 575 between the coordinate systems 570 and 510 can be established, and further can be used to describe the position motion information of the remote center of motion 116 of the robot arm 211 in the cart base coordinate system 510 and the attitude motion information of the tool holder 280. In some embodiments, based on the known position motion information of the remote center of motion 116 in the base coordinate system 510 and the attitude motion information of the tool holder 280, the motion information of each joint of the robot arm 211 can be determined based on the kinematics inverse transformation of the coordinate transformation relationship 575, and the translational motion and rotational motion of the hand-held drag tool holder 280 in the working space can be realized.

[0063] Figure 5 is a simplified schematic diagram of a kinematics model of a plurality of surgical tools 40 for a surgical robot according to an embodiment of the present application. As shown in Figure 5As shown, the plurality of surgical tools 40 includes surgical instruments and endoscopes, in order to accurately control the motion control of the surgical tools, a respective base coordinate system 610 is usually established for each surgical tool 40, an axial movement coordinate system 620 is established for the translational movement freedom along the central axis 106 of the instrument holding device 112, a rotation coordinate system 630 is established for the rotational freedom of the surgical tool 40 around the respective long axis, in addition, as shown, a parallel joint coordinate system 640, a wrist joint coordinate system 650, and an end coordinate system 660 are respectively established for other movement freedoms 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. Figure 6

[0064] In some embodiments, based on the coordinate system transformation relationship 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 be further used to describe the pose motion information of the end device or endoscope image of the surgical tool in the base coordinate system 610. In some embodiments, based on the known pose motion information of the surgical tool end coordinate system 660 in the surgical tool base coordinate system 610, the inverse transformation of the coordinate system transformation relationship 665 is solved, and then the motion information of each motion joint of the surgical tool can be calculated. In some embodiments, based on the fixed kinematic relationship between each surgical tool base coordinate system 610, based on the coordinate system transformation relationship 665, the pose information of the surgical instrument end device in the endoscope image can be obtained, and thus 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 center of motion coordinate system 560 of the patient surgical platform can be established, thereby establishing a connection between the surgical tool 40 and the mechanical arm 211.

[0065] In one embodiment, as shown in Figure 6 The plurality of surgical tools includes surgical instruments 410, 430 and an endoscope 420, the surgical instruments 410, 430 and the endoscope 420 pass through the cannula 115 together, in this embodiment, the surgical tool 410 is a surgical instrument with a double-pole cauterization clamp as an end device 411, the surgical tool 420 is a camera as an end device 424, and the surgical tool 430 is a surgical instrument with a needle holder as an end device 424, the two surgical instruments 410, 430 and the endoscope 420 have the same joint assembly configuration, in other embodiments, there can be other numbers of surgical tools, for example, 4 surgical tools. In other embodiments, the joint assembly configurations of the surgical tools 410, 420, 430 can be different according to requirements to achieve different degrees of freedom of movement.

[0066] ​In one embodiment, the surgical instrument 420 includes a proximal instrument cartridge ( Figure 6 (Not shown), long axis 421, joint assembly, and camera 424. The joint assembly includes a parallel joint 422 and a wrist joint 423. The parallel joint 422 includes a proximal joint 4211, a middle segment 4223, and a distal joint 4222. The proximal joint 4211 and the distal joint 4222 move simultaneously to change the position of the camera 424, but can maintain the camera 424's posture. For a detailed explanation of the movement principle of the parallel joint 422, please refer to Chinese patent applications CN202111604327.6 (Instrument with Parallel Joints, Surgical Robot) and CN202111604322.3 (Instrument with Parallel Joints, Surgical Robot). Movement of the wrist joint 423 can change the position and posture of the camera 424 to explore the internal environment.

