Surgical robot system and control method thereof

Abstract

The invention provides a surgical robot system and a control method thereof. A surgical robotic system includes a first slave operating device, a second slave operating device, and a master operating device. The first slave operation device comprises a first mechanical arm. The second slave operation device comprises a second mechanical arm. The master operation device communicates with the first slave operation device and the second slave operation device; the main operation device comprises at least one first operation assembly, each first operation assembly is used for receiving interaction operation of a user so as to control the first mechanical arm or the second mechanical arm, working modes of each first operation assembly comprise a first working mode and a second working mode, and when the first operation assembly is in the first working mode, the second operation assembly is in the second working mode. The controller is used for controlling the first mechanical arm to execute corresponding actions; and when in the second working mode, the first operation assembly is used for controlling the second mechanical arm to execute corresponding actions. According to the surgical robot system, switching between the first mechanical arm and the second mechanical arm can be achieved, and surgical flexibility and maneuverability are improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a surgical robot system and a control method thereof. Background Art

[0002] With the advancement of surgical technology, surgical robots can assist surgeons in performing operations. Among them, laparoscopic robotic systems can provide high-precision surgical manipulation and vision, allowing surgeons to more accurately observe the structure and details of the surgical site and perform more precise manipulations, which can reduce intraoperative bleeding and shorten operation time.

[0003] However, traditional laparoscopic surgical robots still require surgical assistants or auxiliary equipment to control the surgical robots when performing more complex surgeries. The operation process is complicated, and the additional control steps increase the doctor's burden. Summary of the invention

[0004] The present application provides a surgical robot system and a control method thereof, which can simplify the operation process.

[0005] The first aspect of the present application provides a surgical robot system, comprising:

[0006] A first slave operating device, comprising a first mechanical arm;

[0007] A second slave operating device, including a second mechanical arm;

[0008] A master operating device capable of communicating with the first slave operating device and the second slave operating device; the master operating device includes at least one first operating component, each of which is used to receive a user's interactive operation to control the first robotic arm or the second robotic arm, and the working mode of each of the first operating components includes a first working mode and a second working mode, when the first operating component is in the first working mode, it is used to control the first robotic arm to perform a corresponding action; when the first operating component is in the second working mode, it is used to control the second robotic arm to perform a corresponding action.

[0009] The surgical robot system provided in the present application controls the first slave operating device and the second slave operating device through a master operating device to achieve more convenient switching between the first slave operating device and the second slave operating device. It does not require control through a surgical assistant or auxiliary equipment, simplifies the operating process, reduces the doctor's learning curve, and increases surgical flexibility and maneuverability.

[0010] Furthermore, the main operating device also includes a second operating component, and the second operating component is used to receive a user's interactive operation to switch the working mode of the first operating component.

[0011] Furthermore, the second operating component includes at least one pedal, and the pedal is used to detect the user's stepping action and generate a corresponding switching signal. The main operating device is used to switch the working mode of the first operating component according to the switching signal.

[0012] Further, the second slave operating device includes at least two second mechanical arms, and / or the surgical robot system includes at least two second slave operating devices, and each second slave operating device includes at least one second mechanical arm;

[0013] The second operating component includes at least two pedals, and each second robotic arm corresponds to one pedal; each pedal is used to detect the user's stepping action and generate the corresponding switching signal, and the main operating device is used to switch the first operating component to the second working mode according to the switching signal. In the second working mode, the first operating component is used to control the second robotic arm corresponding to the pedal to perform a corresponding action.

[0014] Further, the second slave operating device includes at least two second robotic arms, and / or the surgical robot system includes at least two second slave operating devices, and each of the second slave operating devices includes at least one second robotic arm;

[0015] The second operating component further includes a display device, the display device is used to display a selection interface, the selection interface includes at least two selection objects for a user to select, and each of the second mechanical arms corresponds to one of the selection objects;

[0016] The working mode of the first operating component further includes a third working mode, in which the first operating component is used to control the cursor in the selection interface to select and select the selection object;

[0017] The main operating device is used to switch the first operating component to the third working mode and control the display device to display the selection interface according to the switching signal; and switch the first operating component to the second working mode according to the selected selection object. In the second working mode, the first operating component is used to control the second robotic arm corresponding to the selected selection object to perform corresponding actions.

[0018] Furthermore, the first operating component includes a gripping end for a user to hold, the gripping end is connected to the main operating device via at least two movable joints, and each of the movable joints is provided with an encoder for detecting movement of the corresponding movable joint;

[0019] The main operating device is used to calculate the motion trajectory of the holding end according to the detection result of the encoder, and move the cursor on the selection interface according to the motion trajectory.

[0020] Furthermore, the first operating component includes a holding end for a user to hold, the holding end includes a knob, and the knob is provided with an encoder for detecting rotation of the knob, and the main operating device is used to switch the selected selection object on the selection interface according to the detection result of the encoder.

[0021] Furthermore, the holding end includes an opening and closing device, which includes two clamping jaws that can open and close relative to each other and a sensor for detecting the opening and closing of the clamping jaws; the main operating device is used to select the object selected on the selection interface according to the detection result of the sensor.

[0022] A second aspect of the present application provides a control method for a surgical robot system, which is applied to the surgical robot system. The surgical robot system includes a first slave operating device, a second slave operating device, and a master operating device. The first slave operating device includes a first mechanical arm, the second slave operating device includes a second mechanical arm, the master operating device communicates with the first slave operating device and the second slave operating device, and the master operating device includes at least one first operating component. The control method includes:

[0023] Receive user interaction operations;

[0024] According to the interactive operation, controlling the first operating component to operate in one of a plurality of operating modes;

[0025] Among them, the multiple working modes include a first working mode and a second working mode. In the first working mode, the first robotic arm is controlled to perform a corresponding action, and in the second working mode, the second robotic arm is controlled to perform a corresponding action.

[0026] Further, the main operating device also includes a second operating component;

[0027] The receiving the user's interactive operation includes: receiving the user's interactive operation through the second operating component.

[0028] Further, the second operating assembly includes at least one pedal;

[0029] According to the interactive operation, controlling the first operating component to operate in one of a plurality of operating modes comprises:

[0030] Detecting a stepping action of the user in the interactive operation by means of the pedal;

[0031] According to the stepping action, a corresponding switching signal is generated;

[0032] According to the switching signal, the first operating component is controlled to operate in one of a plurality of operating modes.

[0033] Further, the second slave operating device includes at least two second mechanical arms, and / or the surgical robot system includes at least two second slave operating devices, and each second slave operating device includes at least one second mechanical arm; the second operating assembly includes at least two pedals, and each second mechanical arm corresponds to one pedal;

[0034] The step of controlling the first operating component to operate in one of a plurality of operating modes according to the switching signal comprises:

[0035] According to the switching signal, controlling the first operating component to operate in the second operating mode;

[0036] Wherein, in the second working mode, the second mechanical arm corresponding to the pedal is controlled to perform a corresponding action.

[0037] Further, the second slave operating device includes at least two second mechanical arms, and / or the surgical robot system includes at least two second slave operating devices, and each of the second slave operating devices includes at least one second mechanical arm; the second operating component also includes a display device, the display device is used to display a selection interface, the selection interface includes at least two selection objects for the user to select, and each of the second mechanical arms corresponds to one of the selection objects; the plurality of working modes also includes a third working mode;

[0038] The step of controlling the first operating component to operate in one of a plurality of operating modes according to the switching signal comprises:

[0039] According to the switching signal, controlling the first operating component to operate in the third operating mode, wherein in the third operating mode, controlling the cursor in the selection interface to select and select the selection object;

[0040] Controlling the display device to display the selection interface;

[0041] According to the selected selection object, the first operating component is controlled to operate in the second working mode, wherein in the second working mode, the second mechanical arm corresponding to the selected selection object is controlled to perform a corresponding action.

