Master manipulator operation control system and method, master terminal equipment and surgical robot

Abstract

The invention provides a master manipulator operation control system and method, master end equipment and a surgical robot, the control system comprises a movable button arranged on a tail end joint of a master manipulator and a controller in communication connection with the movable button, and the movable button can move relative to the tail end joint; the movable button is configured to allow an operator to trigger a function trigger instruction and transmit the function trigger instruction triggered by the operator to the controller, and the function trigger instruction comprises at least one of an operation confirmation trigger instruction, an error trigger removal instruction and a trigger instruction of switching to the movable button to perform clamping control; the controller is configured to execute corresponding function operation according to the received function triggering instruction. Various functional operations can be carried out under the condition that an operation is not interrupted, and the continuity of the operation is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a master-hand operation control system, method, master-end device and surgical robot. Background Art

[0002] The design concept of surgical robots is to use minimally invasive methods to accurately perform complex surgical operations. The surgical robot includes a master device and a slave device, wherein the master device is operated by the surgeon to generate and transmit necessary signals; the slave device receives signals from the master device to perform actual operations on the patient. Furthermore, the master device is equipped with a master hand, and the surgeon can control the mechanical arm installed on the slave device and the surgical instruments mounted on the end of the mechanical arm to perform corresponding movements by manipulating the master hand.

[0003] When performing surgery, existing laparoscopic surgical robots generally need to correct errors in the UI operation interface and confirm the surgery on the slave device, and the doctor needs to keep the master hand during the surgery, so the existing technology cannot guarantee the continuity of the surgery. In addition, in the existing technology, if the Hall sensor fails, the master hand will not be able to control the opening and closing of the instrument end of the surgical instrument.

[0004] It should be noted that the information disclosed in the background technology section of the invention is only intended to deepen the understanding of the general background technology of the invention, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0005] The object of the present invention is to provide a master-hand operation control system, method, master-end device and surgical robot, which can perform various functional operations without interrupting the operation and ensure the continuity of the operation.

[0006] To achieve the above object, the present invention provides a master hand operation control system, comprising a movable button disposed on a distal end joint of the master hand and a controller communicatively connected to the movable button, wherein the movable button can move relative to the distal end joint;

[0007] The movable button is configured to allow an operator to perform a trigger operation of a function trigger instruction, and transmit the function trigger instruction triggered by the operator to the controller, wherein the function trigger instruction includes at least one of a confirming operation trigger instruction, a releasing error trigger instruction, and a switching to the movable button to perform a clamping control trigger instruction;

[0008] The controller is configured to execute a corresponding functional operation according to the received function triggering instruction.

[0009] Optionally, the movable button includes a button body and a sensor connected to the button body, and the sensor is configured to detect travel information of the movable button and transmit an electrical signal corresponding to the travel information of the movable button to the controller.

[0010] Optionally, the controller is further configured to receive a configuration operation of a triggering mode of a configuration function triggering instruction from an operator.

[0011] Optionally, the triggering method of the function trigger instruction includes at least one of the movable button being triggered in combination with at least one of voice control, foot switch, arm switching switch and eye movement monitoring device, the movable button being triggered a preset number of times within a first preset time period, the movable button being at the maximum stroke for a second preset time period, and the movable buttons on different master hands being triggered in a preset order.

[0012] Optionally, the controller is further configured to determine whether the movable button is triggered based on the travel of the movable button and the duration of the travel.

[0013] Optionally, the controller is further configured to control the opening and closing angle of the instrument end of the surgical instrument located on the slave device according to the travel information of the movable button during the process of clamping control using the movable button.

[0014] Optionally, the controller is further configured to execute the function operation corresponding to the function trigger instruction with the highest priority level according to the preset priority levels of the function trigger instructions when the same trigger mode corresponds to multiple function trigger instructions.

[0015] To achieve the above-mentioned object, the present invention further provides a master hand operation control method, wherein a movable button is provided on the end joint of the master hand, and the movable button can be moved relative to the end joint, and the movable button is configured for the operator to perform a trigger operation of a function trigger instruction, and the function trigger instruction includes at least one of a confirming operation trigger instruction, a releasing error trigger instruction, and a switching to the movable button for clamping control trigger instruction, and the control method includes:

[0016] Receiving a function triggering instruction triggered by an operator;

[0017] Execute the corresponding function operation according to the function trigger instruction.

[0018] In order to achieve the above object, the present invention further provides a master-end device, which includes the master-hand operation control system described above.

[0019] In order to achieve the above-mentioned object, the present invention also provides a surgical robot, which includes the master terminal device described above.