[0067] In some embodiments, the main console 20 has four different operating modes for operating surgical tools 410, 420, and 430. The first of these four operating modes is a follow mode, such as... Figure 7A The diagram shown is a simplified representation of the motion relationship of the input device 23 according to an embodiment of this application. A Cartesian coordinate system ML is established at the handle position at the end of the left input device 23L, a Cartesian 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 the motion along the three coordinate axes X of the coordinate system ML. ML Y ML Z ML The three translational degrees of freedom and the degrees of freedom about the coordinate axis X ML Y ML Z ML It has three rotational degrees of freedom; similarly, the right input device 23R also has three rotational degrees of freedom along the coordinate axis X. MR Y MR Z MR Three translational degrees of freedom and about the coordinate axis X MR Y MR Z MR Three rotational degrees of freedom. By using the kinematic relationship between the coordinate systems ML and MR of the input device 23 and the MB of the display device coordinate system, the six degrees of freedom motion information of the surgeon S's hand can be transformed into the display screen coordinate system MB, thereby allowing the surgeon S's hand motion information to be stored and recorded in the main control console.

[0068] Figure 7B This is a simplified schematic diagram illustrating the motion relationships of surgical tools in a surgical robot system according to an embodiment of the present invention. Figure 6and Figure 7B As shown, coordinate system 415 is established at the end of surgical instrument 410, and coordinate system 435 is established at the end of surgical tool 430. Based on the master-slave motion mapping relationship between the input device motion and the surgical tool motion, coordinate system ML of left input device 23L can be mapped to coordinate system 414 at the end of surgical instrument 410, coordinate system MR of right input device 23R can be mapped to coordinate system 415 at the end of surgical tool 430, and picture coordinate system MB of display device 21 can be mapped to picture coordinate system 660 of endoscope 420. Thus, the motion of coordinate system 415 at the end of surgical instrument 410 in picture coordinate system 660 of endoscope 420 and the motion of coordinate system 425 at the end of surgical tool 420 in picture coordinate system 660 of endoscope 420 can be obtained. Based on the motion conversion relationship of surgical tools 410 and 430, the motion amount of the joint assembly of the surgical tool can be calculated to complete the motion control of the corresponding motor.

[0069] Figure 8 FIG. 11 is a simplified flowchart of a follow-up mode control method of a surgical robot system according to an embodiment of the present application. In process 1111, the surgeon S activates the master-slave alignment by input device 23, thereby activating the master-slave operation function between the master control console and the patient slave operating device. In process 1112, the surgeon S controls the motion of left input device 23L and / or right input device 23R, and based on the coordinate system conversion relationship in Figure 7A , the actual motion information of left input device 23L and right input device 23R is converted into picture coordinate system MB of display device 21. Based on the master-slave motion control model, the equivalent relationship between picture coordinate system MB of display device 21 and picture coordinate system 660 of endoscope 420 of the slave operating device, the master-slave motion mapping and data transmission of input device 23 are executed through the master-slave communication bus. After the control device of the slave operating device obtains the motion control instruction, the kinematic model is calculated based on the pre-stored kinematic model to execute the motion calculation of the joint assembly of surgical tools 410 and 430, thereby realizing the real-time follow-up motion of surgical tools 410 and 430 following left input device 23L and right input device 23R.

[0070] In one embodiment, the four operation modes of the surgical robot system further include an adjustment mode. Referring again to Figure 6 , in the adjustment mode, the surgeon S can control the rotation of holding device 112 and 280 around remote center of motion 116 by controlling input device 23, so that the picture of endoscope 420 can realize four degrees of freedom motion, which includes that endoscope 420 can rotate around x m axis and y mThe shaft performs two degrees of freedom rotation movement, which realizes the change of the field of view range of the endoscope 420 in the up-down and left-right directions, thereby facilitating the doctor S to continuously operate the surgical instruments at different surgical sites and improving the smoothness of the surgical operation. In addition, along the direction of the center axis 118 of the sleeve 115, the endoscope 420 can perform a forward and backward movement degree of freedom movement, that is, the endoscope 420 moves linearly along the sleeve axis 118 towards the proximal end or the distal end, so that the observable field of view range of the endoscope picture can be adjusted. This degree of freedom movement helps to adjust the surgical instruments outside the field of view range into the field of view range at any time so that the doctor S can observe, thereby reducing the risk of surgical operation. During the operation, the endoscope picture can be controlled to perform a rotation degree of freedom movement around the picture axis, so that the direction of the field of view of the picture can be adjusted clockwise or counterclockwise. During the degree of freedom movement, the pose of the picture axis in the remote motion center coordinate system 570 remains unchanged, and at the same time, the position of the center of the endoscope picture in the coordinate system 570 remains unchanged.