[0042] Furthermore, the first operating component includes a gripping end for a user to hold, the gripping end is connected to the main operating device via at least two movable joints, and an encoder is provided at each of the movable joints;

[0043] The controlling the first operating component to operate in the third operating mode includes:

[0044] Detecting the movement of the movable joint by the encoder to obtain a detection result of the encoder corresponding to the movable joint;

[0045] Calculating the motion trajectory of the gripping end according to the detection result of the encoder;

[0046] According to the motion trajectory, the cursor is controlled to move on the selection interface.

[0047] Furthermore, the first operating component includes a gripping end for a user to hold, the gripping end includes a knob, and an encoder is provided at the knob;

[0048] The controlling the first operating component to operate in the third operating mode includes:

[0049] Detecting the rotation of the knob by the encoder to obtain a detection result of the encoder;

[0050] According to the detection result of the encoder, the selection object selected on the selection interface is switched.

[0051] Furthermore, the gripping end includes an opening and closing device, and the opening and closing device includes two clamping jaws that can be opened and closed relative to each other and a sensor for detecting the opening and closing of the clamping jaws;

[0052] The controlling the first operating component to operate in the third operating mode further includes:

[0053] Detecting the opening and closing of the clamping jaws by the sensor to obtain a detection result of the sensor;

[0054] According to the detection result of the sensor, the object selected on the selection interface is selected.

[0055] A third aspect of the present application provides a surgical robot system, comprising:

[0056] a plurality of slave operating devices; and

[0057] The master operating device is capable of communicating with the plurality of slave operating devices, so that the master operating device can simultaneously control at least one of the plurality of slave operating devices.

[0058] Furthermore, the surgical robot system includes multiple control modes that can be switched between each other, and the multiple control modes include at least one single-use control mode and at least one combined single-use control mode. In the single-use control mode, the master operating device controls only one of the multiple slave operating devices, and in the combined control mode, the master operating device controls at least one of the multiple slave operating devices.

[0059] Furthermore, the main operating device includes two first operating components, each of which is used to receive user interaction operations to control one of the multiple slave operating devices; when the surgical robot system is in a single-use control mode, the two first operating components are used to control the instruments of the same slave operating device; when the surgical robot system is in a joint control mode, each first operating component is used to control any one of the instruments of the multiple slave operating devices.

[0060] Further, the plurality of slave operating devices include at least one single-port laparoscopic robot and at least one single-arm robot; or the plurality of slave operating devices include at least one multi-port laparoscopic robot and at least one single-arm robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0062] Figure 1 The figure shows a schematic structural diagram of an embodiment of a main operating device of a surgical robot system of the present application;

[0063] Figure 2 Shown is a schematic diagram of a surgical operation scene of an embodiment of an operation device;

[0064] Figure 3 Shown is a schematic diagram of another surgical operation scene of an embodiment of the operating device;

[0065] Figure 4 Shown is a schematic diagram of a surgical operation scene of another embodiment of the operating device;

[0066] Figure 5 Shown is a schematic diagram of an embodiment of a second operating component of a surgical robot system according to the present application;

[0067] Figure 6 Shown is a schematic diagram of another embodiment of a second operating component of a surgical robot system according to the present application;

[0068] Figure 7 Shown is an application scenario of the surgical robot system according to the present application in a hysterectomy operation;

[0069] Figure 8 Shown is a schematic diagram of a reference coordinate system and its posture corresponding to the attachment of the surgical instrument of the surgical robot system according to the present application;

[0070] Fig. 9 Shown is a schematic diagram of the reference coordinate system and its posture to which the doctor's eyes and the main hand controller of the surgical robot system according to the present application are attached;

[0071] Fig.10 Shown is a schematic diagram of the interface of the surgical robot system of the present application in a display device;

[0072] Fig.11 The figure is a flow chart of an embodiment of a control method of a surgical robot system of the present application;

[0073] Fig.12 Shown Fig.11 FIG. 1 is a flow chart of step S200 of an embodiment of a control method shown in FIG. DETAILED DESCRIPTION

[0074] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0075] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The words "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantitative limit, but indicate that there is at least one. "Multiple" or "several" means at least two. Unless otherwise specified, words such as "front", "rear", "lower" and / or "upper" are only for the convenience of explanation and are not limited to a position or a spatial orientation. Words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect.

[0076] The singular forms "a", "said" and "the" used in this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0077] A surgical robot system is a robot that can be remotely controlled to perform surgery. It usually includes a master operating device (also called a doctor's console), a slave operating device (also called a patient-side robot), and an imaging system.

[0078] The control system has a display unit for displaying the surgical instrument environment, a doctor's operation control mechanism, and armrests. The display unit is provided with an observation window for the doctor to observe, the operation control mechanism is constructed so that its movements can correspond to the movements of the surgical instrument, and the armrests are used to place the doctor's arms. In addition, the doctor's console also has other control switches that are convenient for the hand or foot to touch or press, which are used to perform various functional operations and complete human-computer interaction.

[0079] The imaging system has a display screen, endoscope controller, system electronics, image processor, etc.

[0080] Patient-side robots, such as laparoscopic robots, generally include at least one robotic arm that can manipulate multiple surgical instruments. The robotic arm is programmed to simulate the doctor's arm movements through complex algorithms and provide high-precision and precise motion control.

[0081] The surgical robot system provides high-precision surgical manipulation and vision, but some more complex surgical steps still require the assistance of surgeons or surgical assistants. For example, in gynecological surgery, an assistant is required to manipulate the uterus through a uterine lifting rod, etc., in order to provide the doctor with a good surgical field of view. For this reason, auxiliary manipulation robots, such as mirror-holding robots and uterine lifting robots, are introduced into the surgical robot system, which are often used as auxiliary operations in traditional laparoscopic surgery.

[0082] In some scenarios, the assistant manually operates the assisted manipulation robot. The assistant needs to manually drag the assisted manipulation robot arm to adjust the position and posture of the assisted manipulation robot. This method can convey the doctor's intention through the assistant's real-time feedback, but it requires multiple communications and confirmations between the doctor and the assistant, which is inefficient and prone to misunderstandings or errors, increasing uncertainty during the operation.

[0083] Based on this, the present application proposes a surgical robot system to overcome or improve one or more of the above-mentioned shortcomings.

[0084] The surgical robot system of the embodiment of the present application may include a master operating device and multiple slave operating devices. The master operating device can communicate with multiple slave operating devices, so that the master operating device can simultaneously control at least one of the multiple slave operating devices. The multiple slave operating devices may be at least two slave operating devices, for example, any two or more of single-hole, single-arm, multi-hole, flexible and other para-patient operating devices.

[0085] The surgical robot system may include multiple switchable control modes. The multiple control modes include at least one single control mode and at least one combined control mode. In the single control mode, the system can only control one of the slave operating devices. In the combined control mode, depending on the complexity of the surgery or special needs, the system can use one of the slave operating devices alone or at least two slave operating devices in combination.

[0086] The system can select a default control mode when a slave operating device is connected, for example, matching the type of the connected slave operating device with the information pre-stored in the system and selecting the corresponding control mode. The interactive interface of the master operating device can also be triggered when the slave operating device is connected to the system, and the doctor can select the desired control mode.

[0087] The doctor can also manually switch the control mode according to the needs of the surgical operation. The specific switching operation method includes but is not limited to the specific action of the main hand controller of the main operating device or the buttons or sensors on it, the physical triggers or sensor triggers such as the pedals of the main operating device, the interactive operation of the display interface of the main operating device (such as the main hand controller as a mouse to operate on the surgical scene display interface, or the touch screen set on the armrest to operate), or a combination of the above methods according to the logical configuration. In addition, the system can automatically determine the appropriate control mode based on specific surgical process information and remind the doctor, for example, through text reminders on the surgical scene display interface, or through voice broadcasts.

[0088] Furthermore, the master operating device includes two first operating components, each of which is used to receive a user's interactive operation to control one of the plurality of slave operating devices.

[0089] In the single-use control mode, the two first operating components are only used to control the same instrument of the same slave operating device, or respectively control two different instruments of the same slave operating device.

