Master hand operation control system, method, master device and surgical robot

Abstract

The application provides a master hand operation control system, method, master terminal device and surgical robot. The control system comprises a movable button arranged on a terminal joint of a master hand and a controller in communication connection with the movable button. The movable button can be moved relative to the terminal joint. The movable button is configured to be used by 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. The function trigger instruction comprises at least one of a confirmation surgical trigger instruction, a release error trigger instruction and a switching to the movable button to perform a clamping control trigger instruction. The controller is configured to perform a corresponding function operation according to the received function trigger instruction. The application can perform various function operations without interrupting the surgery, thereby ensuring the continuity of the surgery.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a master hand operation control system, method, master end device, and surgical robot. Background Technology

[0002] Surgical robots are designed to perform complex surgical procedures with minimal invasiveness and precision. A surgical robot consists of a master device and slave devices. 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 the actual procedures on the patient. Furthermore, the master device is equipped with a master hand, which the surgeon can manipulate to control the robotic arms mounted on the slave devices and the surgical instruments attached to the ends of the robotic arms.

[0003] Existing laparoscopic surgical robots typically require error clearing via a user interface and surgical confirmation via a slave device during surgery. However, surgeons need to maintain continuous control during the procedure, thus existing technologies cannot guarantee surgical continuity. Furthermore, in existing technologies, if the Hall sensor fails, the master hand will be unable to control the opening and closing of the surgical instruments' ends.

[0004] It should be noted that the information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a master hand operation control system, method, master terminal device, and surgical robot that can perform various functional operations without interrupting the surgery, thus ensuring the continuity of the surgery.

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

[0007] The movable button is configured to allow the operator to trigger a function trigger command, and transmit the function trigger command triggered by the operator to the controller. The function trigger command includes at least one of the following: confirming the surgery trigger command, canceling the error trigger command, and switching to the movable button for clamping control trigger command.

[0008] The controller is configured to perform corresponding functional operations based on the received function trigger command.

[0009] Optionally, the movable button includes a button body and a sensor connected to the button body. The sensor is configured to detect the 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 also configured to receive configuration operations of the triggering mode of the configuration function triggering instruction from the operator.

[0011] Optionally, the triggering method of the function triggering command includes at least one of the following: the movable button is combined with at least one of voice control, foot switch, arm switch and eye movement monitoring device; the movable button is triggered a preset number of times within a first preset duration; the movable button is held at its maximum travel for a second preset duration; and the movable buttons on different hands are triggered in a preset order.

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

[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 based on the travel information of the movable button during clamping control using the movable button.

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

[0015] To achieve the above objectives, the present invention also provides a master hand operation control method, wherein a movable button is provided on the distal joint of the master hand, the movable button being movable relative to the distal joint, and the movable button being configured to allow the operator to trigger a function trigger command, the function trigger command including at least one of a confirm surgery trigger command, a cancel error trigger command, and a switch to the movable button for clamping control trigger command, the control method comprising:

[0016] Receive function trigger commands from the operator;

[0017] The corresponding function operation is executed according to the function trigger instruction.

[0018] To achieve the above objectives, the present invention also provides a master terminal device, which includes the master hand operation control system described above.

[0019] To achieve the above objectives, the present invention also provides a surgical robot, which includes the master 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 this invention includes a movable button disposed on the distal joint of the master hand and a controller communicatively connected to the movable button. The movable button is movable relative to the distal joint. The movable button is configured to allow the operator to trigger function trigger commands, and transmits the function trigger commands triggered by the operator to the controller. The function trigger commands include at least one of a surgery confirmation trigger command, an error clearing trigger command, and a switching to the movable button for clamping control trigger command. The controller is configured to execute the corresponding function operation according to the received function trigger command. Therefore, the surgical operator can perform various function operations such as confirming surgery, clearing errors, and switching to the movable button for clamping control without interrupting the surgery by operating the movable button, thereby ensuring the continuity of the surgery and increasing the convenience of the surgical robot.