[0020] Compared with the prior art, the master hand operation control system, method, master terminal device and surgical robot provided by the present invention have the following beneficial effects:

[0021] The master hand operation control system provided by the present invention includes a movable button arranged on the end joint of the master hand and a controller in communication with the movable button, wherein the movable button can move relative to the end joint; the movable button is configured for the operator to perform a trigger operation of a function trigger instruction, and transmit the function trigger instruction triggered by the operator to the controller, wherein the function trigger instruction includes at least one of a confirming operation trigger instruction, a clearing error trigger instruction, and a switching to the movable button for clamping control trigger instruction; the controller is configured to perform corresponding function operations according to the received function trigger instruction. Thus, the surgical operator can operate the movable button to perform various function operations such as confirming the operation, clearing the error, switching to the movable button for clamping control, etc. without interrupting the operation, thereby ensuring the continuity of the operation and increasing the convenience of the surgical robot.

[0022] Since the master hand operation control method, master terminal device and surgical robot provided by the present invention belong to the same inventive concept as the master hand operation control system provided by the present invention, the master hand operation control method, master terminal device and surgical robot provided by the present invention at least have the beneficial effects of the master hand operation control system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the master hand operation control system provided by the present invention in the above text. Therefore, the beneficial effects of the master hand operation control method, master terminal device and surgical robot provided by the present invention will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of an application scenario of a surgical robot provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the structure of a master-end device provided in one embodiment of the present invention;

[0025] Figure 3 A schematic diagram of the structure of a master hand provided by an embodiment of the present invention;

[0026] Figure 4 A schematic block diagram of a master hand operation control system provided in one embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the connection relationship between the movable button and the master hand provided in one embodiment of the present invention;

[0028] Figure 6A flow chart of circuit detection of a movable button provided in one embodiment of the present invention;

[0029] Figure 7 A schematic diagram of the structure of a surgical instrument provided in one embodiment of the present invention;

[0030] Figure 8 An algorithm flow chart of the Hall opening and closing angle control device end opening and closing provided in one embodiment of the present invention;

[0031] Fig. 9 A schematic diagram of the connection relationship between a movable button and a master hand provided in another embodiment of the present invention;

[0032] Fig.10 A flow chart of circuit detection of a movable button provided by another embodiment of the present invention;

[0033] Fig.11 A flow chart of range calibration of a movable button provided in one embodiment of the present invention;

[0034] Fig.12 A schematic diagram of a triggering method of a function triggering instruction provided in one embodiment of the present invention;

[0035] Fig.13 A flowchart of a quick confirmation of surgery using a movable button provided in one embodiment of the present invention;

[0036] Fig.14 A schematic diagram of the display of the interactive interface of the master device when an error occurs;

[0037] Fig.15 A flowchart of using a movable button to quickly resolve an error provided by an embodiment of the present invention;

[0038] Fig.16 A flow chart of clamping control using a movable button provided in one embodiment of the present invention;

[0039] Fig.17 A schematic diagram of the priority level of function trigger instructions provided by an embodiment of the present invention;

[0040] Fig.18 A flowchart of an algorithm for preventing accidental touches of a movable button provided in one embodiment of the present invention;

[0041] Fig.19 A flowchart of a master hand operation control method provided by one embodiment of the present invention;

[0042] Fig. 20 A schematic diagram of the block structure of an electronic device provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following is a further detailed description of the master-hand operation control system, method, master-end device, surgical robot and electronic device proposed in the present invention in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose provided by the present invention. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the implementation conditions of the present invention. Any modification of the structure, change in the proportional relationship or adjustment of the size, under the condition that the effect produced by the present invention and the purpose that can be achieved are the same or similar, should still fall within the scope of the technical content disclosed by the present invention.

[0044] The core idea of ​​the present invention is to provide a master-hand operation control system, method, master-end device and surgical robot, which can perform various operations without interrupting the operation to ensure the continuity of the operation. It should be noted that, as those skilled in the art can understand, for the slave-end device, the "end" referred to in this article refers to the end close to the lesion; for the master-end device, the "end" referred to in this article refers to the end close to the operator. It should also be noted that, as those skilled in the art can understand, the electronic device provided by the present invention can be applied to the master-hand operation control system provided by the present invention, and the electronic device can be a hardware device with various operating systems.