[0090] In the combined control mode, each first operating component can be used to control any one of the instruments of the multiple slave operating devices. Two first operating components can control the same instrument or two different instruments respectively. The two different instruments can be set on the same slave operating device or on two different slave operating devices respectively.

[0091] For example, the first operating component can be a device for the doctor to operate with his hands, which is operated by the doctor's left hand and right hand respectively. In the combined control mode, for each first operating component, the corresponding controlled object can be freely selected from the instruments on the multiple combined slave operating devices. For example, the system includes a first slave operating device and a second slave operating device, and the doctor can control an instrument of the first slave operating device with his left hand and a instrument of the second slave operating device with his right hand, or the doctor can control an instrument of the first slave operating device or the second slave operating device with his left hand and right hand, or the doctor can respectively operate two different instruments of the first slave operating device or the second slave operating device with his left hand and right hand.

[0092] Furthermore, in the combined control mode, further restrictions or constraints may be imposed based on the doctor's teaching needs or special surgical scenarios, such as restricting the two first operating devices to respectively control instruments of different slave operating devices.

[0093] Furthermore, in the joint control mode, the possible faults include: depending on the location of the fault, it may include the handling of cross-system faults between multiple surgical robots and the handling of system faults of each surgical robot; depending on the nature of the fault, it may include the handling of recoverable faults and the handling of unrecoverable faults. The main operating device can control and respond to the fault according to the current mature technology of the robot to ensure the safety of the patient's surgery.

[0094] In one application scenario, the multiple slave operating devices may include a single-port laparoscopic robot and at least one single-arm auxiliary robot.

[0095] Single-port surgical robots have the advantages of fewer incisions and simple positioning. Single-port surgical robots usually include a multi-degree-of-freedom endoscope installed through a cannula and multiple surgical instruments. The surgical instruments used for single-port laparoscopic robots usually have 6 to 7 degrees of freedom to complete the operation of the end effector of the surgical instrument. These degrees of freedom are mainly realized by the elbow joint for providing position movement and the wrist joint for providing direction change. Due to the large number of joints and complex structure of surgical instruments, their output force and stiffness are often limited, so they are often powerless in situations where a larger output force is required. In addition, due to their high complexity, instruments such as ultrasonic scalpels, vascular closure instruments, and staplers suitable for single-port laparoscopic robots are difficult to meet certain surgical operation requirements.

[0096] In order to adapt to certain specific surgical procedures or more complex surgical scenarios and improve the flexibility and convenience of surgical operations, a single-arm auxiliary robot can be introduced before or during the operation. The single-arm surgical robot can be installed with multi-hole surgical instruments, can achieve greater output force, and is compatible with ultrasonic scalpels, vascular closure instruments, staplers and other instruments to meet a wider range of clinical needs.

[0097] In this application scenario, the system can include a single-hole control mode, a single-arm control mode, and a single-hole-single-arm combined control mode, and the three can be switched among each other.

[0098] In the single-port control mode, the main operating device can only control the single-port laparoscopic robot. The main operating device can control the single-port laparoscopic robot to perform the execution of surgical instruments, such as controlling the robotic arm of the single-port laparoscopic robot to drive the movement of surgical instruments, such as controlling the wrist or end effector of the surgical instrument to move. In this control mode, the system can also switch to preset sub-modes that match the corresponding surgical scene according to the status of the cannula, endoscope, and surgical instrument, such as a preset mode for adjusting the endoscope to the optimal field of view posture, and another mode for retracting the instrument.

[0099] In the single-arm control mode, the main operating device can only control the single-arm auxiliary robot. The single-arm auxiliary robot can be equipped with the only endoscope for the entire system or an additional endoscope, uterine lifting instrument, ultrasonic scalpel and other energy instruments, staplers and other advanced instruments. The main operating device can control the single-arm auxiliary robot to perform the execution of surgical instruments, such as controlling the mechanical arm of the single-arm auxiliary robot to drive the movement of surgical instruments. It is understandable that in the single-arm control mode, the single-arm auxiliary robot can also cooperate with traditional manual instruments to perform complementary surgical operations.

[0100] In the single-port-single-arm combined control mode, the main operating device can control only the single-port laparoscopic robot, or only the single-arm auxiliary robot, or simultaneously control the single-port laparoscopic robot and the single-arm auxiliary robot. For each first operating component of the main operating device, the corresponding controlled object can be freely selected from the instruments on the single-port laparoscopic robot and the single-arm auxiliary robot. For example, one of the first operating components can be used to control a certain instrument of the single-port laparoscopic robot, and the other first operating component can be used to control the instrument of the single-arm auxiliary robot, or the two first operating components can jointly control the same instrument of the single-port laparoscopic robot, or the two first operating components can respectively operate two different instruments of the single-port laparoscopic robot, or the two first operating components can jointly control the instrument of the single-arm auxiliary robot.

[0101] In another application scenario, the multiple slave operating devices may include a multi-hole laparoscopic robot and at least one single-arm auxiliary robot. In this application scenario, the system may include a multi-hole control mode, a single-arm control mode, and a multi-hole-single-arm control mode. The working method of the system in various control modes and the switching method of the control mode are similar to the aforementioned application scenarios and will not be repeated here.

[0102] The process of selecting and switching the control mode of the surgical robot system is as follows. When the system is started, the corresponding control mode is automatically selected according to the type of robot connected. For example, when a single-port laparoscopic robot and a single-arm auxiliary robot are connected at the same time, the single-port-single-arm combined mode is selected. During the operation of the system, when relevant interactive operations are detected, the function of switching the control mode is activated; when no relevant interactive operations are detected, the current control mode is maintained. The interactive operation can be, for example, a pedal is stepped on, a button of the master hand controller is pressed, etc. When the function of switching the control mode is activated, the doctor can switch the control mode according to the needs of the operation. For example, the doctor can manually select through the interactive physical operation of a specific main operating device or the interactive interface displayed by the display device of the main operating device. For example, the interactive interface can be superimposed on the visual surgical scene interface, and the doctor can scroll or slide the options in the interactive interface by the master hand controller. When staying on the control mode that needs to be switched, double-click the button of the master hand controller or other physical or interactive methods to confirm the selection, thereby completing the switching of the control mode.

[0103] Furthermore, the present application also proposes a control method, which involves switching control of multiple slave operating devices by a surgical robot system in a joint control mode.

[0104] The surgical robot system and control method of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0105] The surgical robot system of the embodiment of the present application includes: a first slave operating device, a second slave operating device and a master operating device. The first slave operating device includes a first mechanical arm, wherein the first mechanical arm is used to hold at least one instrument. The second slave operating device includes a second mechanical arm, wherein the second mechanical arm is used to hold at least one instrument. The instrument may be a surgical instrument or an endoscope. For the first mechanical arm and / or the second mechanical arm, the movement of the mechanical arm can drive the instrument as a whole to move in at least two degrees of freedom, such as pitch and yaw; at the same time, a driving device is provided at the connection between the mechanical arm and the instrument to drive the instrument as a whole to insert and rotate, and can also be used to drive the wrist joint of the instrument to pitch and yaw, and can also be used to drive the end effector of the instrument to open and close. The master operating device communicates with the first slave operating device and the second slave operating device. The doctor is located in front of the master operating device and controls the first slave operating device and / or the second slave operating device to perform surgical operations by operating the master operating device.

[0106] Figure 1 The figure shows a schematic diagram of the structure of an embodiment of the main operating device of the surgical robot system of the present application. The main operating device 300 includes at least one first operating component 310, and each first operating component 310 is used to receive the user's interactive operation. Doctor D1 can interact with the main operating device 300 through the first operating component 310. After receiving the user's interactive operation, the main operating device 300 generates a corresponding operation instruction, and the first slave operating device and / or the second slave operating device perform corresponding actions according to the operation instruction, such as braking the first mechanical arm and / or the second mechanical arm to operate. Corresponding to controlling the first mechanical arm or the second mechanical arm, the working mode of each first operating component 310 includes a first working mode and a second working mode.