[0022] Since the master hand operation control method, master terminal device, and surgical robot provided by this invention belong to the same inventive concept as the master hand operation control system provided by this invention, the master hand operation control method, master terminal device, and surgical robot provided by this invention at least have the beneficial effects of the master hand operation control system provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the master hand operation control system provided by this invention above. Therefore, the beneficial effects of the master hand operation control method, master terminal device, and surgical robot provided by this invention will not be elaborated here. Attached Figure Description

[0023] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention;

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

[0025] Figure 3 A schematic diagram of the main hand provided in one embodiment of the present invention;

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

[0027] Figure 5 A schematic diagram illustrating the connection relationship between a movable button and a main hand according to an embodiment of the present invention;

[0028] Figure 6A circuit detection flowchart for a movable button provided according to an 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 A flowchart of the algorithm for the opening and closing of the end of a Hall opening and closing angle control device provided in one embodiment of the present invention;

[0031] Figure 9 A schematic diagram illustrating the connection relationship between a movable button and a main hand, provided for another embodiment of the present invention;

[0032] Figure 10 A circuit detection flowchart for a movable button provided in another embodiment of the present invention;

[0033] Figure 11 A flowchart illustrating the range calibration of a movable button according to an embodiment of the present invention;

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

[0035] Figure 13 A flowchart of a procedure for quick confirmation of surgery using a movable button is provided as an embodiment of the present invention;

[0036] Figure 14 This is a diagram showing the interface of the main device when an error occurs.

[0037] Figure 15 A flowchart for quickly resolving errors using a movable button is provided in one embodiment of the present invention;

[0038] Figure 16 A flowchart illustrating clamping control using a movable button, as provided in one embodiment of the present invention;

[0039] Figure 17 This is a schematic diagram illustrating the priority level of function triggering instructions provided in one embodiment of the present invention;

[0040] Figure 18 A flowchart of an algorithm for preventing accidental touches on a movable button according to an embodiment of the present invention;

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

[0042] Figure 20 This is a block diagram of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0043] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, further illustrates the master-hand operation control system, method, master-end device, surgical robot, and electronic device proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the purposes provided by this invention. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to enable those skilled in the art to understand and read the content disclosed in the specification. They are not intended to limit the implementation conditions of this invention. Any modifications to the structure, changes in proportions, or adjustments to the size, provided they produce the same or similar effects and achieve the same objectives as this invention, should still fall within the scope of the technical content disclosed in this invention.

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

[0045] To facilitate understanding, before introducing the master hand operation control system, method, master terminal device, and surgical robot provided by this invention, a brief description of the application scenarios of the surgical robot will be given first. Please refer to... Figure 1 and Figure 2 ,in, Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a master device provided according to an embodiment of the present invention. (See diagram below.) Figure 1 and Figure 2As shown, the surgical robot includes a master device 100 and a slave device 200. The master device 100 is equipped with a master hand 110. The slave device 200 has at least one robotic arm 210, and surgical instruments 220 and an endoscope (not shown) can be mounted on the robotic arm 210. The operator (e.g., a surgeon) performs remote operation via the master hand 110 on the master device 100 to perform minimally invasive surgical treatment on the patient in the bed. The master hand 110, the robotic arm 210, and the surgical instruments 220 form a master-slave control relationship. Specifically, the robotic arm 210 and the surgical instruments 220 move according to the movement of the master hand 110 during the operation, that is, according to the operator's hand movements. Furthermore, the master hand 110 also receives force information from human tissues and organs on the surgical instruments 220 and feeds it back to the operator's hand, allowing the operator to more intuitively feel the surgical operation. The master device 100 has a display device 140, which is communicatively connected to an endoscope mounted on the robotic arm 210 of the slave device 200, and can receive and display images acquired by the endoscope. Based on the images displayed on the display device 140 on the master device 100, the operator controls the movement of the robotic arm 210 and surgical instruments 220 via the master hand 110. The endoscope and surgical instruments 220 can be inserted into the lesion location through incisions in the patient's body.

[0046] Please continue to refer to this. Figure 2 ,like Figure 2 As shown, the main device 100 includes an adjustment component 120, a trolley component 130, two main arms 110, and a display device 140. The two main arms 110 detect the operator's hand movements via their end joints 117, serving as the motion control input for the entire system. The trolley component 130 is a base support for mounting other components and has movable casters (not shown) for movement or fixation as needed. Furthermore, a foot switch (not shown) is installed on the trolley component 130 to detect on / off control signals from the operator. The adjustment component 120 can electrically adjust the positions of the main arms 110, display device 140, operator handrails, etc., meaning the adjustment component 120 has a human-machine parameter adjustment function. The display device 140 provides reliable image information for the operator to perform surgical procedures. During the operation, the surgeon, seated in front of the main device 100, is located outside the sterilization area. The operator uses the main hand 110 to control the surgical instruments 220 and endoscope 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 a foot switch, such as inputting related operations like electrocautery and electrocoagulation through the foot switch.