[0071] In one embodiment, the adjustment mode further includes that the endoscope 420 rotates around the axis z v of the coordinate system 660, so that the endoscope picture rotates, and when the endoscope 420 rotates around the axis z v of the coordinate system 660, the control device controls the parallel joint 422 and the wrist joint 423 to move jointly, so that the pose of the parallel joint 422 and the wrist joint 423 remains unchanged.

[0072] In the adjustment mode, the endoscope 420 and the surgical instruments 410, 430 move jointly, so that when the endoscope 420 rotates around the remote motion center 116, the tips of the surgical instruments 410, 430 remain unchanged. In one embodiment, the control method 300 of the adjustment mode is as shown in Figure 9 FIG. 7B. Based on the motion control input instruction of the input device 23, the four degrees of freedom movement control of the endoscope picture described above can be performed. During the movement control of the endoscope 420, the pose of the tip device of the surgical instruments 410, 430 in the remote motion center coordinate system 570 always remains unchanged, and the joint assemblies of the surgical instruments 410, 420 perform joint movement control process 762 according to the kinematics model. In the process 762, the mechanical arm, the first driving device 2201 and the first feed driving device 2211 move jointly, so that when the endoscope 430 rotates around the remote center 116, the position and the pose of the tip device of the surgical instruments 410, 420 remain unchanged, thereby enabling the surgical instruments 410, 430 to still allow the endoscope 420 picture to perform multi-degree of freedom movement when the surgical instruments 410, 430 are in the state of clamping the tissue, and the surgical instruments 410, 430 can maintain the pulling force on the tissue unchanged during the movement. In some embodiments, all the surgical instruments installed on the instrument holding device and in the activated state participate in the joint movement control process.

[0073] The surgical instruments 410, 420 and the robotic arm perform joint motion, and the process 763 determines in real time whether the motion of the robotic arm reaches the first motion boundary position. If the output of the process 763 is "no", the process 769 is performed, and the robotic arm drives the endoscope to continue the motion. If the output of the process 763 is "yes", the process 764 is performed, and the boundary impedance model is triggered. In some embodiments, the first motion boundary position is defined as the pose of the endoscope 430 or the pose of the robotic arm when the surgical instruments 410, 420 coupled thereto reach a set arbitrary joint limit position. In the process 764, the endoscope reaches the boundary position, and the boundary impedance model set by the software is triggered. At this time, the joint assemblies of the surgical instruments 410, 430 and the endoscope 420 and the motion joints of the robotic arm 200 stop the continuous motion in the direction. When the boundary impedance model of the endoscope 430 motion is triggered, if the input device continues the motion in the direction, the boundary impedance force of the endoscope motion will be executed by the force feedback process 765 transmitted from the operating device to the input device and the robotic arm, and the boundary impedance force feedback effect is achieved in the hand of the physician S.

[0074] In some embodiments, the deviation between the input instruction for controlling the endoscope motion and the actual motion position of the endoscope has a certain correlation with the size of the boundary impedance force. As the position deviation increases, the effect of the boundary impedance force in the hand of the physician S also gradually increases. In some embodiments, the force feedback function of the input device is allowed to be set to be opened and / or closed by the physician S on the physician operating table or by the auxiliary personnel on the patient surgery platform. In some embodiments, the opening and / or closing setting of the master force feedback function of the physician operating table is allowed to be performed by mechanical buttons and / or touch screens and / or voice systems, etc. When the process 764 is triggered, a prompt information that the master motion reaches the boundary is generated. In some embodiments, the prompt information is allowed to be in the form of sound and / or icon and / or number and / or progress bar and / or other forms, and the output source of the prompt information is allowed to be the physician operating table and / or the patient surgery platform and / or the image trolley and / or other devices. When the endoscope 430 motion reaches the boundary position, the physician S needs to perform the process 767 to make a judgment whether to change the motion direction of the master-slave operation. If the output of the process 767 is "no", the process 768 is triggered, and the robotic arm 211 stops the motion. If the output of the process 767 is "yes", the process 769 is triggered, and the robotic arm 211 is allowed to continue the motion control. The boundary impedance model is automatically closed, and the impedance boundary force of the master of the physician operating table gradually decreases to zero.