[0107] The braking operation of the first robotic arm and / or the second robotic arm can be that the movement of the robotic arm drives the entire device to perform pitch, yaw and other movements, or the driving device on the robotic arm drives the device to perform insertion, rotation and other movements, or the driving device drives the wrist joint of the device to perform pitch, yaw and other movements, or the driving device drives the end effector of the device to perform opening and closing and other movements.

[0108] When the first operating component 310 is in the first working mode, it is used to control the first mechanical arm to perform a corresponding action. For example, when a first operating component 310 is in the first working mode, the master operating device 300 generates a corresponding operating instruction according to the interactive operation received by the first operating component 310, and sends the operating instruction to the first slave operating device, and the first slave operating device brakes the first mechanical arm to operate according to the operating instruction.

[0109] When the first operating component 310 is in the second working mode, it is used to control the second mechanical arm to perform a corresponding action. For example, when a first operating component 310 is in the second working mode, the master operating device 300 generates a corresponding operating instruction according to the interactive operation received by the first operating component 310, and sends the operating instruction to the second slave operating device, and the second slave operating device brakes the second mechanical arm to operate according to the operating instruction.

[0110] Generally speaking, if Figure 1 As shown, the doctor D1 can control the movement of the surgical instruments held by the first and second robotic arms by operating the first operating component 310. According to the embodiment of the present application, the doctor can control the first and second slave operating devices through the master operating device 300 to achieve a more convenient switch between the first and second slave operating devices, without the need for control by a surgical assistant or additional auxiliary equipment, thereby simplifying the operation process, reducing the doctor's learning curve, and increasing surgical flexibility and maneuverability.

[0111] Figures 2 to 4 Some application scenarios of slave operating devices are shown. As shown in the figure, T1 is an operating table, and P1 is a patient on the operating table T1. In some application scenarios, the first slave operating device 100 includes a laparoscopic robot, and the first mechanical arm 110 of the laparoscopic robot can be one, or two or more. The second slave operating device 200 includes an auxiliary manipulating robot, and the second mechanical arm 210 of the auxiliary manipulating robot can be one, or two or more. It should be noted that the auxiliary manipulating robot is a robot used for auxiliary operation outside the main laparoscopic robot, and can usually be used to perform some relatively simple surgical steps or auxiliary operations. The entry position of the auxiliary manipulating robot is more flexible, that is, it can enter the body of the patient P1 from different positions for surgical operation, such as entering from the natural channel of the patient P1 (for example, the vagina or urethra, etc.). Therefore, the auxiliary manipulating robot can provide additional surgical angles and higher maneuverability.

[0112] Generally speaking, in order to make the auxiliary manipulation robot more convenient and practical, it can be arranged separately, for example, not sharing a chassis with the main body of the laparoscopic robot. In this way, doctors and operating room assistants can deal with intraoperative problems more conveniently, and it will not interfere with other surgical steps. When used together with a laparoscopic robot, the auxiliary manipulation robot can improve surgical efficiency and safety, and can also reduce the burden on doctors and operating room assistants.

[0113] exist Figure 2 and Figure 3In the example shown, the first slave operating device 100 is a multi-hole laparoscopic robot, including at least two first mechanical arms 110, for example, three or four. Each first mechanical arm 110 holds a surgical instrument or endoscope and enters the human abdominal cavity through different abdominal openings to perform surgical operations. When a first operating component 310 is in the first working mode, the master operating device 300 generates a corresponding operation instruction according to the interactive operation received by the first operating component 310, and sends the operation instruction to the first slave operating device, and the first slave operating device brakes one of the first mechanical arms to operate according to the operation instruction.

[0114] exist Figure 4 In the example shown, the first slave operating device 100 is a single-port laparoscopic robot, including a first robotic arm 110, the first robotic arm 110 holds at least two instruments, for example, three or four, for example, it can be an endoscope and at least one surgical instrument, at least two instruments enter the human abdominal cavity through the same abdominal opening for surgical operation. The first robotic arm 110 is provided with a respective driving device corresponding to each instrument, and each driving device is used to drive the respective corresponding instrument. When a certain first operating component 310 is in the first working mode, the main operating device 300 generates a corresponding operation instruction according to the interactive operation received by the first operating component 310, and sends the operation instruction to the first slave operating device, and the first slave operating device brakes the first robotic arm to operate according to the operation instruction. In this scenario, one of the driving devices on the first robotic arm is started to operate according to the instruction.

[0115] exist Figures 2 to 4 In the example shown, the second slave operating device 200 is a single-arm auxiliary manipulation robot, including a second mechanical arm 210, and the second mechanical arm 210 holds a surgical instrument or an endoscope. Figure 2 In the application scenario shown, the second robotic arm 210 can hold a uterine manipulator and enter the uterus through the human vagina to perform a uterine manipulator operation. Figure 3 and Figure 4 In the application scenario shown, the second robotic arm 210 can hold an endoscope and enter the human abdominal cavity through an abdominal opening to collect images. This abdominal opening is usually different from the abdominal opening through which the surgical instrument or endoscope held by the first robotic arm 110 enters.

[0116] In addition, in this embodiment, the first operating component 310 of the main operating device 300 may include a main hand controller, which may be arranged on the console, and the doctor may control the laparoscopic robot and the auxiliary operating robot by manipulating the main hand controller. The main hand controller may include a gripping end, and the doctor may hold and operate the gripping end by hand. Further, the main hand controller may also include at least two movable joints, and the gripping end is connected to the main operating device 300 through the movable joints, so as to provide a certain degree of freedom of movement for the gripping end. Specifically, in the first working mode, the doctor holds and operates the gripping end of the main hand controller, and the first mechanical arm 110 performs the operation corresponding to the doctor on the main hand controller; in the second working mode, the doctor holds and operates the gripping end of the main hand controller, and the second mechanical arm 210 performs the operation corresponding to the doctor on the main hand controller. The first mechanical arm 110 and the second mechanical arm 210 both have multiple degrees of freedom, and the doctor may control the angle and direction of the first mechanical arm 110 and the second mechanical arm 210 through the main hand controller, so as to realize the movement of the surgical instrument, for example, movement around a preset RCM (remote center of motion) point.

[0117] It should be noted that the present application does not limit the type of RCM mechanism of the first robotic arm 110 and the second robotic arm 210, and may include mechanically implemented RCM or software-implemented RCM. The RCM point is set at the optimal human physiological position for the corresponding task, such as the puncture position in the abdominal cavity, the vaginal opening or the cervical opening for uterine lifting operation.

[0118] It should be noted that the number of master hand controllers can be one or two.

[0119] When there is only one master hand controller, the doctor can control the first robotic arm 110 by controlling the master hand controller, and can also control the second robotic arm 210 by controlling the master hand controller.

[0120] When there are two master hand controllers, namely the left hand master controller and the right hand master controller, the doctor can control the first mechanical arm 110 by controlling the two master hand controllers. When there are two or more first mechanical arms 110, the doctor can control different first mechanical arms 110 respectively through the two master hand controllers. The doctor can also control the second mechanical arm 210 by controlling the two master hand controllers. When there are two or more second mechanical arms 210, the doctor can control different second mechanical arms 210 respectively through the two master hand controllers. The doctor can also control the first mechanical arm 110 by controlling one of the master hand controllers and control the second mechanical arm 210 by the other master hand controller. The corresponding relationship of the above control can be adjusted according to the actual situation to facilitate the doctor's operation, and this application does not limit it.

[0121] It should be noted that in the application scenario where two master hand controllers simultaneously control the same robotic arm, the distance between the end coordinate systems of the two master hand controllers needs to be fixed to prevent the change in the distance between the coordinate systems from causing inconvenience to the doctor's operation.

[0122] It is understandable that, as mentioned above, the auxiliary manipulation robot is separated from the base of the laparoscopic robot body. Therefore, before the operation begins, it is necessary to calibrate the position and posture of the auxiliary manipulation robot base and the laparoscopic robot body base, that is, calibrate the relative position relationship between the auxiliary manipulation robot base coordinate system 220 and the laparoscopic robot base coordinate system 120. The auxiliary manipulation robot base and the laparoscopic robot body base can be a trolley-type base or a base suspended from the ceiling.