[0045] For ease of understanding, before introducing the master hand operation control system, method, master terminal device and surgical robot provided by the present invention, the application scenario of the surgical robot is briefly described. Figure 1 and Figure 2 ,in, Figure 1 A schematic diagram of an application scenario of a surgical robot provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a master device provided by one embodiment of the present invention. Figure 1 and Figure 2As shown, the surgical robot includes a master device 100 and a slave device 200, and the master device 100 is provided with a master hand 110. The slave device 200 has at least one mechanical arm 210, and the surgical instrument 220 and the endoscope (not shown in the figure) can be mounted on the mechanical arm 210 respectively. The operator (for example, a surgeon) performs remote operation through the master hand 110 on the master device 100 to achieve minimally invasive surgical treatment for the patient on the bed. Among them, the master hand 110 and the mechanical arm 210 and the surgical instrument 220 form a master-slave control relationship. Specifically, the mechanical arm 210 and the surgical instrument 220 move according to the movement of the master hand 110 during the operation, that is, according to the operation of the operator's hand. Furthermore, the master hand 110 also receives the force information of the human tissue and organ on the surgical instrument 220 and feeds it back to the operator's hand, so that the operator can feel the surgical operation more intuitively. The master device 100 has a display device 140, which is connected to the endoscope mounted on the mechanical arm 210 of the slave device 200 and can receive and display images collected by the endoscope. The operator controls the movement of the mechanical arm 210 and the surgical instrument 220 through the master hand 110 according to the image displayed on the display device 140 on the master device 100. The endoscope and the surgical instrument 220 can enter the lesion through the wound on the patient's body.

[0046] Please continue to refer to Figure 2 ,like Figure 2 As shown, the main terminal device 100 includes an adjustment component 120, a trolley component 130, two main hands 110 and a display device 140. Among them, the two main hands 110 detect the operator's hand movement information through their terminal joints 117 as the motion control input of the entire system. The trolley component 130 is a basic bracket for installing other components. The trolley component 130 has movable casters (not shown in the figure) and can be moved or fixed as needed. Furthermore, a foot switch (not shown in the figure) is installed on the trolley component 130 to detect the switch control signal issued by the operator. The adjustment component 120 can electrically adjust the position of the main hand 110, the display device 140, the operator's armrest and other devices, that is, the adjustment component 120 has a human-machine parameter adjustment function. The display device 140 can provide reliable image information for the operator to perform surgical operations. During the operation, the operator sitting in front of the master device 100 is outside the sterilization area, and the operator controls the surgical instrument 220 and the endoscope through the master hand 110 to complete various surgical operations, thereby achieving the purpose of performing surgery on the patient. At the same time, the operator can control some actions through the foot switch, for example, the input of related operations such as electrocuting and electrocoagulation can be completed through the foot switch.

[0047] Please continue to refer to Figure 2, the surgical robot also includes an image trolley 300 and a tool trolley 400. The scene images of the patient's body collected by the endoscope (specifically including the acquisition of information such as human tissues and organs, surgical instruments 220, blood vessels and body fluids) can be transmitted to the image trolley 300 for display. The tool trolley 400 is used to store surgical instruments 220. Furthermore, in some operations, the surgical robot also includes auxiliary components such as a ventilator and an anesthesia machine 500 for use in the operation. Those skilled in the art can select and configure these auxiliary components according to the prior art, which will not be described in detail here.

[0048] Please continue to refer to Figure 3 , which is a schematic diagram of the structure of the master hand 110 provided by one embodiment of the present invention. Figure 3 As shown, the master hand 110 includes a first joint 111, a second joint 112, a third joint 113, a fourth joint 114, a fifth joint 115, a sixth joint 116 and a terminal joint 117 which are connected in sequence, wherein the first joint 111, the second joint 112 and the third joint 113 are position joints, the fourth joint 114 is a redundant follow-up joint, and the fifth joint 115, the sixth joint 116 and the terminal joint 117 are posture joints. The first joint 111, the second joint 112 and the third joint 113 and other position joints reflect the position change of the terminal of the master hand 110, and the axes of the fifth joint 115, the sixth joint 116 and the terminal joint 117 intersect at one point, which is the position Cartesian terminal point. The movement of the fifth joint 115, the sixth joint 116 and the terminal joint 117 will not affect the change of the terminal position of the master hand 110, but will only affect the change of the terminal posture of the master hand 110.

[0049] Please continue to refer to Figure 4 , which is a block diagram of a master hand operation control system provided by one embodiment of the present invention. Figure 4As shown, the master hand operation control system provided by the present invention includes a movable button 610 arranged on the terminal joint 117 of the master hand 110 and a controller 620 that is communicatively connected to the movable button 610, and the movable button 610 can move relative to the terminal joint 117; the movable button 610 is configured for the operator to perform a trigger operation of a function trigger instruction, and transmit the function trigger instruction triggered by the operator to the controller 620, and the function trigger instruction includes at least one of a confirming operation trigger instruction, a clearing error trigger instruction, and a switching to the movable button for clamping control trigger instruction; the controller 620 is configured to perform a corresponding function operation according to the received function trigger instruction. Thus, the surgical operator can operate the movable button 610 to perform various function operations such as confirming the operation, clearing the error, switching to the movable button for clamping control, etc. without interrupting the operation, thereby ensuring the continuity of the operation and increasing the convenience of the surgical robot.