[0075] Referring again to Figure 6, in the adjustment model, during the front and back moving freedom motion of the endoscope 420, when the endoscope 420 moves along the center axis 118 of the cannula 115 from outside the cannula 115 to the proximal end of the cannula port 115a, if the distance between the proximal end of the proximal joint 4221 of the parallel joint 422 and the remote center of motion 116 is greater than the distance between the cannula port 115a and the remote center of motion 116, the parallel joint 422 will not collide with the cannula port 115a, otherwise, if the distance between the proximal end of the proximal joint 4221 of the parallel joint 422 and the remote center of motion 116 is less than the distance between the cannula port 115a and the remote center of motion 116, the parallel joint 422 will collide with the cannula port 115a. In order to solve the collision between the endoscope 420 and the cannula port 115a, the endoscope 420 performs a straightening action command during the front and back translation motion along the center axis 118 of the cannula, that is, when the shoulder and elbow base of the endoscope 430 moves from outside the cannula to the proximal end of the cannula port, the angle α between the parallel joint 422 and the center axis 118 of the cannula 115 and the angle β between the wrist joint 423 and the center axis 118 gradually decrease to zero and remain unchanged.

[0076] In one embodiment, in order to provide the doctor S with the advantageous information prompt of the endoscope 420 in the above straightening action process, a virtual region Z1 is provided near the cannula 115, the virtual region 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 first boundary S1 and the second boundary S2, and the control shaft generates a force command to the input device 23 according to the spring impedance force model, so as to generate an impedance force on the joint of the input device 23 to hinder the input device 23 from continuing to move, and the doctor S can know the straightening state of the endoscope 420 by feeling the impedance force.

[0077] In one embodiment, the first boundary S1 is arranged at the position of the cannula port 115a or the position distal to the cannula port 115a, the second boundary S2 is arranged between the cannula port 115a and the remote center of motion 116, the distance h between the first boundary S1 and the second boundary S2 is the straightening process distance, and the straightening speed of the endoscope 420 and the distance h are allowed to establish a linear or nonlinear relationship model, that is, the smaller the distance h is, the faster the straightening speed of the endoscope is, and vice versa. The value of h remains unchanged after the initial setting of the system is completed.

[0078] The positions of the first boundary S1 and the second boundary S2 are the zero position positions of the trigger type spring impedance force model, that is, when the input device is at the positions of the first boundary S1 and the second boundary S2, the impedance force output by the input device according to the spring impedance force model is zero.

[0079] In one embodiment, the virtual region Z1 further comprises an intermediate boundary S3 between the first boundary S1 and the second boundary S2, when the proximal end of the proximal joint 4221 reaches the intermediate boundary S3, the impedance force output by the input device 23 reaches a maximum value, and the impedance force gradually increases as the parallel joint coordinate system 640 approaches the intermediate boundary S3 from the first boundary S1 and the second boundary S2, and gradually decreases as the parallel joint coordinate system 640 approaches the first boundary S1 and the second boundary S2 from the intermediate boundary S3.

[0080] Specifically, during the process of the input device 23 controlling the endoscope 420 to translate along the cannula central axis 118 to the proximal end, when the parallel joint coordinate system 640 contacts the first boundary S1, i.e., coincides with the first boundary S1, the spring-like impedance force model is triggered, and as the parallel joint coordinate system 640 gradually approaches S1 from S1, the angle β between the parallel joint 422 and the cannula central axis 118 gradually decreases until it is zero, and the impedance force gradually increases from zero to a maximum value at the intermediate boundary S3 and then gradually decreases to zero at the second boundary S2. In one embodiment, the intermediate boundary S3 is at the virtual region 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 intermediate boundary S3 can be determined by comparing the position relationship between the parallel joint coordinate system 640 and the coordinate system established at the first boundary S1, the second boundary S2, or the intermediate boundary S3.