[0123] In some application scenarios, Figure 2 For example, two marking points 400 are set on the base of the laparoscopic robot. Of course, two marking points 400 can also be set on other parts fixed relative to the base of the laparoscopic robot. Optionally, the marking point 400 can be a solid ball, a pit point, or a needle point. It should be noted that the positions of the above two marking points 400 relative to the auxiliary manipulation robot base coordinate system 220 are known.

[0124] The calibration process is as follows: the operator can drag the tip of the surgical instrument 500 of the auxiliary manipulation robot to touch the two marking points 400 respectively, and calculate the position information of the two marking points 400 in the auxiliary manipulation robot base coordinate system 220 through the robot's kinematics. According to the position information of the two marking points 400 in the auxiliary manipulation robot base coordinate system 220 and the laparoscopic robot base coordinate system 120, the relevant position relationship between the two coordinate systems is calculated.

[0125] The proximal end of the first robotic arm 110 is connected to the base of the first slave operating device 100, and the distal end can hold the surgical instrument 500. Multiple movable joints can be set between the proximal end and the distal end of the first robotic arm 110, so as to provide a certain degree of freedom of movement for the distal end, and an encoder is set at the joint to detect the rotation angle of the joint. The proximal end of the second robotic arm 210 is connected to the base of the second slave operating device 200, and the distal end can hold the surgical instrument 500. Multiple movable joints can be set between the proximal end and the distal end of the second robotic arm 210, so as to provide a certain degree of freedom of movement for the distal end, and an encoder is set at the joint to detect the rotation angle of the joint. The surgical instrument 500 may include scissors, clamps, and needles for performing interventional operations on human tissues; it may also include a camera device such as an endoscope for capturing surgical images; it may also include a tool for lifting the dirty to facilitate surgical operations.

[0126] It should be noted that the terms "distal end" and "proximal end" used in the present application are directional words, wherein the "distal end" refers to the end away from the base, and the "proximal end" refers to the end close to the base.

[0127] In other application scenarios, Figure 3 For example, when the distance between the bases of the two robots is relatively far, an auxiliary registration arm 230 provided on the auxiliary manipulation robot can be used. Each joint of the auxiliary registration arm 230 is provided with an encoder, so that the position information of the two marking points 400 in the auxiliary manipulation robot base coordinate system 220 can be calculated through the kinematic solution of the auxiliary registration arm 230.

[0128] Of course, for Figure 2 and Figure 3 In the application scenario, the marking point 400 can also be set on the base of the auxiliary manipulation robot or other parts fixed relative to the base of the auxiliary manipulation robot, and the marking point 400 can be poked with the tip of the robotic arm of the laparoscopic robot; the marking point can also be set at other positions fixed relative to the ground, for example, the marking point 400 can be set on the operating table T1, and the marking point 400 can be poked with the tip of the robotic arm of the laparoscopic robot and the tip of the robotic arm of the auxiliary manipulation robot respectively.

[0129] refer to Figure 1 In some embodiments, the main operating device 300 may further include a second operating component 320, which is used to receive interactive operations of the user to switch the working mode of the first operating component 310. It can be understood that the second operating component 320 can be used as an input component for the doctor's control instructions, and the second operating component 320 can receive control instructions input by the doctor through a suitable interactive method. The above-mentioned interactive methods may include voice control input, display control input, head-mounted device input, eye movement trajectory input, finger button input, foot pedal input and other interactive methods. The above-mentioned interactive method does not require the doctor to remove his hand from the main hand controller, and allows the doctor's head to remain in the observation window of the display unit, so as to maintain observation of the lesion area, thereby reducing the complexity of the doctor's operation and the safety of the operation. The above-mentioned interaction method can also be integrated on the main hand controller. For example, there is a button on the main hand controller. After the doctor presses the button, the working mode of the first operating component 310 can be directly switched, or the voice control input method or the display control input method can be started. The doctor can further switch the working mode of the first operating component 310 through voice commands or screen selections; for example, the doctor can use a head-mounted device to control the movement of the first robotic arm 110 or the second robotic arm 210 according to the posture of the doctor's head; for example, the movement of the first robotic arm 110 or the second robotic arm 210 can be controlled by using the doctor's eye focus point.

[0130] Figure 5FIG. 2 is a schematic diagram of an embodiment of a second operating component 320 of a surgical robot system according to the present application. Figure 5 As shown, B1 is the original pedal of the surgical robot system 1. Based on the above embodiment, the second operating component 320 includes at least one pedal 321, and the pedal 321 is used to detect the user's stepping action and generate a corresponding switching signal. The main operating device 300 is used to switch the working mode of the first operating component 310 according to the switching signal. The above at least one pedal 321 can also be understood as a group of pedals 321, and a group of pedals 321 includes at least one sub-pedal. Figure 5 As shown, the pedal 321 can be located near the original pedal B1 to reduce the learning curve of the doctor.

[0131] Taking the first operating component 310, that is, two master hand controllers as an example, in the example where there are one or a group of pedals 321, the doctor can switch the working modes of the two master hand controllers by stepping on one or a group of pedals 321. For example, after the doctor steps on one of the pedals 321, the working modes of the two master hand controllers can be switched at the same time, or the working mode of one of the master hand controllers can be switched first, and after the doctor steps on the pedal 321 again, the working mode of the other master hand controller can be switched. The above control method can be flexibly adjusted, and this application does not limit it.

[0132] In some application scenarios, the second slave operating device 200 includes at least two second robotic arms 210. In other application scenarios, the surgical robot system 1 includes at least two second slave operating devices 200, and each second slave operating device 200 includes at least one second robotic arm 210. In some other application scenarios, the surgical robot system 1 includes at least two second slave operating devices 200, and each second slave operating device 200 includes at least one second robotic arm 210, and at least one second slave operating device 200 includes at least two second robotic arms 210. That is, in the above application scenarios, at least two second robotic arms 210 can be used for auxiliary operations.

[0133] To this end, in some embodiments, the second operating component 320 may include at least two pedals 321, and each second mechanical arm 210 corresponds to a pedal 321. Each pedal 321 is used to detect the user's stepping action and generate a corresponding switching signal. The main operating device 300 is used to switch the first operating component 310 to the second working mode according to the switching signal. In the second working mode, the first operating component 310 is used to control the second mechanical arm 210 corresponding to the pedal 321 to perform a corresponding action. The above-mentioned at least two pedals 321 can also be understood as at least two groups of pedals 321, each group of pedals 321 including at least one sub-pedal.

[0134] In some application scenarios, for example, three second robotic arms 210 are required to participate in auxiliary operations, holding different instruments, such as a uterine erector, a retractor, and an endoscope. The three second robotic arms 210 can be respectively set in three independent second slave operating devices 200, or can be set in the same independent second slave operating device 200, or can be distributed in two different independent second slave operating devices 200. To this end, pedals corresponding to the three second robotic arms 210 can be set. For example, Figure 5 As shown, the pedal 321 may include a uterine lifting pedal 321a, which corresponds to the second robotic arm 210 holding the uterine lifting rod. When the doctor steps on the uterine lifting pedal 321a, the uterine lifting pedal 321a generates a uterine lifting rod switching signal. The main operating device 300 is used to receive the uterine lifting rod switching signal and switch the first operating component 310 to the second working mode. The first operating component 310 is used to control the second robotic arm 210 corresponding to the uterine lifting pedal 321a to perform corresponding actions, thereby realizing the movement of the uterine lifting rod.

[0135] Furthermore, if Figure 5 As shown, the pedal 321 may include a hook pedal 321b, which corresponds to the second robotic arm 210 holding the hook. When the doctor steps on the hook pedal 321b, the hook pedal 321b generates a hook switching signal. The main operating device 300 is used to receive the hook switching signal and switch the first operating component 310 to the second working mode. The first operating component 310 is used to control the second robotic arm 210 corresponding to the hook pedal 321b to perform corresponding actions, thereby realizing the hook action.

