Sliding table control method and device, surgical robot and storage medium

Abstract

The invention relates to the technical field of surgical robots, and discloses a sliding table control method and device, a surgical robot and a storage medium. Wherein the sliding table is arranged on the surgical robot, surgical instruments are hung on the sliding table, and the sliding table moves on a mechanical arm guide rail of the surgical robot; the method comprises the steps that under the condition that the surgical instrument is detected to be separated from the sliding table, the sliding table is controlled to conduct reset motion on the mechanical arm guide rail, so that the sliding table moves to the reset position of the mechanical arm guide rail; in the process of the reset motion, if a blocking event is detected, the reset motion of the sliding table is stopped. In the resetting movement process of the sliding table, the blocking operation is detected, it is indicated that the surgical instrument abnormally breaks away from the sliding table, resetting movement of the sliding table is stopped, abnormal resetting movement caused by the fact that the surgical instrument abnormally breaks away from the sliding table is avoided, and the accuracy of sliding table control is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of surgical robots, and in particular to a slide control method and device, a surgical robot and a storage medium. Background Art

[0002] With the development of surgical robots, the application scope of surgical robots is expanding. Surgical robots can replace boring, repetitive and tiring operations, and use the stability of robot system images and delicate surgical instruments to complete difficult operations during surgery.

[0003] The surgical instruments are mounted on the slide, which moves on a linear guide rail, and can move in space with the surgical instruments. When the surgical instruments are removed from the slide after the operation is completed or when the operation is changed, the slide automatically resets.

[0004] However, if the surgical instrument is abnormally separated from the slide table due to misoperation during the operation, the slide table will also be automatically reset. The above-mentioned surgical instrument is abnormally separated from the slide table, which affects the accuracy of the surgical robot's control over the slide table. Summary of the invention

[0005] The present invention provides a slide control method, device, surgical robot and storage medium, which can detect blocking events during slide resetting, stop abnormal resetting movement caused by abnormal separation of surgical instruments from the slide, and improve the accuracy of slide control.

[0006] According to one aspect of the present disclosure, a method for controlling a slide is provided, wherein the slide is disposed on a surgical robot, a surgical instrument is mounted on the slide, and the slide moves on a guide rail of a mechanical arm of the surgical robot;

[0007] The method comprises:

[0008] When it is detected that the surgical instrument is detached from the slide, the slide is controlled to perform a reset movement on the robot arm guide rail, so that the slide moves to a reset position of the robot arm guide rail;

[0009] During the resetting movement, if a blocking event is detected, the resetting movement of the slide is stopped.

[0010] Optionally, the slide table includes at least one installation trigger button; when a surgical instrument is mounted on the slide table, the at least one installation trigger button is triggered;

[0011] The method further includes: determining that the surgical instrument is detached from the slide table when it is detected that any triggered installation trigger button changes to a pop-up state.

[0012] Optionally, the slide is provided with a first installation trigger button and a second installation trigger button;

[0013] When the bacteria-isolating cover is installed on the slide, the first installation trigger button is triggered; the bacteria-isolating cover includes a transfer adapter, and the transfer adapter is installed on the slide;

[0014] When the surgical instrument is mounted on the transfer adapter, the second installation trigger button is triggered;

[0015] When the first installation trigger button and / or the second installation trigger button changes from the triggered state to the pop-up state, it is determined that the surgical instrument is detached from the slide table.

[0016] Optionally, the blocking event includes a triggering event of the installation trigger button;

[0017] The method further includes: during the resetting movement, when it is detected that any of the installation trigger buttons in the pop-up state is triggered, determining that a trigger event of the installation trigger button is detected.

[0018] Optionally, the method further includes: determining that the surgical instrument is detached from the slide when it is detected that any of the triggered installation trigger buttons changes to a pop-up state and the duration of the change exceeds a first time period; and / or determining that a triggering event of the installation trigger button is detected when it is detected that any of the installation trigger buttons in the pop-up state is triggered and the duration of the change exceeds a second time period.

[0019] Optionally, the blocking event includes a setting button triggering event; at least one setting button is provided on the mechanical arm where the slide is located;

[0020] The method further includes: during the resetting movement, when it is detected that any one of the setting buttons on the mechanical arm is triggered, determining that the setting button triggering event is detected.

[0021] Optionally, the method further includes: when the setting button is triggered for the first time during the reset movement, determining that the setting button triggering event is detected; and when the setting button is not triggered for the first time during the reset movement, executing the original function corresponding to the setting button.

[0022] Optionally, the setting button is a triggerable button on the robotic arm where the slide is located, including one or more of a port clutch button, an instrument clutch button, a patient distance button and a slide movement button.

[0023] Optionally, the blocking event includes an abnormal current event;

[0024] The method further includes: detecting an operating current corresponding to the slide during the reset movement, and determining that the abnormal current event is detected when the operating current exceeds a preset current threshold.