[0047] Please continue to refer to this. Figure 2The surgical robot also includes an image cart 300 and a tool cart 400. Images of the patient's internal environment acquired through the endoscope (specifically including information on human tissues and organs, surgical instruments 220, blood vessels, and body fluids) can be transmitted to the image cart 300 for display. The tool cart 400 is used to store the surgical instruments 220. Furthermore, in some surgeries, the surgical robot also includes auxiliary components such as a ventilator and anesthesia machine 500 for use during the surgery. Those skilled in the art can select and configure these auxiliary components according to existing technology, which will not be described in detail here.

[0048] Please continue to refer to this. Figure 3 This is a schematic diagram of the main arm 110 provided in 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 distal joint 117 connected in sequence. The first joint 111, the second joint 112, and the third joint 113 are position joints; the fourth joint 114 is a redundant following joint; and the fifth joint 115, the sixth joint 116, and the distal joint 117 are posture joints. The position joints 111, 112, and 113 reflect changes in the position of the distal end of the master hand 110. The axes of the fifth joint 115, the sixth joint 116, and the distal joint 117 intersect at a single point, which is the Cartesian distal end point. The movement of the fifth joint 115, the sixth joint 116, and the distal joint 117 does not affect the position of the distal end of the master hand 110, but only affects the posture of the distal end of the master hand 110.

[0049] Please continue to refer to this. Figure 4 This is a block diagram of the master hand operation control system provided in 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 disposed on the end joint 117 of the master hand 110 and a controller 620 communicatively connected to the movable button 610. The movable button 610 is movable relative to the end joint 117. The movable button 610 is configured to allow the operator to trigger function trigger commands, and transmits the function trigger commands triggered by the operator to the controller 620. The function trigger commands include at least one of a surgery confirmation trigger command, an error cancellation trigger command, and a switch to the movable button for clamping control trigger command. The controller 620 is configured to execute the corresponding function operation according to the received function trigger command. Thus, the surgical operator can operate the movable button 610 to perform various function operations such as confirming surgery, canceling errors, and switching to the movable button for clamping control without interrupting the surgery, thereby ensuring the continuity of the surgery and increasing the convenience of the surgical robot.

[0050] Specifically, after the surgical robot is started, the operator, after confirming that the surgical environment has been set up on the slave device 200, can directly input a confirmation surgery trigger command through the movable button 610 to confirm the surgical operation. After switching the slave device 200 into surgical mode through the movable button 610, the operator can control the movement of the robotic arm 210 in the slave device 200 and the surgical instruments 220 and / or endoscope located at the end of the robotic arm 210 by manipulating the master hand 110 to ensure the continuity of the surgery. When an error occurs in the surgical robot system after entering surgery, the operator can input a clear error trigger command through the movable button 610 to clear the error and restore the surgical robot system, thus ensuring the continuity of the surgery without interrupting the operation. When entering surgery, if the Hall sensor 1173 (see...) appears... Figure 5 In the event of malfunction or mismatch, the surgical instrument 220 may be unable to perform clamping operations or may clamp inaccurately. In this case, the operator can input a command to switch to clamping control via the movable button 610, quickly switching to clamping control via the movable button 610 to replace the Hall effect angle control function and further improve the continuity of the surgery. It should be noted that, as those skilled in the art will understand, in practical applications, the operator can also trigger other function trigger commands via the movable button 610 besides the surgery confirmation trigger command, error clearing trigger command, and switching to clamping control via the movable button 610, to perform functions other than confirming surgery, clearing errors, and switching to clamping control via the movable button 610. The specific settings can be configured according to actual needs, and this invention does not limit 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. 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 based on the electrical signal transmitted by the sensor 612, thereby laying a good foundation for the controller 620 to determine which function operation corresponds to the received function trigger command. It should be noted that, as those skilled in the art will understand, the present invention does not limit the specific type of the sensor 612. 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 capable of detecting the travel of the movable button 610.

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

[0053] In a preferred embodiment, a movable button 610 is provided on each of the upper and lower sides of the distal joint 117 of the main hand 110. Therefore, providing a movable button 610 on each of the upper and lower sides of the distal joint 117 of the main hand 110 facilitates operation.