[0136] Furthermore, if Figure 5 As shown, the pedal 321 may include a mirror holding pedal 321c, which corresponds to the second robotic arm 210 holding the endoscope. When the doctor steps on the mirror holding pedal 321c, the mirror holding pedal 321c generates an endoscope switching signal. The main operating device 300 is used to receive the endoscope switching signal and switch the first operating component 310 to the second working mode. The first operating component 310 is used to control the second robotic arm 210 corresponding to the mirror holding pedal 321c to perform corresponding actions, thereby realizing the movement of the endoscope.

[0137] Of course, the type and quantity of the pedal 321 are not limited to those in the above embodiments, and can be determined according to the type of surgical instrument 500 held by the second robotic arm 210 .

[0138] In other embodiments, the second operating component 320 further includes a display device 322, which is used to display a selection interface, the selection interface includes at least two selection objects 323 for the user to select, and each second mechanical arm 210 corresponds to a selection object 323. The working mode of the first operating component 310 also includes a third working mode, in which the first operating component 310 is used to control the cursor 324 in the selection interface to select and select the selection object 323. The main operating device 300 is used to switch the first operating component 310 to the third working mode and control the display device to display the selection interface according to the switching signal. The main operating device 300 is also used to switch the first operating component 310 to the second working mode according to the selected selection object 323, in which the first operating component 310 is used to control the second mechanical arm 210 corresponding to the selected selection object 323 to perform a corresponding action. In this way, in the third working mode, the doctor can select and select the second mechanical arm 210 corresponding to the object 323 on the screen, and control the movement of the second mechanical arm 210, so that the doctor can intuitively and quickly select the required instrument.

[0139] In addition, since the doctor can make selections and choices intuitively through the display device, the second operating component 320 is allowed to set only one pedal related to the auxiliary operation. When the doctor steps on the pedal, the first operating component 310 switches to the third working mode, and the display device displays the relevant selection interface to facilitate the doctor's selection and selection operations, further reducing the doctor's learning curve.

[0140] During surgery, refer to Figure 1 Doctors usually view the images captured by the endoscope through the images displayed on the display device on the console to obtain the real-time status of the patient's surgical area. The above-mentioned display device can be the original display device of the surgical robot system 1, that is, the above-mentioned display device on the console. The above-mentioned selection interface can be switched with the endoscopic image, or can be displayed at the same time, for example, arranged up and down, arranged left and right, and the selection interface can be superimposed on the endoscopic image (such as Figure 6 It is displayed in the following ways (as shown).

[0141] Optionally, the cursor 324 in the selection interface may be a selection box, which may surround the selection object 323. When the selection box surrounds a selection object 323, it can be determined that the selection object 323 is selected. The cursor 324 in the selection interface may also be highlighted, that is, the selected selection object 323 is highlighted. Figure 6 When the mouse moves to a selection object 323, the selection object 323 is selected. Subsequently, when the doctor performs a selection operation, it is determined that the selection object 323 is selected.

[0142] In some application scenarios, for example, three second robotic arms 210 are required to participate in auxiliary operations, such as Figure 6 As shown, after the doctor steps on the pedal related to the auxiliary operation, a corresponding switching signal is generated. After the main operating device 300 receives the switching signal, it controls the display device 322 to superimpose the selection interface on the endoscope screen 325, that is, three corresponding selection objects 323 are superimposed on the endoscope screen 325, including the uterine lifting operation selection object 323a, the hook operation selection object 323b and the mirror holding operation selection object 323c, which correspond to the three second mechanical arms 210 holding the uterine lifting rod, the hook and the endoscope, respectively. After receiving the switching signal, the main operating device 300 also switches the first operating component to the third working mode, and the doctor can move the cursor through the first operating component to select the selection object 323. For example, when the cursor stays on the uterine lifting operation selection object 323a, it means that the uterine lifting operation selection object 323a is selected. After the doctor performs the selected operation, the main operating device 300 switches the first operating component 310 to the second working mode, so that the first operating component 310 is used to control the second robotic arm 210 corresponding to the uterine lifting operation selection object 323a to perform a corresponding action, thereby realizing the movement of the uterine lifting rod.

[0143] Of course, the selection object 323 is not limited to the type and quantity in the above embodiment, and can be determined according to the type of surgical instrument 500 held by the second robotic arm 210.

[0144] Optionally, the doctor can control the movement of the cursor by holding the end of the main hand controller to select the selected object.

[0145] In some embodiments, the master hand controller includes at least two movable joints, the gripping end is connected to the main operating device 300 through at least two movable joints, and an encoder for detecting the movement of the corresponding movable joint is provided at each movable joint. The main operating device 300 is used to calculate the motion trajectory of the gripping end according to the detection result of the encoder, and move the cursor 324 on the selection interface according to the motion trajectory.

[0146] In some application scenarios, there are multiple master hand controllers, for example, two, a left hand master controller and a right hand master controller, each of which is configured with a grip end, so the movement of one of the master hand controllers can be set to feedback to the movement of the cursor.

[0147] In other embodiments, the gripping end includes a knob, and an encoder for detecting the rotation of the knob is provided at the knob, and the main operating device 300 is used to switch the selected selection object 323 on the selection interface according to the detection result of the encoder. The detection result of the encoder may include the rotation angle and / or rotation direction of the knob. When the doctor manipulates the knob to turn or twist to the left, the encoder detects the rotation angle and / or left rotation information of the knob, and switches the selected selection object 323 to the left on the selection interface; when the doctor manipulates the knob to turn or twist to the right, the selected selection object 323 is switched to the right on the selection interface.

[0148] Optionally, the doctor can then select the selected object through the holding end.

[0149] In some embodiments, the gripping end includes an opening and closing device, which includes two relatively openable and closed jaws and a sensor for detecting the opening and closing of the jaws. The main operating device 300 is used to select the selected object on the selection interface according to the detection result of the sensor. Further, the opening and closing device can be used as a component of the above-mentioned knob to achieve higher flexibility in surgical instrument control. For example, the opening and closing device can be pivotally arranged at the gripping end, and the doctor rotates the opening and closing device as a whole to move the cursor, thereby selecting the selection object 323, and then controls the opening and closing of the jaws to control whether the selected selection object 323 is selected. When the main hand controller is in the state of controlling the surgical instrument (that is, the first working mode or the second working mode), the jaws are used to control the action of the end effector of the surgical instrument, such as rotation and opening and closing actions; when the main hand controller is in the state of controlling the cursor 324 in the selection interface (that is, the third working mode), the jaws are used to select and select the selection object 323 on the selection interface.

[0150] The present application does not limit the specific structure of the gripping end, and currently known configurations may be adopted, such as those described in Chinese invention patent CN113375547A, Chinese invention patent CN113197673A or Chinese invention patent CN115486944A.

[0151] Figure 7The figure shows the application scenario of the surgical robot system according to the present application in a hysterectomy operation. Among them, the endoscope 520 and the execution instrument 510 both enter the abdominal cavity through a small hole cut in the abdomen of the patient P1, and the uterine lifting rod 530 enters the uterus P12 of the patient P1 through the vagina of the patient P1. During the operation, the endoscope 520 provides the doctor with a surgical field of view in the abdominal cavity P11, the execution instrument 510 performs a surgical operation on the uterus P12, and the end of the uterine lifting rod 530 is against the inner wall of the uterus P12. The posture of the uterus P12 is adjusted by changing the position and direction of the uterine lifting rod 530, so that the execution instrument 510 can perform the surgical operation. In some cases, the endoscope 520 and the execution instrument 510 are held by the mechanical arm of the laparoscopic surgical robot, and the entry position and operation mode of the uterine lifting rod 530 are greatly different from those of other instruments. The mechanical arm of the laparoscopic surgical robot is difficult to operate the uterine lifting rod 530, so an additional surgical assistant is usually required to manually operate the uterine lifting rod 530, or to operate the uterine lifting rod 530 by controlling an auxiliary manipulation robot. To this end, in the surgical robot system of the present application, the first mechanical arm 110 (not shown) of the first slave operating device 100 holds the endoscope 520 and the execution instrument 510, and the second mechanical arm 210 of the second slave operating device 200 holds the uterine lifting rod 530, and the doctor can operate the endoscope 520, the execution instrument 510 and the uterine lifting rod 530 through the main operating device 300. In this example, the first slave operating device 100 can be a laparoscopic surgical robot, and the second slave operating device 200 can be an auxiliary manipulation robot.