[0025] Optionally, the blocking event includes a voice blocking event;

[0026] The method further includes: receiving voice information during the resetting movement, and determining that the voice blocking event is detected when the received voice information includes setting voice information.

[0027] Optionally, a slider control button is provided on the mechanical arm;

[0028] After stopping the reset movement of the slide table, the method further includes: controlling the movement of the slide block in response to a trigger operation on a control button of the slide block.

[0029] Optionally, in the case where it is detected that the surgical instrument is detached from the slide table, the method further includes: outputting prompt information, wherein the prompt information is used to indicate that the surgical instrument is detached from the slide table;

[0030] The prompt information includes one or more of the following: the prompt light configured on the slide shows a set color; the prompt light configured on the slide goes out; and the set audio prompt information is output.

[0031] Optionally, the surgical robot is equipped with multiple robotic arms, each of the robotic arms is equipped with a slide, each slide is mounted with a surgical instrument, and the slides on different robotic arms are independently controlled.

[0032] According to another aspect of the present disclosure, there is provided a slide control device, which is integrated in a surgical robot, wherein a surgical instrument is mounted on a slide configured in the surgical robot, and the slide moves on a guide rail of a mechanical arm of the surgical robot;

[0033] The device comprises:

[0034] A reset control module, for controlling the slide to perform a reset movement on the robot arm guide rail when detecting that the surgical instrument is detached from the slide, so as to move the slide to a reset position of the robot arm guide rail;

[0035] The reset interruption module is used to stop the reset movement of the slide table if a blocking event is detected during the reset movement.

[0036] According to another aspect of the present disclosure, a surgical robot is provided, wherein a slide table configured in the surgical robot is mounted with surgical instruments, and the slide table moves on a guide rail of a mechanical arm of the surgical robot;

[0037] The surgical robot further comprises:

[0038] at least one processor; and

[0039] a memory communicatively connected to the at least one processor; wherein,

[0040] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the slide control method described in any embodiment of the present disclosure.

[0041] According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the slide control method described in any embodiment of the present disclosure when executed.

[0042] The technical solution of the embodiment of the present disclosure controls the slide to perform a resetting movement when it is detected that the surgical instrument has detached from the slide. During the resetting movement, a blocking operation is detected, indicating that the surgical instrument has abnormally detached from the slide, and the resetting movement of the slide is stopped, thereby avoiding abnormal resetting movement caused by the abnormal detachment of the surgical instrument from the slide, thereby improving the accuracy of the control of the slide.

[0043] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 is a schematic diagram of a mechanical arm of a surgical robot provided in an embodiment of the present disclosure;

[0046] Figure 2 is a flow chart of a sliding table control method provided by an embodiment of the present disclosure;

[0047] Figure 3 is a flow chart of another slide control method provided by an embodiment of the present disclosure;

[0048] Figure 4 is a structural schematic diagram of a slide control device provided by an embodiment of the present disclosure;

[0049] Figure 5It is a structural schematic diagram of a surgical robot provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the scheme of the present disclosure, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present disclosure.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0052] Figure 1 is a schematic diagram of a mechanical arm of a surgical robot provided in an embodiment of the present disclosure, Figure 1 The middle robot arm is provided with a robot rail 1, and a slide 2 is provided on the robot rail 1. The slide 2 is driven by a motor and a lead screw and can move on the robot rail 1. The slide 2 is mounted with surgical instruments, and the slide also includes a plurality of driving wheels for driving the movement of the rotation, pitch, yaw and other joints of the surgical instruments.

[0053] Optionally, the surgical robot is equipped with multiple robotic arms, each of which is equipped with a slide, and each slide is equipped with a surgical instrument. Taking the surgical robot as a laparoscopic surgical robot as an example, the laparoscopic surgical robot can be equipped with multiple robotic arms, for example, four robotic arms. Among them, the surgical instrument mounted on the slide of the first robotic arm is an endoscope; the surgical instrument mounted on the slide of at least one second robotic arm can include but is not limited to instruments such as scissors and scalpels.

[0054] Each slide can be mounted with a surgical instrument. The process of mounting the surgical instrument on the slide can be as follows: a bacteria isolation cover is mounted on the slide, and the bacteria isolation cover body includes an adapter, and the adapter is used to transfer the surgical instrument. When installing the surgical instrument, the surgical instrument is fixed and hung on the adapter. The slide base includes at least one installation trigger button.