[0054] Please continue to refer to this. Figure 5 This is a schematic diagram illustrating the connection relationship between the movable button 610 and the main hand 110 according to an embodiment of the present invention. Figure 5 As shown, in some exemplary embodiments, the movable button 610 is a slide button. Thus, the operator can trigger the movable button 610 by sliding it along the axis of the distal joint 117 of the main hand 110.

[0055] Furthermore, when the movable button 610 is a sliding button, the sensor 612 can be a sliding resistor sensor 612. For details, please refer to... Figure 6 This is a circuit detection flowchart of a movable button 610 provided in one embodiment of the present invention. Figure 6As shown, if the movable button 610 is a sliding button, when the operator moves 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. The sliding resistor sensor 612 converts the travel signal of the movable button 610 into a corresponding analog resistance signal and transmits it to the controller 620. The controller 620 further converts the analog resistance signal into the actual output value (i.e., actual travel) of the movable button 610. It should be noted that, as those skilled in the art will understand, when the sensor 612 is a sliding resistor sensor 612, the actual output value (i.e., actual travel) of the movable button 610 can be represented by the corresponding resistance value.

[0056] Please continue to refer to this. Figure 5 ,like Figure 5 As shown, in some exemplary embodiments, the distal 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 inclined relative to the support rod 1171, and the two clips 1172 can move closer to each other and further away. Further, a Hall sensor 1173 is provided on the support rod 1171, and a magnet is provided on the side of the clips 1172 closest to the support rod 1171. Thus, the Hall sensor 1173 can detect the opening angle between the two clips 1172 (i.e., the Hall opening angle hereinafter referred to as the Hall opening angle), thereby controlling the instrument tip 221 of the surgical instrument 220 on the slave device 200 (see [link to manual]). Figure 7 (This is a schematic diagram of the structure of the surgical instrument 220 provided in one embodiment of the present invention, showing the opening and closing angle.)

[0057] Please continue to refer to this. Figure 8 This is a flowchart illustrating the algorithm for the opening and closing of the end effector 221 of the Hall effect angle control device according to an embodiment of the present invention. Figure 8 As shown, after the surgical instrument 220 is installed, it is initialized at 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 this. 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 their fingers into the finger sleeves 1174, thereby making operation easier.

[0059] Please continue to refer to this. Figure 9This is a schematic diagram illustrating the connection relationship between the movable button 610 and the main hand 110 according to another embodiment of the present invention. Figure 9 As shown, in some other exemplary embodiments, the movable button 610 is a push-button type. Thus, the operator can activate the movable button 610 by pressing it in a direction perpendicular to the distal joint 117 of the main hand 110.

[0060] Furthermore, when the movable button 610 is a push-button type, the sensor 612 can be a pressure sensor. Specifically, please refer to... Figure 10 This is a circuit detection flowchart for a movable button 610 provided in another embodiment of the present invention. Figure 10 As shown, when the movable button 610 is a push-button type, 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. The pressure sensor converts the travel signal of the movable button 610 into a corresponding pressure analog signal and transmits it to the controller 620. The controller 620 further converts the pressure analog signal into the actual output value (i.e., actual travel) of the movable button 610. It should be noted that, as those skilled in the art will understand, when the sensor 612 is a pressure sensor, the actual output value (i.e., actual travel) of the movable button 610 can be represented by the corresponding pressure value.

[0061] After a period of use, the range of sensor 612 may become inaccurate, necessitating recalibration. Specifically, when sensor 612 in the movable button 610 is a sliding rheostat sensor, the main purpose of range calibration is to rematch the entire resistance stroke of the rheostat sensor with the entire movement stroke of the button body 611; when sensor 612 in the movable button 610 is a pressure sensor, the main purpose of range calibration is to rematch the entire pressure stroke of the pressure sensor with the entire movement stroke of the button body 611. Please continue to refer to... Figure 11 This is a flowchart illustrating the range calibration process of the movable button 610 according to an embodiment of the present invention. Figure 11As shown, the operator can click to enter the button calibration page on the UI (interactive interface) of the main device 100, then select the movable button 610 to be calibrated (i.e., the button to be calibrated is selected), and then move or press the movable button 610 to the bottom (so that the movable button 610 to be calibrated is moved to the maximum stroke). Then click 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 (interactive interface) will display that the calibration is complete.