[0050] Specifically, when the surgical robot is started, the operator can directly input a confirmation surgery trigger instruction through the movable button 610 to confirm the surgical operation after confirming that the surgical environment has been set up in the slave device 200. After switching the slave device 200 to the surgical state through the movable button 610, the operator can control the movement of the robotic arm 210 in the slave device 200 and the surgical instrument 220 and / or endoscope at the end of the robotic arm 210 by manipulating the master hand 110 to ensure the continuity of the operation. After entering the operation, if an error occurs in the surgical robot system, the operator can input a release error trigger instruction through the movable button 610 to clear the error and restore the surgical robot system, thereby eliminating the need to interrupt the operation during the operation and ensuring the continuity of the operation. After entering the operation, if the Hall sensor 1173 (see Figure 5 ) fails or does not match, the surgical instrument 220 will be unable to perform the clamping operation or the clamping will be inaccurate. At this time, the operator can input the movable button 610 to switch to the movable button 610 for clamping control trigger command, so as to quickly switch to the movable button 610 for clamping control to replace the Hall opening and closing angle control function, so as to further improve the continuity of the operation. It should be noted that, as can be understood by those skilled in the art, in actual application, the operator can also use the movable button 610 to trigger other function trigger commands except the confirmation operation trigger command, the error release trigger command and the switch to the movable button 610 for clamping control trigger command, so as to perform other function operations except the confirmation operation, the error release and the switch to the movable button 610 for clamping control. The specific settings can be made according to actual needs, and the present invention is not limited to this.

[0051] In some exemplary embodiments, the movable button 610 includes a button body 611 and a sensor 612 connected to the button body 611, and the sensor 612 is configured to detect the travel information of the movable button 610 and transmit an electrical signal corresponding to the travel information of the movable button 610 to the controller 620. Thus, the controller 620 can obtain the travel information of the movable button 610 according to the electrical signal transmitted by the sensor 612, thereby laying a good foundation for the subsequent controller 620 to determine which function operation the function trigger instruction received corresponds to. It should be noted that, as can be understood by those skilled in the art, the present invention does not limit the specific type of the sensor 612, and the sensor 612 can be a sliding resistor sensor 612 or a pressure sensor. Of course, the sensor 612 can also be other sensors 612 known to those skilled in the art that can detect the travel of the movable button 610.

[0052] Furthermore, the movable button 610 also includes a reset member abutting against the button body 611. Thus, by providing the reset member, the movable button 610 can be reset, thereby making the operation more convenient. It should be noted that, as can be understood by those skilled in the art, the reset member can be, but is not limited to, a reset spring 613.

[0053] As a preferred embodiment, a movable button 610 is provided on each of the upper and lower sides of the distal end joint 117 of the master hand 110. Thus, by providing a movable button 610 on each of the upper and lower sides of the distal end joint 117 of the master hand 110, operation can be more convenient.

[0054] Please continue to refer to Figure 5 , which is a schematic diagram of the connection relationship between the movable button 610 and the master hand 110 provided in one embodiment of the present invention. Figure 5 As shown, in some exemplary embodiments, the movable button 610 is a sliding button. Thus, the operator can trigger the movable button 610 by sliding the movable button 610 along the axis direction of the distal joint 117 of the master hand 110 .

[0055] Further, when the movable button 610 is a sliding button, the sensor 612 may be a sliding resistor sensor 612. For details, please refer to Figure 6 , which is a circuit detection flow chart of the movable button 610 provided by one embodiment of the present invention. Figure 6As shown, if the movable button 610 is a sliding button, when the operator toggles the movable button 610, the travel signal of the movable button 610 is transmitted to the sliding resistor sensor 612 through the button body 611, and the sliding resistor sensor 612 converts the travel signal of the movable button 610 into a corresponding resistance analog signal and transmits it to the controller 620, and the controller 620 further converts the resistance analog signal into the actual output value (i.e., the actual travel) of the movable button 610. It should be noted that, as can be understood by those skilled in the art, when the sensor 612 is a sliding resistor sensor 612, the actual output value (i.e., the actual travel) of the movable button 610 can be represented by the corresponding resistance value.

[0056] Please continue to refer to Figure 5 ,like Figure 5 As shown, in some exemplary embodiments, the end joint 117 of the master hand 110 includes a support rod 1171 and two clips 1172 disposed on both sides of the support rod 1171, the clips 1172 are tilted relative to the support rod 1171, and the two clips 1172 can approach and move away from each other. Furthermore, a Hall sensor 1173 is disposed on the support rod 1171, and a magnet is disposed on the side of the clip 1172 close to the support rod 1171, thereby the Hall sensor 1173 can detect the opening and closing angle between the two clips 1172 (hereinafter referred to as the Hall opening and closing angle), thereby controlling the instrument end 221 (see FIG. 2 ) of the surgical instrument 220 on the slave device 200. Figure 7 , which is a schematic diagram of the structure of a surgical instrument 220 provided in one embodiment of the present invention) shows the opening and closing angles.