[0055] In some embodiments, the slide base includes two installation trigger buttons. When the bacteria isolation cover is successfully installed, the first installation trigger button is pressed, that is, the first installation trigger button is triggered. When it is detected that the first installation trigger button is triggered, the instrument drive wheel of the slide is connected to the adapter wheel on the adapter adapter. When the surgical instrument is successfully installed, the second installation trigger button is pressed, that is, the second installation trigger button is triggered. When it is detected that the second installation trigger button is triggered, the instrument drive wheel of the slide drives the adapter wheel on the adapter adapter to connect with the transmission wheel of the surgical instrument joint to complete the installation of the surgical instrument. In some embodiments, the slide base may include an installation trigger button. During the installation process of the surgical instrument, the installation trigger button is pressed, that is, the installation trigger button is triggered.

[0056] When the operation is over or the surgical instrument is updated during the operation, the surgical instrument is pulled out from the slide to separate from the slide, and the slide is automatically reset. The automatic reset of the slide here can be understood as the slide automatically moving to the reset position on the robotic arm guide rail. The reset position here can be the end point position of the robotic arm guide rail, such as the top position or bottom position of the robotic arm guide rail.

[0057] It should be noted that the abnormal detachment of surgical instruments from the slide may also be caused by misidentification during the operation resulting in misidentification of the surgical robot system, where the abnormal detachment of surgical instruments from the slide may include but are not limited to one or more of the following: some surgical procedures cause the surgical arms to be too close together and collide, resulting in the surgical instruments being squeezed and accidentally detached; the surgical instruments are not securely installed, resulting in accidental detachment during the operation; the bedside assistant (auxiliary personnel during the operation) misoperates or unconsciously pulls out the surgical instruments.

[0058] The above-mentioned abnormal separation of surgical instruments from the slide cannot be recognized by the surgical robot system, and will trigger the automatic resetting of the slide. It is understandable that the surgical instrument may be in the process of surgery when it is abnormally separated from the slide, and when the surgical instrument is abnormally separated from the slide, the surgical instrument is not completely separated from the slide, and the end of the surgical instrument is fixed to the tissue of the surgical object, such as performing operations such as holding, suturing or anastomosis. The automatic resetting of the slide can easily drive the surgical instrument, resulting in pulling of the tissue of the surgical object, or the movement of the end of the surgical instrument may scratch or hook the tissue of the surgical object. Exemplarily, the surgical robot can be a laparoscopic surgical robot, and the end of the surgical instrument is located inside the abdominal cavity of the surgical object. Accordingly, the automatic resetting of the slide will cause damage to the intra-abdominal tissue of the next surgical object.

[0059] In view of the above technical problems, the present disclosure provides a sliding table control method, see Figure 2 , Figure 2 This is a flow chart of a slide control method provided by an embodiment of the present disclosure. This embodiment can be applied to the process of stopping the slide's reset movement when a blocking event is detected during the process of the slide's reset movement caused by the surgical instrument's detachment from the slide, so as to avoid the slide's reset caused by the surgical instrument's abnormal detachment from the slide. This method can be executed by a slide control device, which can be implemented in the form of hardware and / or software, and can be configured on a surgical robot. Figure 2 As shown, the method includes:

[0060] S110. When it is detected that the surgical instrument is detached from the slide, the slide is controlled to perform a reset movement on the robot arm guide rail, so that the slide moves to a reset position of the robot arm guide rail.

[0061] S120: During the resetting movement, if a blocking event is detected, the resetting movement of the slide is stopped.

[0062] In this embodiment, after the surgical instrument is installed, the detachment event of the surgical instrument is continuously detected. The slide includes at least one installation trigger button; when the surgical instrument is mounted on the slide, the at least one installation trigger button is triggered, that is, at least one installation trigger button is in a triggered state. When the surgical instrument is detached from the slide, one or more installation trigger buttons are popped up. Accordingly, when it is detected that any triggered installation trigger button changes from the triggered state to the popped-up state, it is determined that the surgical instrument is detached from the slide.

[0063] Optionally, when the installation trigger button is in the triggered state, a status signal is continuously sent, wherein the status signal can indicate that the installation trigger button is in the triggered state. When the installation trigger button is popped up, the status signal is interrupted. Optionally, the surgical robot system can continuously receive status signals corresponding to each installation trigger button, and when the first status signal corresponding to any installation trigger button is interrupted, it indicates that a detachment event of the surgical instrument has been detected, i.e., it is determined that the surgical instrument has detached from the slide.

[0064] Optionally, when the first installation trigger button and / or the second installation trigger button changes from the triggered state to the pop-up state, it is determined that the surgical instrument is detached from the slide. Specifically, the surgical robot system can determine that the surgical instrument is detached from the slide by a first state signal when the first installation trigger button is triggered and a second state signal when the second installation trigger button is triggered, if the first state signal is interrupted and / or the second state signal is interrupted.

[0065] It is understandable that when the surgical robot is equipped with multiple robotic arms, the first state signal and the second state signal may respectively carry robotic arm identifications to distinguish the multiple robotic arms, and the slides on the multiple robotic arms are independently controlled to avoid interference between the multiple robotic arms.