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

[0063] In some exemplary embodiments, the controller 620 is further configured to receive configuration operations for the triggering mode of a function triggering instruction from an operator. Therefore, by configuring a corresponding triggering mode for each function triggering instruction, the identification of the function triggering instruction can be facilitated, enabling accurate triggering of the corresponding function operation.

[0064] Please continue to refer to this. Figure 12 This is a schematic diagram illustrating the triggering method of a function triggering instruction provided in one embodiment of the present invention. For example... Figure 12 As shown, in some exemplary embodiments, the triggering methods of the function triggering command include at least one of the following: the movable button 610 is combined with at least one of voice control, foot switch, arm switch, and eye-tracking monitoring device; the movable button 610 is triggered a preset number of times within a first preset duration; the movable button 610 remains at its maximum travel for a second preset duration; and the movable buttons 610 on different master hands 110 are triggered in a preset order. Specifically, the operator can configure the triggering methods of various function triggering commands according to the actual situation. This invention does not limit the specific triggering method of each function triggering command.

[0065] Please continue to refer to this. Figure 13 This is a flowchart of a procedure using a movable button 610 for quick confirmation of surgery, provided by one embodiment of the present invention. For example... Figure 13As shown, when the surgery enters the master-slave operation, the operator can trigger a confirmation surgery command via the movable button 610 on the distal joint 117 of the master hand 110 (e.g., moving the movable buttons 610 on both master hands 110 all the way down and holding for 3 seconds) to perform continuous confirmation surgery functions. After switching the slave device 200 to the surgical state via the movable button 610, the operator can control the movement of the robotic arm 210 in the slave device 200 and the surgical instruments 220 and / or endoscope located at the end of the robotic arm 210 by manipulating the master hand 110 to ensure the continuity of the surgery. It should be noted that, as those skilled in the art will understand, Figure 13 The purpose of the controller 620 performing electrical signal analysis is to identify what kind of function operation the received function trigger command corresponds to.

[0066] Please continue to refer to this. Figure 14 and Figure 15 ,in, Figure 14 This is a schematic diagram showing the interface of the main device 100 when an error occurs. Figure 15 A flowchart illustrating the quick error resolution using a movable button 610, provided by one embodiment of the present invention. (See attached flowchart.) Figure 14 and Figure 15 As shown, when an error occurs on the interactive interface of the display device 140 on the master device 100, the operator can trigger an error cancellation command by using the movable button 610 on the distal joint 117 of the master hand 110 (for example, moving the movable button 610 on the left master hand 110 all the way and holding it for 3 seconds). This enables the function of continuously and quickly canceling errors (i.e., restoring master-slave operation) after the surgery enters 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 device 100, the present invention can ensure the continuity of the surgery without interrupting the surgical operation.

[0067] Please continue to refer to this. Figure 16 This is a flowchart illustrating clamping control using a movable button 610, provided by one embodiment of the present invention. Figure 16As shown, in the event that the Hall sensor 1173 on the distal joint 117 of the master hand 110 fails, the operator can trigger a switch to the movable button 610 on the distal joint 117 of the master hand 110 to perform clamping control triggering commands (e.g., moving the movable button 610 on the right master hand 110 all the way and holding it for 3 seconds). This allows the output of the movable button 610 (i.e., the travel of the movable button 610, such as the resistance or pressure value output by the movable button 610) to replace the output of the Hall sensor 1173 (i.e., the Hall opening angle) after the operation enters master-slave operation and the Hall sensor 1173 fails. After initialization and calibration, the redundant replacement control function of the instrument end 221 of the surgical instrument 220 located on the slave device 200 is realized. This invention ensures the continuity of the operation by using the movable button 610 with controllable quantity to perform clamping control of 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 those skilled in the art will understand, Figure 16 The purpose of initial 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, when multiple function trigger commands correspond to the same trigger mode, execute the function operation corresponding to the function trigger command with the highest priority according to a pre-set function trigger command priority level. Therefore, by adopting this setting, the operator can avoid frequently memorizing the trigger modes corresponding to different function trigger commands, thereby helping to reduce the operator's operational difficulty and making operation easier.