[0081] During the process of the input device 23 controlling the endoscope 420 to translate along the cannula central axis 118 to the distal end from inside the cannula 115, when the coordinate system 640 starts to perform the motion of gradually approaching the cannula port 115a from inside the cannula and proximal to the second boundary S2, if the coordinate system 640 contacts the second boundary S2, the straightening action instruction is triggered, and the endoscope 420 is allowed to remain in the straightened state until the coordinate system 640 reaches the outside of the cannula beyond the S1S2 range, and during the process of the coordinate system 640 from the second boundary S2 to the intermediate boundary S3, the impedance force output by the input device 23 gradually increases, and during the process of the coordinate system 640 from the intermediate boundary S3 to the first boundary S1, the impedance force output by the input device 23 gradually decreases until it is zero.

[0082] In some embodiments, during the process of the endoscope 420 moving from the distal end to the proximal end, when the coordinate system 640 contacts the first boundary S1, the control device stores the pose of the joint assembly of the endoscope 420 at this time in the memory. During the process of the endoscope 420 moving 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 pose of the joint assembly of the endoscope 420 and restores the endoscope 420 to the pose.

[0083] Figure 10is a simplified flow chart of the endoscope straightening control method of an embodiment of the present application. As shown in Figure 10 In process 810, the endoscope is controlled to perform a translational movement along the sheath axis direction by input device 23, and at the same time, process 820 is performed, when parallel joint base coordinate system 640 moves from the outside of the distal end of sheath 115 to the first boundary S1 position or moves from the inside of the proximal end of sheath 115 to the second boundary S2 position, the straightening function is triggered, and at the same time, process 830 is performed, the S1 position or S2 position at the time of triggering is recorded, if the first boundary S1 position is triggered, the posture of endoscope 420 at the time is also recorded, and the movement deviation 840 of coordinate system 640 in virtual area Z1 from the reference zero position is calculated with the triggering position as the reference zero position, during which, process 850 is performed at the same time, the postures of wrist joint and parallel joint are changed, that is, the endoscope starts to perform a straightening action or restores the posture before the straightening action.

[0084] In process 860, the control device calculates the force command according to the spring-like model output and transmits the force command to the master console, after receiving the impedance force input instruction, the master console inputs the instruction into the inverse kinematics model of the established input device 23 in the screen of display device 21, performs kinematics calculation process 870, and further obtains the joint movement instruction value of the input device, and performs process 880, each joint movement is according to the movement instruction to output the impedance force, so as to realize the force feedback effect and prompt the doctor S the current state of endoscope 420.

[0085] In one embodiment, the plurality of operation modes of the surgical robot system further includes a repositioning mode, which has some similarities with the above-mentioned adjustment mode, but the difference is that in the repositioning mode, surgical instruments 410, 430 are not linked with endoscope 420. Again referring to Figure 6In the repositioning mode, the physician S controls the rotation of the sleeve 115 around the remote center of motion 116 by operating the input device, and the surgical instruments 410, 430 and the endoscope 420 rotate around the remote center of motion 116 with the sleeve 115, thereby adjusting the position and orientation of the surgical instruments 410, 430 and the endoscope 420 as a whole. The input device 23 can also control the forward and backward movement of the surgical instruments 410, 430 and the endoscope 420 as a whole, i.e. the movement of the surgical instruments 410, 430 and the endoscope 420 as a whole towards the proximal end or the distal end. During the forward and backward movement of the surgical instruments 410, 430 and the endoscope 420 as a whole, the first joint of the parallel joint of any of the surgical instruments 410, 430 and the endoscope 420 moving from the distal end to the proximal end contacts the first boundary S1 of the virtual region Z1, or moving from the proximal end to the distal end contacts the second boundary S1, which triggers the above-mentioned spring-like impedance force model, and the input device 23 outputs the impedance force. In an embodiment, the spring-like impedance force model is triggered independently for each of the surgical instruments 410, 430 and the endoscope 420, and the impedance forces are accumulated at the input device 23, so that the physician S can feel how many surgical tools are in the straightened state.