[0066] On the basis of the above-mentioned embodiment, in order to improve the accuracy of detecting the detachment event of the surgical instrument, when it is detected that any triggered installation trigger button changes to a pop-up state, timing is performed to determine the duration of the installation trigger button being popped up (i.e., the interruption duration of the status signal), and when the duration exceeds the first duration, it is determined that the surgical instrument is detached from the slide. When the duration is less than the first duration, it is determined that the surgical instrument has not detached from the slide. It is understandable that the duration of the installation trigger button changing to the pop-up state is less than the first duration, and it is triggered again, indicating that the mounting of the surgical instrument is unstable, and a prompt message is generated. The prompt message may include a robot arm identifier, which is used to prompt that the surgical instrument mounted on the slide of the robot arm is in an unstable state, so that the operator can adjust the surgical instrument in time to avoid abnormal detachment of the surgical instrument.

[0067] If it is detected that the surgical instrument is detached from the slide, a reset control signal is generated and transmitted to the slide, so that the slide performs a reset movement in response to the reset control signal. Optionally, the reset control signal may include a robot arm identifier or a slide identifier. Specifically, the slide motor responds to the reset control signal and drives the slide to move toward the reset position of the robot arm guide rail until it moves to the reset position.

[0068] Optionally, when it is detected that the surgical instrument is detached from the slide, a prompt message is output, and the prompt message is used to indicate that the surgical instrument is detached from the slide. It is understandable that during the operation, an assistant is assigned to the surgical robot, and the assistant can operate the surgical robot according to the prompt message to reduce the impact on the operation process.

[0069] Wherein, the prompt information includes one or more of the following: the prompt light configured on the slide displays a set color; the prompt light configured on the slide is off; the set audio prompt information is output. The prompt light configured on the slide may be an LED light, which may display at least one color. Exemplarily, when the surgical instrument is installed, the prompt light displays a first color, such as green or blue. When the surgical instrument is detached from the slide, the prompt light displays a second color, such as red; or, the prompt light is off and is in a gray off state. Assistants can identify the current state of the surgical instrument by the color of the prompt light or the on / off state.

[0070] Optionally, the surgical robot may be equipped with a speaker. When the surgical robot system detects that the surgical instrument is detached from the slide, it generates an audio prompt message and outputs the audio prompt message through the speaker. The audio prompt message may include a set type of prompt sound, such as a beeping sound; or may also include voice prompt message, such as the content of the voice prompt message may be "surgical instrument detached" or the like.

[0071] In this embodiment, when it is detected that the surgical instrument has detached from the slide, a prompt message is output to prompt the assistant of the current status of the surgical instrument, so that the assistant can determine whether the surgical instrument has detached from the slide abnormally. If the surgical instrument has detached from the slide abnormally, the assistant can discover it in time through the prompt message and perform remedial operations to reduce the impact of the abnormal detachment of the surgical instrument from the slide on the surgical process.

[0072] On the basis of the above-mentioned embodiment, during the resetting movement of the slide, a blocking event is detected. The blocking event can be understood as an event that blocks the resetting movement of the slide. When the blocking event is detected, it indicates that the surgical instrument is abnormally detached from the slide, and the resetting movement of the slide is stopped to avoid adverse interference of the resetting movement of the slide on the surgical process.

[0073] Optionally, the blocking event includes one or more of a trigger event of installing a trigger button, a setting key trigger event, an abnormal current event, and a voice blocking event. When any of the above blocking events is detected, the reset movement of the slide is stopped. The detection order of the trigger event of installing a trigger button, the setting key trigger event, the abnormal current event, and the voice blocking event is not limited here, and can be detected simultaneously or based on a preset order.

[0074] Among them, the trigger event of the installation trigger button can be understood as an event in which the installation trigger button in the pop-up state is triggered again. It is understandable that the assistant can perform remedial operations on the hooking part of the surgical instrument and the slide according to the prompt information or observe the abnormal reset movement of the slide during the operation, such as pressing the hooking part of the surgical instrument and the slide to re-hook the surgical instrument and the slide. Correspondingly, during the reset movement of the slide, the pop-up installation trigger button is triggered again, indicating that the current reset movement of the slide is an abnormal reset movement caused by the abnormal separation of the surgical instrument.

[0075] Accordingly, the method includes: during the resetting movement, when it is detected that any of the installation trigger buttons in the pop-up state is triggered, determining that a trigger event of the installation trigger button is detected.

[0076] Specifically, during the reset movement, a state signal transmitted by any installation trigger button in a pop-up state is detected, indicating that any installation trigger button in a pop-up state is triggered again, and it is determined that the trigger event of the installation trigger button is detected, and the slide is controlled to stop the reset movement. Specifically, the surgical robot system can generate a blocking signal according to the trigger event of the installation trigger button, transmit the blocking signal to the slide, and the motor of the slide stops the reset movement in response to the blocking signal.