[0069] For details, please refer to Figure 17 This is a schematic diagram illustrating the priority level of function triggering instructions provided in one embodiment of the present invention. For example... Figure 17As shown, in some exemplary embodiments, the priority of the confirmation surgery trigger command is lower than the priority of the error cancellation trigger command, and the priority of the error cancellation trigger command is lower than the command to switch to the movable button 610 for clamping control. If no error is triggered and the Hall sensor 1173 is not malfunctioning, the operator can trigger the confirmation surgery trigger command by tossing or pressing the movable button 610 with both hands to confirm the surgery operation. If an error is triggered and the Hall sensor 1173 is not malfunctioning, since the priority of the error cancellation trigger command is higher than the priority of the confirmation surgery trigger command, the operator can trigger the error cancellation trigger command by tossing or pressing the movable button 610 with both hands to cancel the error operation. After the Hall sensor 1173 malfunctions, since the command to switch to the movable button 610 for clamping control has the highest priority, the operator can trigger the command to switch to the movable button 610 for clamping control by tossing or pressing the movable button 610 with both hands to switch to 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 has been triggered based on the travel distance of the movable button 610 and the duration of that travel distance. Since there is external and internal signal interference during the triggering process of the movable button 610, determining whether the movable button 610 has been triggered based on the travel distance of the movable button 610 and the duration of that travel distance ensures the accuracy of the acquired signal and effectively prevents accidental touches of the movable button 610.

[0071] For details, please refer to Figure 18 This is a flowchart of the anti-accidental touch algorithm for a movable button 610 provided in one embodiment of the present invention. Figure 18 As shown, during the trigger detection process of the movable button 610, it is first determined whether the travel distance of the movable button 610 is greater than the preset travel distance trigger value. If the determination result is that the travel distance of the movable button 610 is greater than the preset travel distance trigger value, it is further determined whether the duration of the movable button 610 at that travel distance is greater than the preset duration trigger value. If the determination result is that the duration of the movable button 610 at that travel distance is greater than the preset duration trigger value, it is determined that the movable button 610 is triggered.

[0072] To achieve the above-mentioned ideas, the present invention also provides a master hand operation control method. A movable button 610 is provided on the distal joint 117 of the master hand 110. The movable button 610 is movable relative to the distal joint 117. The movable button 610 is configured to allow the operator to trigger function trigger commands, including at least one of a confirmation surgery trigger command, a cancellation error trigger command, and a switching to the movable button for clamping control trigger command. Please continue to refer to... Figure 19 This is a flowchart of a master hand operation control method provided in one embodiment of the present invention. For example... Figure 19 As shown, the master hand operation control method provided by the present invention includes the following steps:

[0073] Step S100: Receive the function trigger command initiated by the operator.

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

[0075] Therefore, the master hand operation control method provided by the present invention can perform various functional operations without interrupting the surgery, thereby ensuring the continuity of the surgery 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 for receiving the operator's configuration function trigger command and the triggering method.

[0078] In some exemplary embodiments, the triggering method of the function triggering command includes at least one of the following: the movable button 610 is combined with at least one of voice control, foot switch, arm switch and eye-tracking monitoring device; the movable button 610 is triggered a preset number of times within a first preset duration; the movable button 610 is held at its maximum travel for a second preset duration; and the movable buttons 610 on different master hands 110 are triggered in a preset order.

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

[0080] Based on the travel distance of the movable button 610 and the duration of that travel distance, it is determined whether the movable button 610 is triggered.

[0081] In some exemplary embodiments, the function triggering command includes at least one of a confirmation surgery triggering command, an error cancellation triggering command, and a switching to the movable button 610 for clamping control triggering command.

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

[0083] During the clamping control process 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 travel information of the movable button 610.

[0084] In some exemplary embodiments, when the same triggering method corresponds to multiple function triggering instructions, the step of executing the corresponding function operation according to the function triggering instructions includes:

[0085] Based on the pre-set priority level of function trigger commands, execute the function operation corresponding to the function trigger command with the highest priority.

[0086] To achieve the above-mentioned ideas, the present invention also provides a master terminal device 100, which includes the master hand operation control system described above. Since the master terminal device 100 provided by the present invention includes the master hand operation control system provided by the present invention, the master terminal 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 descriptions of the beneficial effects of the master hand operation control system provided by the present invention above; therefore, the beneficial effects of the master terminal device 100 provided by the present invention will not be repeated here. It should be noted that, as those skilled in the art will understand, more details regarding the master terminal device 100 provided by the present invention can be found in the relevant descriptions of the master terminal device 100 above, and will not be repeated here.