[0057] Please continue to refer to Figure 8 , which is an algorithm flow chart of the Hall opening and closing angle control device end 221 opening and closing provided by one embodiment of the present invention. Figure 8 As shown, after the surgical instrument 220 is installed, it is initialized to zero position. After entering the master-slave mode, the controller 620 controls the output torque of the opening and closing motor of the instrument end 221 of the surgical instrument 220 through the Hall opening and closing angle output by the Hall sensor 1173, thereby effectively controlling the opening and closing of the instrument end 221 of the surgical instrument 220.

[0058] Please continue to refer to Figure 5 ,like Figure 5 As shown, each of the clips 1172 is also provided with a finger sleeve 1174. Thus, the operator can control the opening and closing angle between the two clips 1172 by inserting a finger into the finger sleeve 1174, thereby making the operation more convenient.

[0059] Please continue to refer to Fig. 9, which is a schematic diagram of the connection relationship between the movable button 610 and the master hand 110 provided in another embodiment of the present invention. Fig. 9 As shown, in some other exemplary embodiments, the movable button 610 is a push button. Thus, the operator can trigger the movable button 610 by pressing the movable button 610 in a direction perpendicular to the distal joint 117 of the master hand 110 .

[0060] Further, when the movable button 610 is a push button, the sensor 612 may be a pressure sensor. Fig.10 , which is a circuit detection flow chart of a movable button 610 provided by another embodiment of the present invention. Fig.10 As shown, when the movable button 610 is a push button, when the operator presses the movable button 610, the travel signal of the movable button 610 is transmitted to the pressure sensor through the button body 611, and the pressure sensor converts the travel signal of the movable button 610 into a corresponding pressure simulation signal and transmits it to the controller 620, and the controller 620 further converts the pressure simulation signal into the actual output value (i.e., the actual travel) of the movable button 610. It should be noted that, as can be understood by those skilled in the art, when the sensor 612 is a pressure sensor, the actual output value (i.e., the actual travel) of the movable button 610 can be represented by the corresponding pressure value.

[0061] Since the range of the sensor 612 of the movable button 610 may be inaccurate after being used for a period of time, it is necessary to recalibrate the range of the sensor 612. Specifically, when the sensor 612 in the movable button 610 is a sliding rheostat sensor, the main purpose of the range calibration is to re-match the entire resistance stroke of the sliding rheostat sensor with the entire movement stroke of the button body 611; when the sensor 612 in the movable button 610 is a pressure sensor, the main purpose of the range calibration is to re-match the entire pressure stroke of the pressure sensor with the entire movement stroke of the button body 611. Please continue to refer to Fig.11 , which is a flow chart of the range calibration of the movable button 610 provided in one embodiment of the present invention. Fig.11As shown, the operator can click on the UI interface (interactive interface) of the main-end device 100 to enter the button calibration page, and then select the movable button 610 to be calibrated (i.e., the button to be calibrated is selected), and then push or press the movable button 610 to be calibrated to the bottom (i.e., the movable button 610 to be calibrated is moved to the maximum stroke), and then click to start calibration to obtain the electrical signal output by the sensor 612 at the maximum stroke, thereby completing the calibration. After the calibration is completed, the UI interface (interactive interface) will display that the calibration is completed.

[0062] In some exemplary embodiments, the controller 620 is further configured to control the opening and closing angle of the instrument end 221 of the surgical instrument 220 located on the slave device 200 according to the stroke information of the movable button 610 during the clamping control using the movable button 610. Specifically, the controller 620 can calculate the opening and closing angle of the instrument end 221 according to the real-time stroke of the movable button 610 based on the mapping relationship between the stroke of the movable button 610 and the opening and closing angle of the instrument end 221 obtained by pre-calibration, thereby controlling the output torque of the opening and closing motor of the instrument end 221 according to the calculated opening and closing angle, thereby realizing the function of effectively controlling the opening and closing of the instrument end 221 of the surgical instrument 220.

[0063] In some exemplary embodiments, the controller 620 is further configured to receive an operator's configuration operation of configuring a trigger mode of a function trigger instruction. Thus, by configuring a corresponding trigger mode for each function trigger instruction, it is easier to identify the function trigger instruction to accurately trigger the corresponding function operation.

[0064] Please continue to refer to Fig.12 , which is a schematic diagram of a triggering method of a function triggering instruction provided by an embodiment of the present invention. Fig.12 As shown, in some exemplary embodiments, the triggering mode of the function triggering instruction includes at least one of the movable button 610 and at least one of the voice control, foot switch, arm switching switch and eye movement monitoring device being triggered in combination, the movable button 610 being triggered a preset number of times within a first preset time, the movable button 610 being at the maximum stroke for a second preset time, and the movable buttons 610 on different master hands 110 being triggered in a preset order. Specifically, the operator can configure the triggering modes of various function triggering instructions according to actual conditions, and the present invention does not limit the specific triggering mode of each function triggering instruction.