[0077] It should be noted that the slides respectively arranged on the multiple robot arms are independent of each other, and when the slide on any robot arm stops the reset movement, it will not affect the slides on other robot arms.

[0078] On the basis of the above embodiment, in order to improve the detection accuracy of the trigger event of the installation trigger button, when it is detected that any of the installation trigger buttons in the pop-up state is triggered, timing is performed to determine the duration of the installation trigger button being triggered again (i.e., the duration of the state information received again), and when the duration exceeds the second duration, it is determined that the trigger event of the installation trigger button is detected. The first duration and the second duration can be the same or different, and can be determined according to the detection requirements. By determining the trigger event of the installation trigger button based on the duration of the installation trigger button being triggered again, the false detection of the trigger event of the installation trigger button is avoided.

[0079] The setting button trigger event can be understood as an event in which the setting button located on the robotic arm of the surgical robot is triggered during the reset movement of the slide. In some embodiments, the setting button includes a blocking button for blocking the reset operation of the slide. The assistant can press the blocking button according to the prompt information, and when the blocking button is triggered, a blocking signal is generated. The surgical robot system controls the slide to stop the reset movement according to the blocking signal.

[0080] In some embodiments, at least one setting button is provided on the mechanical arm where the slide is located; the setting button may include a triggerable button located on the mechanical arm, for example, it may include but is not limited to one or more of a port clutch button, an instrument clutch button, a patient distance button, and a slide movement button. It is understandable that when the abnormal detachment of the surgical instrument causes the abnormal resetting of the slide, the assistant can trigger any button on the mechanical arm of the surgical robot in an emergency to interrupt the resetting movement. It can be seen that the purpose of triggering the function button on the mechanical arm is to block the resetting movement of the slide, rather than to execute the original function of the function button.

[0081] The method also includes: during the reset movement, if it is detected that any of the setting buttons on the robotic arm is triggered, it is determined that the setting button trigger event is detected. Specifically, when any of the setting buttons on the robotic arm is triggered, the triggered setting button generates and sends a corresponding trigger signal. The surgical robot system receives the trigger signal, which may include a button identifier. Based on the button identifier, it is determined whether the button that sends the trigger signal is a setting button. If so, it is further determined that the slide is in the reset movement process, then it is determined that the setting button trigger event is detected, a blocking signal is generated, and the slide is controlled to stop the reset movement according to the blocking signal.

[0082] By generating a blocking signal when the setting button is triggered during the reset movement, and controlling the slide to stop the reset movement according to the blocking signal, the problem of the assistant accidentally touching the setting button in an emergency situation and causing the original function of the setting button to be mistakenly executed is avoided. Exemplarily, during the reset movement, it is detected that the patient distance button is triggered, and it is determined that the setting button triggering event is detected, and the reset movement of the slide is stopped instead of executing the original function of the patient distance button, so as to avoid interference with the surgical process caused by the original function of the patient distance button being mistakenly executed.

[0083] It is understandable that, during the normal resetting process caused by the normal detachment of the slide, if the triggering of the setting button cannot execute the original function of the setting case, it will affect the normal execution of the surgical procedure. To address this problem, the method also includes: if the setting button is triggered for the first time during the resetting movement, it is determined that the setting button triggering event is detected; if the setting button is not triggered for the first time during the resetting movement, the original function corresponding to the setting button is executed.

[0084] By detecting that the setting button is triggered for the first time during the reset movement, the reset movement of the slide is stopped as a setting button trigger event, so that abnormal reset movement can be blocked in time. When it is detected that the setting button is not triggered for the first time (for example, it is triggered for the second time), the original function corresponding to the setting button is executed to ensure the normal execution of the original function corresponding to the setting button and avoid interference with the original function corresponding to the setting button.

[0085] The abnormal current event can be understood as an abnormal current event caused by the slide driving the surgical instrument to pull the tissue during the abnormal resetting movement caused by the abnormal detachment of the surgical instrument. It can be understood that during the abnormal resetting movement, the slide drives the surgical instrument to pull the tissue, forming resistance to the resetting movement of the slide. In order to perform the resetting movement, the slide needs to increase the current to overcome the above resistance, resulting in the current required for the abnormal resetting movement of the slide exceeding the normal current range.

[0086] Accordingly, the method further includes: detecting the operating current corresponding to the slide during the reset movement, and determining that the abnormal current event is detected when the operating current exceeds a preset current threshold. The preset current threshold may be determined based on a normal current range during the normal movement of the slide, and the preset current threshold may be a maximum value of the normal current range, or greater than the maximum value of the normal current range.

[0087] During the reset operation of the slide, the operating current corresponding to the slide is detected in real time, and the operating current corresponding to the slide is compared with the preset current threshold. When the operating current exceeds the preset current threshold, it is determined that the current abnormality event is detected, and a blocking signal is generated. The slide is controlled to stop the reset movement according to the blocking signal.