[0086] In an embodiment, after the operating mode of the surgical robot system is switched from the adjustment mode to the repositioning mode, the motion boundary of the robot arm is also switched from the first motion boundary to the second motion boundary synchronously, wherein the second motion boundary is determined according to the limit position of the joint of the robot arm.

[0087] In an embodiment, the plurality of operating modes of the surgical robot system described above further include a camera mode, in which the endoscope 420 is controlled independently by the input device 23, while the remote center of motion 116 and the surgical instruments 410, 430 remain stationary.

[0088] In an embodiment, the camera mode includes a first camera mode and a second camera mode. In the first camera mode, the input device 23 independently controls the movement of the parallel joint 422 of the endoscope 420, thereby changing the position of the camera 424. In an embodiment, in the first camera mode, the input device 23 independently controls the movement of the wrist joint 423 while keeping the parallel joint 422 stationary, and the movement of the wrist joint 423 includes the rotation of the wrist joint around the coordinate axis y w and the coordinate axis x w of the coordinate system 650, thereby changing the position and orientation of the camera 424.

[0089] In one embodiment, in the first camera mode, the input device 23 manipulates the parallel joint 422 and the first feed drive device 2201 in linkage to change the position of the distal end face 424a of the camera 424 and maintain the distance from the center point P1 of the distal end face 424a of the camera 424 to the first plane M1 unchanged, the first plane M1 passing through the remote center of motion 116 and being perpendicular to the long shaft axis 421a and the cannula center axis 118. In one embodiment, the joint assembly includes a linear motion joint, the parallel joint 422 and the parallel joint are in linkage to change the position of the distal end face 424a of the camera 424 and maintain the distance from the center point P1 of the distal end face 424a of the camera 424 to the first plane M1 unchanged.

[0090] In one embodiment, in the first camera mode, the input device 23 manipulates 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, so as to make the working space of the camera 424 larger.

[0091] Referring to 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 in linkage, so that the distal end face 424a of the camera 424 rotates around the end face coordinate system 660 and maintains the position of the end face center point P1 relative to the remote center of motion 116 unchanged, wherein the end face center point P1 and the origin of the coordinate system 660 coincide.

[0092] Specifically, the control device controls the wrist joint 423 to rotate around the coordinate axis x w of the coordinate system 650, the parallel joint 422 to rotate around the coordinate axis x b of the coordinate system 640, and the second feed drive device to drive the linear motion of the long shaft 421 along its axis 421a, so that the end face 424a of the endoscope 422 rotates around the first axis x v of the coordinate system 660 and maintains the position of the center point P1 relative to the remote center 116 unchanged. The control device controls the wrist joint 423 to rotate around the coordinate axis y w of the coordinate system 650, the parallel joint 422 to rotate around the coordinate axis y b of the coordinate system 640, and the second feed drive device to drive the linear motion of the long shaft 421 along its axis 421a, so that the end face 424a of the endoscope 422 rotates around the second axis y v of the coordinate system 660 and maintains 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.

[0093] In one embodiment, the articulation assembly of the endoscope 430 further comprises a linear motion joint (not shown in the figure), which moves the long shaft 421 along the axis 421a, thereby achieving the feed motion of the camera 424 advancing and retreating. The camera end face 424a rotates around the first axis x v or the second axis y v When the camera end face 424a rotates around the first axis x

[0094] In one embodiment, the present application also provides a method 5000 for switching between the above-mentioned various operating modes, as shown in the figure, in process 5111, after the surgical robot system is started, it is usually in the default standby state, and the operating device and the master console are in the state of keeping the current position without movement, waiting for the doctor S to operate and use, at the same time, the operating device and the input device of the doctor master console are in the initial state, which is usually the fixed pose set by the system. Figure 11

[0095] In process 5112, the method detects whether the doctor S is in place at the master console 20, if it is detected that the doctor S is in place, it can enter process 5113, otherwise it returns to process 5111 to detect whether the doctor S is in place. The detection can be realized by infrared, distance sensor detection, camera or pressure sensor, etc.