[0065] Please continue to refer to Fig.13 , which is a flowchart of using a movable button 610 to quickly confirm a surgery according to an embodiment of the present invention. Fig.13As shown, when the operation enters the master-slave operation, the operator can trigger the confirmation operation trigger instruction through the movable button 610 on the end joint 117 of the master hand 110 (for example, move the movable buttons 610 on the two master hands 110 to the bottom and hold for 3 seconds) to perform continuous confirmation of the operation function operation. After switching the slave device 200 to the operation state through the movable button 610, the operator can control the movement of the mechanical arm 210 in the slave device 200 and the surgical instrument 220 and / or endoscope at the end of the mechanical arm 210 by manipulating the master hand 110 to ensure the continuity of the operation. It should be noted that, as can be understood by those skilled in the art, Fig.13 The purpose of the electrical signal analysis by the controller 620 is to identify which function operation the received function trigger instruction corresponds to.

[0066] Please continue to refer to Fig.14 and Fig.15 ,in, Fig.14 A schematic diagram of the display of the interactive interface of the master device 100 when an error occurs; Fig.15 A flowchart of using a movable button 610 to quickly resolve an error is provided in one embodiment of the present invention. Fig.14 and Fig.15 As shown, when an error occurs on the interactive interface of the display device 140 on the master-end device 100, the operator can trigger the error release trigger instruction through the movable button 610 on the end joint 117 of the master hand 110 (for example, move the movable button 610 on the left master hand 110 to the bottom and hold it for 3 seconds), thereby realizing the function of continuously and quickly releasing the error (i.e., restoring the master-slave operation) after the operation enters the master-slave operation. Compared with the prior art method of clicking to restore on the interactive interface of the display device 140 on the master-end device 100, the present invention can ensure the continuity of the operation without interrupting the surgical operation.

[0067] Please continue to refer to Fig.16 , which is a flow chart of clamping control using a movable button 610 provided in one embodiment of the present invention. Fig.16As shown, in the case where the Hall sensor 1173 on the terminal joint 117 of the master hand 110 fails, the operator can trigger the movable button 610 on the terminal joint 117 of the master hand 110 to switch to the movable button 610 for clamping control trigger instructions (for example, moving the movable button 610 on the right master hand 110 to the bottom and holding for 3 seconds), so that after the surgery enters the master-slave operation and the Hall sensor 1173 fails, the output of the movable button 610 (that is, the stroke of the movable button 610, such as the resistance value or pressure value output by the movable button 610) can be used to replace the output of the Hall sensor 1173 (that is, the Hall opening and closing angle), and after initialization calibration, the redundant alternative control function of the instrument end 221 of the surgical instrument 220 located on the slave device 200 is realized. The present invention ensures the continuity of the surgery by using the movable button 610 with a control amount to perform clamping control on the instrument end 221. Furthermore, the output of the movable button 610 can also be used to control the rotation of the endoscope located on the slave device 200 and the rotation of the surgical instrument 220. It should be noted that, as can be understood by those skilled in the art, Fig.16 The purpose of the initialization calibration is to obtain the mapping relationship between the output of the movable button 610 and the opening and closing angle of the instrument end 221.

[0068] In some exemplary embodiments, the controller 620 is further configured to execute the function operation corresponding to the function trigger instruction with the highest priority level according to the preset function trigger instruction priority level when the same trigger mode corresponds to multiple function trigger instructions. Thus, by adopting such a setting, it is possible to avoid the operator from having to frequently memorize the trigger modes corresponding to different function trigger instructions, thereby helping to reduce the operator's operating difficulty and making the operation more convenient.

[0069] Specifically, please refer to Fig.17 , which is a schematic diagram of the priority level of function trigger instructions provided by an embodiment of the present invention. Fig.17As shown, in some exemplary embodiments, the priority of the confirming operation trigger instruction is lower than the priority of the releasing error trigger instruction, and the priority of the releasing error trigger instruction is lower than the switching to the movable button 610 for clamping control trigger instruction. In the case where the error is not triggered and the Hall sensor 1173 is not invalid, the operator can trigger the confirming operation trigger instruction by toggling or pressing the movable button 610 with both hands, thereby performing the confirming operation operation; in the case where the error is triggered and the Hall sensor 1173 is not invalid, since the priority of the releasing error trigger instruction is higher than the priority of the confirming operation trigger instruction, the operator can trigger the releasing error trigger instruction by toggling or pressing the movable button 610 with both hands, thereby performing the releasing error operation; after the Hall sensor 1173 is invalid, since the switching to the movable button 610 for clamping control trigger instruction has the highest priority, the operator can trigger the switching to the movable button 610 for clamping control trigger instruction by toggling or pressing the movable button 610 with both hands, thereby switching to the clamping control operation using the movable button 610.