[0088] The voice blocking event can be understood as an event in which the reset movement is blocked by voice recognition. Optionally, during the reset movement, voice information is received, and when the received voice information includes set voice information, it is determined that the voice blocking event is detected. Specifically, when it is determined that the surgical instrument is detached from the slide, the detection of the set voice information is started, the voice information is received, and it is identified whether the received voice information includes the set voice information. The set voice information may include but is not limited to keywords such as "stop", "stop" and "stop reset". When the received voice information includes the above-mentioned set voice information, it is determined that a voice blocking event is detected, a blocking signal is generated, and the slide is controlled to stop the reset movement according to the blocking signal.

[0089] It is understandable that the above-mentioned set voice information is only used for equipment and detection during the reset movement of the slide, and does not interfere with the normal operation of the slides on other manipulators that are not in the reset process. For example, if two or more slides are performing reset movement at the same time, the detected set voice information can be used to synchronously control the two or more slides to stop the reset movement, thereby realizing synchronous control of multiple slides.

[0090] On the basis of the above embodiment, a slider control button is provided on the robot arm, and after the reset movement of the slide is stopped, it also includes: controlling the movement of the slider in response to the trigger operation of the slider control button. For example, after the reset operation of the slide is stopped, it can also include controlling the slide to continue to perform the reset operation in response to the reset trigger operation. The reset trigger operation here may include a first trigger operation on the slider control button, which is not limited here. Here, the reset trigger operation may be performed when it is determined that the reset movement of the slide is a non-abnormal reset movement, or when the surgical instrument detached from the slide is unplugged. For example, after the reset operation of the slide is stopped, the second trigger operation on the slider control button is used to control the movement to the pre-reset position, so as to reduce the pulling force on the surgical object tissue due to the abnormal reset movement of the slide, and reduce the damage to the surgical object.

[0091] The technical solution of this embodiment is to control the slide to perform a resetting movement when it is detected that the surgical instrument has detached from the slide. During the resetting movement, a blocking operation is detected, indicating that the surgical instrument has abnormally detached from the slide, and the resetting movement of the slide is stopped, thereby avoiding abnormal resetting movement caused by the abnormal detachment of the surgical instrument from the slide, thereby improving the accuracy of slide control.

[0092] Figure 3 It is a flowchart of another slide control method provided by an embodiment of the present disclosure, wherein, after the surgical instrument is successfully installed, the surgical robot system detects the detachment event of the surgical instrument. When the surgical instrument is detected to be detached from the slide, the slide status prompt light (i.e., the prompt light mentioned above) changes from blue highlight to gray off state, and is displayed to the assistant as prompt information. The slide performs a reset movement, wherein the reset position is the top of the robot arm guide rail, and correspondingly, the reset movement is the upward movement of the slide. Detect whether the slide moves to the reset position. In the process of not moving to the reset position, detect whether the setting button (such as the port clutch button, the instrument clutch button, the patient distance button, and the slide movement button) is triggered (i.e., pressed). When any setting button is triggered, stop the reset movement of the slide. Detect whether at least one installation trigger button is triggered again. If the first installation trigger button corresponding to the adapter or the second installation trigger button corresponding to the surgical instrument is triggered again in the pop-up state, stop the reset movement of the slide; detect the motor current of the slide. If the motor current of the slide is abnormal, i.e., exceeds the preset current threshold, stop the reset movement of the slide.

[0093] Figure 3 The sequential detection of the three blocking events is only an example. The detection order of the three blocking events is not limited here. The three blocking events can also be detected synchronously until any blocking event is detected, and the reset movement of the slide is stopped.

[0094] Figure 4 : is a structural schematic diagram of a slide control device provided in an embodiment of the present disclosure. The device is integrated in a surgical robot, a surgical instrument is mounted on a slide configured in the surgical robot, and the slide moves on the mechanical arm guide rail of the surgical robot; the device specifically includes:

[0095] A reset control module 210, for controlling the slide to perform a reset movement on the robot arm rail when it is detected that the surgical instrument is detached from the slide, so as to move the slide to a reset position of the robot arm rail;

[0096] The reset interruption module 220 is used to stop the reset movement of the slide if a blocking event is detected during the reset movement.

[0097] Optionally, the slide table includes at least one installation trigger button; when a surgical instrument is mounted on the slide table, the at least one installation trigger button is triggered;

[0098] The reset control module 210 is used to determine that the surgical instrument is detached from the slide table when it is detected that any triggered installation trigger button changes to a pop-up state.