[0096] ​In process 5113, the method determines the operation mode selection action performed by the surgeon S, if it is determined that the surgeon S performs the action of selecting to enter the follow mode, in process 5114, the method sets the surgical robot system to move in the follow mode; if it is determined that the surgeon S is selecting to enter the endoscope mode, 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 an embodiment, the action of selecting to enter the follow mode is that the surgeon S simultaneously presses the left input device 23L and the right input device 23R, or simultaneously rotates the left input device 23L and the right input device 23R. In an embodiment, the action of selecting to enter the endoscope mode is that the surgeon S steps on the pedal, or presses the button, or voice prompts, or other inputs. It can be understood that the actions of selecting to enter the follow mode and the endoscope mode can also be other actions, as long as the actions of selecting to enter the follow mode and the endoscope mode are different. In the present embodiment, the endoscope mode includes the adjustment mode, the repositioning mode and the camera mode described above, and in some embodiments, the endoscope further includes other modes of operating the endoscope, such as an endoscope cleaning mode, a fluorescence mode, etc.

[0097] In process 5115, the method determines whether the surgeon S has performed the action of entering the endoscope mode, for example, the surgeon S steps on the pedal, or presses the button, or voice prompts, or other inputs, if "yes", process 5210 switches the operation mode of the surgical robot system from the follow mode to the endoscope mode, if "no", process 5116 is entered, in process 5116, the method determines whether to exit the follow mode, if "yes", the method loops back to process 5111, if it is determined that "no", the surgical robot system remains in the follow mode. In some embodiments, whether to exit the follow mode is that the surgeon S disconnects the master-slave control between the master console 20 and the slave operating device 10.

[0098] In an embodiment, in process 5210, the method sets the endoscope mode of the surgical robot system to the default endoscope mode, in the present embodiment, the default endoscope mode is the adjustment mode described above.

[0099] In process 5211, the method determines whether the surgical robot system exits the endoscope mode, if "yes", process 5217 is entered, in process 5217, the method determines whether the surgeon S is in place, if the surgeon S is in place, the method sets the surgical robot system to the follow 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 voice prompts, or other inputs.

[0100] If the determination in the process 5211 is "No", the method proceeds to a process 5212 in which the method determines whether the input device 23 has performed an endoscope mode switching action. If the determination in the process 5212 is "No", the method keeps the surgical robotic system in the default endoscope mode; if the determination in the process 5212 is "Yes", the method switches the surgical robotic system from the default endoscope to a selected endoscope mode, which in the present embodiment 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 further includes other modes, such as an endoscope cleaning mode, a fluorescence mode, etc.

[0101] In one embodiment, in the process 5212, the endoscope mode switching action includes at least a first action, wherein the first action controls the first drive device 2202 to move in the follow mode, so as to control 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 does not cause the movement of one of the surgical instruments 410, 430 and the endoscope 420 in the endoscope mode (e.g. the adjustment mode, the repositioning mode, the camera mode), i.e. in the endoscope mode, the first action does not cause the movement of the first drive device 2201, the second drive device 2202, the feed drive devices 2213, 2214 and the mechanical arm.

[0102] In one embodiment, referring to Figure 7A , in response to the entering endoscope mode action and the first action, the method switches the surgical robotic system from the follow mode to the camera mode, the first action being the rotation of the end of the right input device 23 about the axis Y MR in the counterclockwise direction; in response to the entering endoscope mode action and the action opposite to the first action, the method switches the surgical robotic system from the follow mode to the repositioning mode, the action opposite to the first action being the rotation of the end of the right input device 23 about the axis Y MR in the clockwise direction.