[0070] In some exemplary embodiments, the controller 620 is further configured to determine whether the movable button 610 is triggered according to the stroke of the movable button 610 and the duration of the stroke. Since there are some external and internal signal interferences in the triggering process of the movable button 610, by determining whether the movable button 610 is triggered according to the stroke of the movable button 610 and the duration of the stroke, the accuracy of the collected signal can be guaranteed, and the movable button 610 can be effectively prevented from being accidentally touched.

[0071] Specifically, please refer to Fig.18 , which is a flowchart of an anti-mistouch algorithm for a movable button 610 provided in one embodiment of the present invention. Fig.18 As shown, in the trigger detection process of the movable button 610, it is first determined whether the stroke of the movable button 610 is greater than the preset stroke trigger value. If the judgment result is that the stroke of the movable button 610 is greater than the preset stroke trigger value, it is further determined whether the duration of the movable button 610 at the stroke is greater than the preset duration trigger value. If the judgment result is that the duration of the movable button 610 at the stroke is greater than the preset duration trigger value, it is determined that the movable button 610 is triggered.

[0072] To realize the above idea, the present invention also provides a master hand operation control method, wherein a movable button 610 is provided on the end joint 117 of the master hand 110, and the movable button 610 can be moved relative to the end joint 117, and the movable button 610 is configured for the operator to perform a trigger operation of a function trigger instruction, and the function trigger instruction includes at least one of a confirm surgery trigger instruction, a release error trigger instruction, and a switch to a movable button for clamping control trigger instruction. Please continue to refer to Fig.19 , which is a flow chart of a master hand operation control method provided by one embodiment of the present invention. Fig.19 As shown, the master hand operation control method provided by the present invention comprises the following steps:

[0073] Step S100: receiving a function triggering instruction triggered by an operator.

[0074] Step S200: Execute corresponding functional operation according to the function triggering instruction.

[0075] Therefore, the master hand operation control method provided by the present invention can perform various functional operations without interrupting the operation, thereby ensuring the continuity of the operation and increasing the convenience of the surgical robot.

[0076] In some exemplary embodiments, the master hand operation control method further includes:

[0077] The configuration operation of the trigger mode of receiving the configuration function trigger instruction from the operator.

[0078] In some exemplary embodiments, the triggering method of the function trigger instruction includes at least one of the movable button 610 being triggered in combination with at least one of voice control, foot switch, arm switching switch and eye movement monitoring device, the movable button 610 being triggered a preset number of times within a first preset time period, the movable button 610 being at the maximum stroke for a second preset time period, and the movable buttons 610 on different master hands 110 being triggered in a preset order.

[0079] In some exemplary embodiments, the master hand operation control method further includes:

[0080] Whether the movable button 610 is triggered is determined according to the travel of the movable button 610 and the duration of the travel.

[0081] In some exemplary embodiments, the function trigger instruction includes at least one of a confirming surgery trigger instruction, a releasing error trigger instruction, and a switching to the movable button 610 for clamping control trigger instruction.

[0082] In some exemplary embodiments, the master hand operation control method further includes:

[0083] In the process of clamping control using the movable button 610 , the opening and closing angle of the instrument end 221 of the surgical instrument 220 located on the slave device 200 is controlled according to the stroke information of the movable button 610 .

[0084] In some exemplary implementations, when the same trigger mode corresponds to multiple function trigger instructions, executing the corresponding function operation according to the function trigger instruction includes:

[0085] According to the preset function trigger instruction priority levels, the function operation corresponding to the function trigger instruction with the highest priority level is executed.

[0086] In order to realize the above-mentioned idea, the present invention also provides a master-end device 100, and the master-end device 100 includes the master-hand operation control system described above. Since the master-end device 100 provided by the present invention includes the master-hand operation control system provided by the present invention, the master-end device 100 provided by the present invention at least has the beneficial effects of the master-hand operation control system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the master-hand operation control system provided by the present invention above, so the beneficial effects of the master-end device 100 provided by the present invention will not be repeated here. It should be noted that, as can be understood by those skilled in the art, more contents about the master-end device 100 provided by the present invention can refer to the relevant description of the master-end device 100 above, and will not be repeated here.

[0087] In order to realize the above-mentioned idea, the present invention also provides a surgical robot, which includes the master-end device 100 described above. Since the surgical robot provided by the present invention includes the master-end device 100 provided by the present invention, and the master-end device 100 provided by the present invention includes the master-hand operation control system provided by the present invention, the surgical robot provided by the present invention also has at least the beneficial effects of the master-hand operation control system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the master-hand operation control system provided by the present invention above, so the beneficial effects of the surgical robot provided by the present invention will not be repeated here. It should be noted that, as can be understood by those skilled in the art, more content about the surgical robot provided by the present invention can refer to the relevant description of the surgical robot above, which will not be repeated here.