[0099] Optionally, the slide is provided with a first installation trigger button and a second installation trigger button;

[0100] When the bacteria-isolating cover is installed on the slide, the first installation trigger button is triggered; the bacteria-isolating cover includes a transfer adapter, and the transfer adapter is installed on the slide;

[0101] When the surgical instrument is mounted on the transfer adapter, the second installation trigger button is triggered;

[0102] When the first installation trigger button and / or the second installation trigger button changes from the triggered state to the pop-up state, it is determined that the surgical instrument is detached from the slide table.

[0103] Optionally, the reset control module 210 is further configured to determine that the surgical instrument is detached from the slide table when it is detected that any triggered installation trigger button changes to a pop-up state and the duration of the pop-up state exceeds a first duration.

[0104] Optionally, the reset interrupt module 220 is further used to: when it is detected that any installation trigger button in the pop-up state is triggered and the duration exceeds a second duration, determine that a trigger event of the installation trigger button is detected.

[0105] Optionally, the blocking event includes a triggering event of the installation trigger button;

[0106] The reset interrupt module 220 is specifically configured to: during the reset movement, when it is detected that any of the installation trigger buttons in the pop-up state is triggered, determine that a trigger event of the installation trigger button is detected.

[0107] Optionally, the blocking event includes a setting button triggering event; at least one setting button is provided on the mechanical arm where the slide is located;

[0108] The reset interrupt module 220 is further configured to: during the reset movement, when it is detected that any of the setting buttons on the robot arm is triggered, determine that the setting button triggering event is detected.

[0109] The reset interrupt module 220 is also used to: determine that the setting button triggering event is detected when the setting button is triggered for the first time during the reset movement; and execute the original function corresponding to the setting button when the setting button is not triggered for the first time during the reset movement.

[0110] Optionally, the setting button is a triggerable button on the robotic arm where the slide is located, including one or more of a port clutch button, an instrument clutch button, a patient distance button and a slide movement button.

[0111] Optionally, the blocking event includes an abnormal current event;

[0112] The reset interrupt module 220 is further used to detect the operating current corresponding to the slide during the reset movement, and determine that the abnormal current event is detected when the operating current exceeds a preset current threshold.

[0113] Optionally, the blocking event includes a voice blocking event;

[0114] The reset interruption module 220 is further used to: receive voice information during the reset movement, and determine that the voice blocking event is detected when the received voice information includes set voice information.

[0115] Optionally, a slider control button is provided on the mechanical arm;

[0116] The reset interrupt module 220 is further used to control the movement of the slider in response to a trigger operation on the slider control button after stopping the reset movement of the slider.

[0117] On the basis of the above embodiment, optionally, the reset control module 210 is further configured to output a prompt message when it is detected that the surgical instrument is detached from the slide table, wherein the prompt message is used to indicate that the surgical instrument is detached from the slide table;

[0118] The prompt information includes one or more of the following: the prompt light configured on the slide shows a set color; the prompt light configured on the slide goes out; and the set audio prompt information is output.

[0119] Optionally, the surgical robot is equipped with multiple robotic arms, each of the robotic arms is equipped with a slide, each slide is mounted with a surgical instrument, and the slides on different robotic arms are independently controlled.

[0120] The slide control device provided in the embodiments of the present disclosure can execute the slide control method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0121] Figure 5 1 is a schematic diagram of a surgical robot provided by an embodiment of the present disclosure. The surgical robot 10 is intended to represent various forms of surgical robots, including but not limited to laparoscopic surgical robots, etc. The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0122] The surgical instrument is mounted on a slide configured in the surgical robot, and the slide moves on the guide rail of the surgical robot's mechanical arm. Figure 5 The surgical robot body, the guide rails of the robotic arm, and the slide table are not shown. Figure 5 As shown, the surgical robot 10 also includes at least one processor 11, and a memory connected to the at least one processor 11 in communication, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the random access memory (RAM) 13, various programs and data required for the operation of the surgical robot 10 can also be stored. The processor 11, the read-only memory (ROM) 12, and the random access memory (RAM) 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0123] A number of components in the surgical robot 10 are connected to an input / output (I / O) interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the surgical robot 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0124] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a slide control method.

[0125] In some embodiments, the slide control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the surgical robot 10 via a read-only memory (ROM) 12 and / or a communication unit 19. When the computer program is loaded into a random access memory (RAM) 13 and executed by the processor 11, one or more steps of the slide control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the slide control method in any other appropriate manner (e.g., by means of firmware).

[0126] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0127] The computer programs for implementing the slide control method of the present disclosure may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0128] The embodiment of the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause a processor to execute a slide control method, the method comprising:

[0129] When it is detected that the surgical instrument is detached from the slide, the slide is controlled to perform a reset movement on the robot arm guide rail so that the slide moves to the reset position of the robot arm guide rail; during the reset movement, if a blocking event is detected, the reset movement of the slide is stopped.

[0130] In the context of the present disclosure, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein may be implemented on a surgical robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the surgical robot. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0132] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0133] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0134] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved, and this document is not limited here.