[0152] Figure 8 Shown is a schematic diagram of a reference coordinate system and its posture to which a surgical instrument 500 of the surgical robot system 1 according to the present application is attached. Fig. 9 The figure shows the reference coordinate system and its posture diagram of the doctor's eye D11 and the main hand controller of the surgical robot system 1 according to the present application. It should be noted that the surgical instrument 500 of the auxiliary robot controlled by the main hand controller needs to be transformed by coordinates, and the homogeneous transformation matrix from coordinate system to coordinate system can be expressed as:

[0153]

[0154] Among them, T is the homogeneous transformation matrix from one coordinate system to another, R is the 3×3 rotation matrix, and D is the 3×1 translation vector.

[0155] In the present application, the change in the position of the end of the uterine lifting stick 530 in the camera coordinate system 600 is matched to the change in the position of the end of the master hand controller in the eye coordinate system 700 in a one-to-one manner, in accordance with the following relationship:

[0156]

[0157] in, is the translation vector of the homogeneous transformation matrix from the end coordinate system 240 of the manipulator to the camera coordinate system 600, is the translation vector of the homogeneous transformation matrix from the master hand controller end coordinate system 311 to the camera coordinate system 600 in the eye coordinate system 700, (*)' represents the new position, and k is the scale factor.

[0158] According to the above relationship, the linear displacement of the first mechanical arm 110 in the eye coordinate system 700 is mapped into a linear displacement instruction of the end of the uterine manipulator 530 in the camera coordinate system 600 after being scaled, thereby generating new position information of the end of the uterine manipulator 530 in the camera coordinate system 600. The new position information is converted into the joint motion of the auxiliary manipulator robot through the controller of the auxiliary manipulator robot.

[0159] Fig.10 The figure shows the interface diagram of the surgical robot system 1 of the present application in the display device 322. The movement of the doctor's main hand controller corresponds to the up, down, left, right, forward and backward movement of the uterine manipulator 530 displayed on the display device 322 (i.e., in the camera coordinate system 600), so that the doctor can control the uterine manipulator 530 more conveniently.

[0160] Based on the embodiment of the surgical robot system of the present application, the present application also includes a control method for the surgical robot system. Fig.11 The figure is a flow chart of an embodiment of the control method of the surgical robot system of the present application. The control method of the surgical robot system of the embodiment of the present application can be applied to the surgical robot system, which includes a first slave operating device, a second slave operating device and a master operating device, the first slave operating device includes a first mechanical arm, the second slave operating device includes a second mechanical arm, the master operating device communicates with the first slave operating device and the second slave operating device, and the master operating device includes at least one first operating component. Fig.11 As shown, the control method of the embodiment of the present application includes steps S100 to S200:

[0161] In step S100, a user's interactive operation is received.

[0162] In step S200, according to the interactive operation, the first operating component is controlled to operate in one of a plurality of operating modes.

[0163] Among them, the multiple working modes include a first working mode and a second working mode. In the first working mode, the first robotic arm is controlled to perform a corresponding action, and in the second working mode, the second robotic arm is controlled to perform a corresponding action.

[0164] In some embodiments, the main operating device further includes a second operating component, and step S100 in the control method of the present application may further include the following steps:

[0165] The user's interactive operation is received through the second operation component.

[0166] Fig.12 Shown Fig.11 The flowchart of step S200 of the control method shown in FIG. 1 is a flowchart of an embodiment of the control method shown in FIG. 1. In some embodiments, the second operating component includes at least one pedal, and step S200 in the control method of the present application may also include steps S210 to S230:

[0167] In step S210, a pedaling action in a user's interactive operation is detected through a pedal.

[0168] In step S220, a corresponding switching signal is generated according to the pedaling action.

[0169] In step S230, the first operating component is controlled to operate in one of the plurality of operating modes according to the switching signal.

[0170] In some embodiments, the second slave operating device includes at least two second robotic arms. In other embodiments, the surgical robot system includes at least two second slave operating devices, and each second slave operating device includes at least one second robotic arm.

[0171] On the basis of the above embodiment, the second operating assembly includes at least two pedals, and each second mechanical arm corresponds to one pedal. Step S230 in the control method of the present application may include the following steps:

[0172] According to the switching signal, the first operating component is controlled to operate in the second operating mode.

[0173] Wherein, in the second working mode, the second mechanical arm corresponding to the pedal is controlled to perform corresponding actions.

[0174] In some embodiments, the second slave operating device includes at least two second robotic arms. In other embodiments, the surgical robot system includes at least two second slave operating devices, and each second slave operating device includes at least one second robotic arm.

[0175] Based on the above embodiment, the second operating component further includes a display device, the display device is used to display a selection interface, the selection interface includes at least two selection objects for the user to select, and each second mechanical arm corresponds to a selection object. The multiple working modes also include a third working mode.

[0176] Step S230 in the control method of the present application may include the following steps:

[0177] According to the switching signal, the first operating component is controlled to operate in a third operating mode, wherein in the third operating mode, a cursor in the selection interface is controlled to select and select a selection object.

[0178] The display device is controlled to display a selection interface.

[0179] According to the selected selection object, the first operating component is controlled to operate in a second working mode, wherein in the second working mode, the second mechanical arm corresponding to the selected selection object is controlled to perform a corresponding action.

[0180] Furthermore, the first operating component includes a holding end for a user to hold, the holding end is connected to the main operating device through at least two movable joints, and an encoder is provided at each movable joint.

[0181] The step of controlling the first operating component to operate in the third operating mode may include the following steps:

[0182] The movement of the active joint is detected by the encoder to obtain the detection result of the encoder corresponding to the active joint.

[0183] According to the detection results of the encoder, the motion trajectory of the grip end is calculated.

[0184] According to the motion trajectory, control the cursor to move on the selection interface.

[0185] Furthermore, the first operating component includes a holding end for the user to hold, the holding end includes a knob, and an encoder is arranged at the knob.

[0186] The step of controlling the first operating component to operate in the third operating mode may include the following steps:

[0187] The encoder detects the rotation of the knob and obtains the detection result of the encoder.

[0188] According to the detection result of the encoder, the selected object on the selection interface is switched.

[0189] On the basis of the above embodiment, the gripping end includes an opening and closing device, which includes two clamping jaws that can open and close relative to each other and a sensor for detecting the opening and closing of the clamping jaws.

[0190] The step of controlling the first operating component to operate in the third operating mode may further include the following steps:

[0191] The opening and closing of the clamping jaws is detected by the sensor to obtain the detection result of the sensor.

[0192] According to the detection result of the sensor, the object selected on the selection interface is selected.

[0193] The surgical robot system and control method of the embodiment of the present application can provide more surgical angles and operating methods, providing doctors with more degrees of freedom and operability; reducing the steps that require additional assistants to participate in the operation, simplifying the surgical operation process, and improving surgical efficiency and accuracy. Furthermore, by adding additional pedals or display device selection methods, the operation of switching the slave end is realized, providing doctors with a more convenient control method. Through the first operating component, the doctor can more intuitively control the second mechanical arm of the second slave operating device and the cursor on the display device, reducing the doctor's learning curve.

[0194] As for the method embodiment, since it basically corresponds to the device embodiment, the relevant parts can be referred to the partial description of the device embodiment. The method embodiment and the device embodiment complement each other.

[0195] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A surgical robot system, characterized in that: include: A first slave operating device, comprising a first mechanical arm; A second slave operating device, including a second mechanical arm; a master operating device capable of communicating with the first slave operating device and the second slave operating device; The main operating device includes at least one first operating component, each of which is used to receive user interaction operations to control the first robotic arm or the second robotic arm, and the working mode of each of the first operating components includes a first working mode and a second working mode. When the first operating component is in the first working mode, it is used to control the first robotic arm to perform corresponding actions; when the first operating component is in the second working mode, it is used to control the second robotic arm to perform corresponding actions.