[0088] To realize the above idea, the present invention also provides an electronic device, please refer to Fig. 20 , which is a schematic diagram of a block structure of an electronic device provided by an embodiment of the present invention. Fig. 20As shown, the electronic device provided by the present invention includes a processor 710 and a memory 730, and a computer program is stored on the memory 730. When the computer program is executed by the processor 710, the master hand operation control method described above is implemented. Since the electronic device provided by the present invention and the master hand operation control method provided by the present invention belong to the same inventive concept, the electronic device provided by the present invention at least has all the advantages of the master hand operation control method provided by the present invention. Specifically, the relevant description of the beneficial effects of the master hand operation control method provided by the present invention can be referred to above, so the beneficial effects of the electronic device provided by the present invention will not be described here.

[0089] like Fig. 20 As shown, the electronic device also includes a communication interface 720 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The communication bus 740 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 740 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface 720 is used for communication between the above-mentioned electronic device and other devices.

[0090] The processor 710 in this embodiment may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 710 is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0091] The memory 730 can be used to store the computer program, and the processor 710 implements various functions of the electronic device by running or executing the computer program stored in the memory 730 and calling the data stored in the memory 730. The memory 730 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0092] In summary, compared with the prior art, the master hand operation control system, method, master terminal device 100, surgical robot and electronic device provided by the present invention have the following beneficial effects:

[0093] The present invention provides a movable button 610 on the end joint 117 of the main hand 110 for the operator to perform a trigger operation of a function trigger instruction. The surgical operator can operate the movable button 610 to perform various functional operations such as confirming the operation, resolving errors, switching to the movable button for clamping control, etc. without interrupting the operation, thereby ensuring the continuity of the operation and increasing the convenience of the surgical robot.

[0094] It should be noted that the devices and methods disclosed in the embodiments of this article can also be implemented in other ways. The device implementation described above is only schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of this article. In this regard, each box in the flowchart or block diagram can represent a part of a module, program or code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system for performing a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0095] It should be noted that the above description is only a description of the preferred embodiment of the present invention, and is not any limitation on the scope of the present invention. Any changes and modifications made by a person skilled in the art in the field of the present invention according to the above disclosure are within the scope of protection of the present invention. Obviously, a person skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A master hand operation control system, characterized in that: It includes a movable button disposed on the distal end joint of the master hand and a controller communicatively connected to the movable button, wherein the movable button can move relative to the distal end joint; The movable button is configured to allow an operator to perform a trigger operation of a function trigger instruction, and transmit the function trigger instruction triggered by the operator to the controller, wherein the function trigger instruction includes at least one of a confirming operation trigger instruction, a releasing error trigger instruction, and a switching to the movable button to perform a clamping control trigger instruction; The controller is configured to execute a corresponding functional operation according to the received function triggering instruction.

2. The master hand operation control system according to claim 1, characterized in that: The movable button includes a button body and a sensor connected to the button body, wherein the sensor is configured to detect travel information of the movable button and transmit an electrical signal corresponding to the travel information of the movable button to the controller.

3. The master hand operation control system according to claim 1, characterized in that: The controller is further configured to receive a configuration operation of a triggering mode of a configuration function triggering instruction from an operator.

4. The master hand operation control system according to claim 3, characterized in that: The triggering method of the function trigger instruction includes at least one of the movable button and at least one of voice control, foot switch, arm switching switch and eye movement monitoring device being triggered in combination, the movable button being triggered a preset number of times within a first preset time length, the movable button being at the maximum stroke for a second preset time length, and the movable buttons on different master hands being triggered in a preset order.

5. The master hand operation control system according to claim 1, characterized in that: The controller is further configured to determine whether the movable button is triggered according to the travel of the movable button and the duration of the travel.

6. The master hand operation control system according to claim 1, characterized in that: The controller is also configured to control the opening and closing angle of the instrument end of the surgical instrument located on the slave device according to the travel information of the movable button during the process of clamping control using the movable button.

7. The master hand operation control system according to claim 1, characterized in that: The controller is also configured to execute the function operation corresponding to the function trigger instruction with the highest priority level according to the preset priority levels of the function trigger instructions when the same trigger mode corresponds to multiple function trigger instructions.

8. A master hand operation control method, characterized in that: A movable button is provided on the distal end joint of the master hand, and the movable button can move relative to the distal end joint. The movable button is configured for an operator to trigger a function trigger instruction, and the function trigger instruction includes at least one of a confirming surgery trigger instruction, a releasing error trigger instruction, and a switching to the movable button for clamping control trigger instruction. The control method includes: Receiving a function triggering instruction triggered by an operator; Execute the corresponding function operation according to the function trigger instruction.

9. A master-end device, characterized in that: The invention comprises the master-hand operated control system according to any one of claims 1 to 7.

10. A surgical robot, characterized in that: Including the master-end device as described in claim 9.

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