[0135] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A sliding table control method, characterized in that: The slide is arranged on the surgical robot, the surgical instrument is mounted on the slide, and the slide moves on the mechanical arm guide rail of the surgical robot; The method comprises: When it is detected that the surgical instrument is detached from the slide, the slide is controlled to perform a reset movement on the robot arm guide rail, so that the slide moves to a reset position of the robot arm guide rail; During the resetting movement, if a blocking event is detected, the resetting movement of the slide is stopped.

2. The slide control method according to claim 1, characterized in that: The slide platform includes at least one mounting trigger button; When the surgical instrument is mounted on the slide, the at least one installation trigger button is triggered; The method further includes: determining that the surgical instrument is detached from the slide table when it is detected that any triggered installation trigger button changes from a triggered state to a pop-up state.

3. The slide control method according to claim 2, characterized in that: The slide is provided with a first installation trigger button and a second installation trigger button; When the bacteria-isolating cover is installed on the slide, the first installation trigger button is triggered; The bacteria-isolating cover comprises a transfer adapter, and the transfer adapter is mounted on the slide; When the surgical instrument is mounted on the transfer adapter, the second installation trigger button is triggered; When the first installation trigger button and / or the second installation trigger button changes from the triggered state to the pop-up state, it is determined that the surgical instrument is detached from the slide table.

4. The slide control method according to claim 2, characterized in that: The blocking event includes a triggering event of the installation trigger button; The method further comprises: During the resetting movement, when it is detected that any of the installation trigger buttons in the pop-up state is triggered, it is determined that a triggering event of the installation trigger button is detected.

5. The slide control method according to claim 4, characterized in that: The method further comprises: When it is detected that any triggered installation trigger button changes to a pop-up state and the duration exceeds a first duration, it is determined that the surgical instrument is detached from the slide table; and / or, When it is detected that any of the installation trigger buttons in the pop-up state is triggered and the duration exceeds a second duration, it is determined that a trigger event of the installation trigger button is detected.

6. The slide control method according to claim 1, characterized in that: The blocking event includes setting a key trigger event; At least one setting button is provided on the mechanical arm where the slide is located; The method further comprises: During the resetting movement, when it is detected that any one of the setting buttons on the robot arm is triggered, it is determined that the setting button triggering event is detected.

7. The slide control method according to claim 6, characterized in that: The method further comprises: In the case where the setting button is triggered for the first time during the reset movement, determining that the setting button triggering event is detected; When the setting button is not triggered for the first time during the reset movement, the original function corresponding to the setting button is executed.

8. The slide control method according to claim 6, characterized in that: The setting buttons are triggerable buttons on the robotic arm where the slide is located, including one or more of a port clutch button, an instrument clutch button, a patient distance button, and a slide movement button.

9. The slide control method according to claim 1, characterized in that: The blocking event includes an abnormal current event; The method further comprises: The operating current corresponding to the slide during the reset movement is detected, and when the operating current exceeds a preset current threshold, it is determined that the abnormal current event is detected.

10. The slide control method according to claim 1, characterized in that: The blocking event includes a voice blocking event; The method further comprises: During the resetting movement, voice information is received, and when the received voice information includes setting voice information, it is determined that the voice blocking event is detected.

11. The slide control method according to claim 1, characterized in that: The mechanical arm is provided with a slider control button; After stopping the reset motion of the slide, the method further comprises: In response to a triggering operation on the slider control button, the movement of the slider is controlled.

12. The slide control method according to claim 1, characterized in that: In the case where it is detected that the surgical instrument is separated from the slide table, the method further comprises: Outputting prompt information, wherein the prompt information is used to indicate that the surgical instrument is detached from the slide; The prompt information includes one or more of the following: The prompt light configured on the slide shows a set color; The warning light configured on the slide goes out; Output the set audio prompt information.

13. The slide control method according to claim 1, characterized in that: The surgical robot is equipped with a plurality of robotic arms, each of which is equipped with a slide, each slide is mounted with a surgical instrument, and the slides on different robotic arms are independently controlled.

14. A slide control device, characterized in that: Integrated in a surgical robot, the surgical instrument is mounted on a slide table configured in the surgical robot, and the slide table moves on the mechanical arm guide rail of the surgical robot; The device comprises: A reset control module, for controlling the slide to perform a reset movement on the robot arm guide rail when detecting that the surgical instrument is detached from the slide, so as to move the slide to a reset position of the robot arm guide rail; The reset interruption module is used to stop the reset movement of the slide table if a blocking event is detected during the reset movement.

15. A surgical robot, characterized in that: The surgical instrument is mounted on a slide table configured in the surgical robot, and the slide table moves on the mechanical arm guide rail of the surgical robot; The surgical robot further comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the slide control method according to any one of claims 1 to 13.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the slide control method according to any one of claims 1 to 13 when executed.

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