2. The surgical robot system according to claim 1, characterized in that: The main operating device also includes a second operating component, which is used to receive a user's interactive operation to switch the working mode of the first operating component.

3. The surgical robot system according to claim 2, characterized in that: The second operating component includes at least one pedal, which is used to detect the user's stepping action and generate a corresponding switching signal. The main operating device is used to switch the working mode of the first operating component according to the switching signal.

4. The surgical robot system according to claim 3, characterized in that: The second slave operating device includes at least two second robotic arms, and / or the surgical robot system includes at least two second slave operating devices, and each of the second slave operating devices includes at least one second robotic arm; The second operating assembly includes at least two pedals, and each of the second mechanical arms corresponds to one pedal; Each of the pedals is used to detect the user's stepping action and generate the corresponding switching signal. The main operating device is used to switch the first operating component to the second working mode according to the switching signal. In the second working mode, the first operating component is used to control the second robotic arm corresponding to the pedal to perform a corresponding action.

5. The surgical robot system according to claim 3, characterized in that: The second slave operating device includes at least two second robotic arms, and / or the surgical robot system includes at least two second slave operating devices, and each of the second slave operating devices includes at least one second robotic arm; The second operating component further includes a display device, the display device is used to display a selection interface, the selection interface includes at least two selection objects for a user to select, and each of the second mechanical arms corresponds to one of the selection objects; The working mode of the first operating component further includes a third working mode, in which the first operating component is used to control the cursor in the selection interface to select and select the selection object; The main operating device is used to switch the first operating component to the third working mode and control the display device to display the selection interface according to the switching signal; The first operating component is switched to the second working mode according to the selected selection object. In the second working mode, the first operating component is used to control the second mechanical arm corresponding to the selected selection object to perform a corresponding action.

6. The surgical robot system according to claim 5, characterized in that: The first operating component includes a gripping end for a user to hold, the gripping end is connected to the main operating device via at least two movable joints, and each of the movable joints is provided with an encoder for detecting movement of the corresponding movable joint; The main operating device is used to calculate the motion trajectory of the holding end according to the detection result of the encoder, and move the cursor on the selection interface according to the motion trajectory.

7. The surgical robot system according to claim 5, characterized in that: The first operating component includes a holding end for a user to hold, the holding end includes a knob, and an encoder for detecting rotation of the knob is provided at the knob. The main operating device is used to switch the selected selection object on the selection interface according to the detection result of the encoder.

8. The surgical robot system according to claim 6 or 7, characterized in that: The holding end includes an opening and closing device, which includes two clamping jaws that can be opened and closed relative to each other and a sensor for detecting the opening and closing of the clamping jaws; the main operating device is used to select the object selected on the selection interface according to the detection result of the sensor.

9. A control method for a surgical robot system, characterized in that: Applied to a surgical robot system, the surgical robot system includes a first slave operating device, a second slave operating device and a master operating device, the first slave operating device includes a first mechanical arm, the second slave operating device includes a second mechanical arm, the master operating device communicates with the first slave operating device and the second slave operating device, the master operating device includes at least one first operating component, and the control method includes: Receive user interaction operations; According to the interactive operation, controlling the first operating component to operate in one of a plurality of operating modes; Among them, the multiple working modes include a first working mode and a second working mode. In the first working mode, the first robotic arm is controlled to perform a corresponding action, and in the second working mode, the second robotic arm is controlled to perform a corresponding action.

10. The control method according to claim 9, characterized in that: The main operating device also includes a second operating component; The receiving the user's interactive operation includes: receiving the user's interactive operation through the second operating component.

11. The control method according to claim 10, characterized in that: The second operating assembly includes at least one pedal; According to the interactive operation, controlling the first operating component to operate in one of a plurality of operating modes comprises: Detecting a stepping action of the user in the interactive operation by means of the pedal; According to the stepping action, a corresponding switching signal is generated; According to the switching signal, the first operating component is controlled to operate in one of a plurality of operating modes.

12. The control method according to claim 11, characterized in that: The second slave operating device includes at least two second mechanical arms, and / or the surgical robot system includes at least two second slave operating devices, and each second slave operating device includes at least one second mechanical arm; the second operating assembly includes at least two pedals, and each second mechanical arm corresponds to one pedal; The step of controlling the first operating component to operate in one of a plurality of operating modes according to the switching signal comprises: According to the switching signal, controlling the first operating component to operate in the second operating mode; Wherein, in the second working mode, the second mechanical arm corresponding to the pedal is controlled to perform a corresponding action.

13. The control method according to claim 11, characterized in that: The second slave operating device includes at least two second mechanical arms, and / or the surgical robot system includes at least two second slave operating devices, and each of the second slave operating devices includes at least one second mechanical arm; the second operating component also includes a display device, the display device is used to display a selection interface, the selection interface includes at least two selection objects for the user to select, and each of the second mechanical arms corresponds to one of the selection objects; the plurality of working modes also includes a third working mode; The step of controlling the first operating component to operate in one of a plurality of operating modes according to the switching signal comprises: According to the switching signal, controlling the first operating component to operate in the third operating mode, wherein in the third operating mode, controlling the cursor in the selection interface to select and select the selection object; Controlling the display device to display the selection interface; According to the selected selection object, the first operating component is controlled to operate in the second working mode, wherein in the second working mode, the second mechanical arm corresponding to the selected selection object is controlled to perform a corresponding action.

14. The control method according to claim 13, characterized in that: The first operating component comprises a holding end for a user to hold, the holding end is connected to the main operating device through at least two movable joints, and an encoder is provided at each movable joint; The controlling the first operating component to operate in the third operating mode includes: Detecting the movement of the movable joint by the encoder to obtain a detection result of the encoder corresponding to the movable joint; Calculating the motion trajectory of the gripping end according to the detection result of the encoder; According to the motion trajectory, the cursor is controlled to move on the selection interface.

15. The control method according to claim 13, characterized in that: The first operating component includes a gripping end for a user to hold, the gripping end includes a knob, and an encoder is disposed at the knob; The controlling the first operating component to operate in the third operating mode includes: Detecting the rotation of the knob by the encoder to obtain a detection result of the encoder; According to the detection result of the encoder, the selection object selected on the selection interface is switched.

16. The control method according to claim 14 or 15, characterized in that: The gripping end includes an opening and closing device, and the opening and closing device includes two clamping jaws that can open and close relative to each other and a sensor for detecting the opening and closing of the clamping jaws; The controlling the first operating component to operate in the third operating mode further includes: Detecting the opening and closing of the clamping jaws by the sensor to obtain a detection result of the sensor; According to the detection result of the sensor, the object selected on the selection interface is selected.

17. A surgical robot system, characterized in that: include: a plurality of slave operating devices; and The master operating device is capable of communicating with the plurality of slave operating devices, so that the master operating device can simultaneously control at least one of the plurality of slave operating devices.

18. The surgical robot system according to claim 17, characterized in that: The surgical robot system includes multiple control modes that can be switched between each other, and the multiple control modes include at least one single-use control mode and at least one combined single-use control mode. In the single-use control mode, the master operating device controls only one of the multiple slave operating devices, and in the combined control mode, the master operating device controls at least one of the multiple slave operating devices.

19. The surgical robot system according to claim 18, characterized in that: The master operating device comprises two first operating components, each of which is used to receive a user's interactive operation to control one of the plurality of slave operating devices; When the surgical robot system is in a single-use control mode, the two first operating components are used to control instruments of the same slave operating device; When the surgical robot system is in the joint control mode, each first operating component is used to control any one of the instruments of the plurality of slave operating devices.

20. The surgical robot system according to any one of claims 17 to 19, characterized in that: The plurality of slave operating devices include at least one single-port laparoscopic robot and at least one single-arm robot; or the plurality of slave operating devices include at least one multi-port laparoscopic robot and at least one single-arm robot.

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