[0103] In one embodiment, in the endoscope mode (e.g. adjustment mode, repositioning mode, camera mode), the input device 23 controls the movement of the robotic arm 11, 211, surgical instrument 410, endoscope 420 and related driving system by the second action, which is the up-down, left-right and forward-backward three degrees of freedom movement of the left input device 23L and the right input device 23R, the second action only changes the position of the input device 23L and the right input device 23R without changing its posture. In one embodiment, the second action controls the operation of the repositioning mode, camera mode and adjustment mode with 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 upward / downward and the right input device 23R moves downward / upward, the camera 424 is controlled to rotate around the third axis z of the coordinate system 660 v . .

[0104] In one embodiment, if the endoscope mode is selected as the camera mode, the control device 160 controls the second driving device 2201 to control the movement of the joint assembly of the endoscope 430 based on the second action. The second action includes the second action of the left input device 23L and the second action of the right input device 23R, the second action of the left input device 23L controls the movement of the endoscope 430 in the first camera mode, and the second action of the right input device 23R controls the movement of the endoscope 430 in the second camera mode.

[0105] In one embodiment, the first action is the action of the input device 23 only changing the posture, and the second action is the related action of the input device 23 only changing the position. Since the second action is used to control the endoscope 430 in the endoscope mode, regardless of the adjustment mode, the repositioning mode or the camera mode, the doctor S does not need to remember multiple operation modes, and the misoperation is reduced.

[0106] In process 5215, the method determines whether to exit the current endoscope mode. If it is determined to be "yes", it returns to process 5217, and if it is determined to be "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 voice prompt and other inputs.

[0107] In process 5216, the method determines whether to exit the current endoscope mode. If it is determined to be "yes", it returns to process 5217, and if it is determined to be "no", it loops back to the selected endoscope mode.

[0108] In one embodiment, the above switching method is performed by the control device 160. The control device calculates a first target position of the robot arm according to the second motion, and when the first target position exceeds the first motion boundary or the second motion boundary, the control device generates an impedance force command for the input device to generate an impedance force on the input device to impede the input device from continuing the motion. The impedance force command increases as the distance between the first target position and the first motion boundary or the second motion boundary increases.

[0109] 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 motion, the control device calculates a second target position of the robot arm according to the second motion, and when 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 robot arm and stops generating the impedance force command.

[0110] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, but it should be understood that any combination of the technical features is within the scope of the present disclosure as long as the combination does not result in contradictions.

[0111] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. A surgical robotic system, characterized by, Comprising: a surgical tool comprising a distal device, a joint assembly having multiple degrees of freedom and a long shaft connected in sequence, the surgical tool being configured to rotate around a remote center of motion, the joint assembly comprising at least a wrist joint for changing a position and an attitude of a distal end face of the distal device, and a parallel joint for changing the position of the distal end face without changing the attitude of the distal end face; a feed motion device for driving linear motion of the surgical tool; a control device configured to: in a first camera mode, control the parallel joint to change the position of the distal end face without changing the attitude of the distal end face, and control the parallel joint in conjunction with the feed motion device to maintain a distance from a center point of the distal end face to a first plane constant, the first plane passing through the remote center of motion and being perpendicular to an axis of the long shaft; in a second camera mode, control the wrist joint, the parallel joint and the feed motion device in conjunction to change the attitude of the distal end face without changing the position of the distal end face. Comprising:

2. A surgical robotic system, characterized by, a surgical tool comprising a distal device, a joint assembly having multiple degrees of freedom and a long shaft connected in sequence, the surgical tool being configured to rotate around a remote center of motion, the joint assembly comprising at least a wrist joint for changing a position and an attitude of a distal end face of the distal device, and a parallel joint for changing the position of the distal end face without changing the attitude of the distal end face; a feed motion device for driving linear motion of the surgical tool; a control device configured to: in a first camera mode, control the parallel joint to change the position of the distal end face without changing the attitude of the distal end face, and control the parallel joint in conjunction with the feed motion device to maintain a distance from a center point of the distal end face to a first plane constant, the first plane passing through the remote center of motion and being perpendicular to an axis of the long shaft; in a second camera mode, control the wrist joint, the parallel joint and the feed motion device in conjunction to change the attitude of the distal end face without changing the position of the distal end face. ​

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