[0087] To achieve the above-mentioned ideas, the present invention also provides a surgical robot, which includes the master device 100 described above. Since the surgical robot provided by the present invention includes the master device 100, and the master device 100 includes the master hand operation control system, the surgical robot provided by the present invention also possesses at least the beneficial effects of the master hand operation control system. For details, please refer to the relevant descriptions of the beneficial effects of the master hand operation control system provided by the present invention above; therefore, the beneficial effects of the surgical robot provided by the present invention will not be repeated here. It should be noted that, as those skilled in the art will understand, further details regarding the surgical robot provided by the present invention can be found in the relevant descriptions of the surgical robot above, and will not be repeated here.

[0088] To achieve the above-mentioned ideas, the present invention also provides an electronic device, please refer to... Figure 20 This is a block diagram of an electronic device provided in one embodiment of the present invention. Figure 20As shown, the electronic device provided by this invention includes a processor 710 and a memory 730. The memory 730 stores a computer program, which, when executed by the processor 710, implements the aforementioned master hand operation control method. Since the electronic device and the master hand operation control method provided by this invention belong to the same inventive concept, the electronic device provided by this invention possesses at least all the advantages of the master hand operation control method provided by this invention. Specifically, these advantages can be seen in the relevant descriptions of the beneficial effects of the master hand operation control method provided by this invention above; therefore, the beneficial effects of the electronic device provided by this invention will not be described further here.

[0089] like Figure 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 via 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. This communication bus 740 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface 720 is used for communication between the aforementioned electronic device and other devices.

[0090] In this embodiment, the processor 710 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 710 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines.

[0091] The memory 730 can be used to store the computer program. The processor 710 implements various functions of the electronic device by running or executing the computer program stored in the memory 730 and calling 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. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

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

[0093] The present invention provides a movable button 610 on the distal joint 117 of the main hand 110 for the operator to perform function triggering commands. The operator can then perform various functions such as confirming the surgery, clearing errors, and switching to the movable button for clamping control without interrupting the surgery by operating the movable button 610. This ensures the continuity of the surgery and increases the convenience of the surgical robot.

[0094] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0095] It should be noted that the above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends 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 end joint of the master hand and a controller communicatively connected to the movable button, the movable button being movable relative to the end joint; The movable button is configured to allow the operator to trigger a function trigger command, and transmit the function trigger command triggered by the operator to the controller. The function trigger command includes at least one of the following: confirming the surgery trigger command, canceling the error trigger command, and switching to the movable button for clamping control trigger command. The controller is configured to perform corresponding functional operations based on the received functional trigger command; The controller is also configured to, when multiple function trigger commands correspond to the same trigger mode, execute the function operation corresponding to the function trigger command with the highest priority according to the preset function trigger command priority level.

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. The sensor is configured to detect the 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 also configured to receive configuration operation of the triggering mode of the configuration function triggering instruction from the operator.

4. The master hand operation control system according to claim 3, characterized in that, The triggering methods of the function triggering command include at least one of the following: the movable button is combined with at least one of voice control, foot switch, arm switch and eye movement monitoring device; the movable button is triggered a preset number of times within a first preset time period; the movable button is held at its maximum travel for a second preset time period; and the movable buttons on different hands are triggered in a preset order.

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

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 a surgical instrument located on the slave device, based on the travel information of the movable button, during clamping control using the movable button.

7. A master hand operation control method, characterized in that, The distal joint of the master hand is provided with a movable button, which is movable relative to the distal joint. The movable button is configured to allow the operator to trigger a function trigger command. The function trigger command includes at least one of the following: confirming a surgical trigger command, clearing an erroneous trigger command, and switching to the movable button for clamping control trigger command. The control method includes: Receive function trigger commands from the operator; Execute the corresponding function operation according to the function trigger instruction; When the same triggering method corresponds to multiple function triggering instructions, the step of executing the corresponding function operation according to the function triggering instructions includes: Based on the pre-set priority level of function trigger commands, execute the function operation corresponding to the function trigger command with the highest priority.

8. A master-end device, characterized in that, The master hand operation control system includes any one of claims 1 to 6.

9. A surgical robot, characterized in that, Includes the main device as described in claim 8.

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