Surgical robot, slide control device and storage medium

Abstract

The present disclosure relates to the technical field of surgical robots, and discloses a surgical robot, a slide control device, and a storage medium. The slide is arranged on a surgical robot, a surgical instrument is mounted on the slide, and the slide moves on the robotic arm guide rail of the surgical robot; the method includes: when it is detected that the surgical instrument is detached from the slide, controlling the slide to perform a reset movement on the robotic arm guide rail so that the slide moves to the reset position of the robotic arm guide rail; during the reset movement, if a blocking event is detected, the reset movement of the slide is stopped. By detecting a blocking operation during the reset movement of the slide, indicating that the surgical instrument is abnormally detached from the slide, the reset movement of the slide is stopped, and the abnormal reset movement caused by the abnormal detachment of the surgical instrument from the slide is avoided, thereby improving the accuracy of the control of the slide.

Description

Technical Field

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

[0002] With the development of surgical robots, their application scope continues to expand. Surgical robots can replace boring, repetitive and tiring operations. By leveraging the stability of robotic system images and delicate surgical instruments, they can complete more difficult operations during surgery.

[0003] The surgical instruments are mounted on a slide, which moves on a linear guide rail, allowing the instruments to move in space. When the surgical instruments are removed from the slide after the procedure is complete or when the procedure is changed, the slide automatically resets.

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

[0005] The present disclosure provides a surgical robot, a slide control device and a storage medium, which can detect blocking events during the slide resetting process, 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 provided on a surgical robot, a surgical instrument is mounted on the slide, and the slide moves on a guide rail of a robotic arm of the surgical robot;

[0007] The method comprises:

[0008] When detecting that the surgical instrument is detached from the slide, controlling the slide to perform a reset movement on the robot arm guide rail so as to move the slide 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 includes at least one installation trigger button; when a surgical instrument is mounted on the slide, 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 isolation cover is mounted on the slide, the first mounting trigger button is triggered; the bacteria isolation cover includes an adapter, and the adapter is mounted on the slide;

[0014] When the surgical instrument is mounted on the transfer adapter, the second mounting 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 one of the installation trigger buttons in the pop-up state is triggered, determining that a triggering 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 triggered installation trigger button changes to a pop-up state and the duration thereof exceeds a first duration; and / or determining that a triggering event of the installation trigger button is detected when it is detected that any installation trigger button in a pop-up state is triggered and the duration thereof exceeds a second duration.

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

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

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

[0030] 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 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, a slide control device is provided, which is integrated into a surgical robot, wherein a slide configured in the surgical robot is mounted with surgical instruments, and the slide moves on a guide rail of a robotic arm of the surgical robot;

[0033] The device comprises:

[0034] a reset control module, configured to control the slide to perform a reset movement on the robotic 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 robotic arm guide rail;

[0035] The reset interrupt module is used to stop the reset movement of the slide 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 configured in the surgical robot is mounted with surgical instruments, and the slide moves on a guide rail of a robotic 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 sliding table 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 sliding stage control method described in any embodiment of the present disclosure when executed.

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

[0043] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily 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 following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

[0045] Figure 1 is a schematic diagram of a robotic 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 1 is a structural 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 by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions 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 embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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 numbers used in this way can be interchanged 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 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 robotic arm of a surgical robot provided in an embodiment of the present disclosure, Figure 1 The central robotic arm is equipped with a robotic rail 1, on which a slide 2 is mounted. Driven by a motor and a lead screw, slide 2 moves along the rail. The slide 2 carries surgical instruments and includes several drive wheels for driving the instruments' rotation, pitch, and yaw joints.

[0053] Optionally, the surgical robot is equipped with multiple robotic arms, each of which is equipped with a slide, and each slide carries a surgical instrument. For example, if the surgical robot is a laparoscopic surgical robot, the laparoscopic surgical robot may be equipped with multiple robotic arms, for example, four robotic arms. The surgical instrument mounted on the slide of the first robotic arm is an endoscope; the surgical instruments mounted on the slide of at least one second robotic arm may include, but are not limited to, scissors, scalpels, and the like.

[0054] Each slide can hold a surgical instrument. The process for mounting a surgical instrument on the slide can include: placing a sterilization cover on the slide. The sterilization cover includes an adapter for attaching the surgical instrument. When installing the surgical instrument, the surgical instrument is secured and mounted on the adapter. The slide base includes at least one mounting 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 completed or the surgical instrument is updated during the operation, the surgical instrument is pulled out from the slide, so that the surgical instrument is separated 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, which may be caused by misidentification of the surgical robot system. The abnormal detachment of surgical instruments from the slide may include but is not limited to one or more of the following: some surgical procedures cause the surgical arms to be close to each other, resulting in collision, causing the surgical instruments to be 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 tissue in the abdominal cavity of the surgical object.

[0059] In order to solve 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 the slide being reset due to the surgical instrument being separated from the slide. When a blocking event is detected, the slide is stopped from resetting and the slide is reset due to abnormal separation of the surgical instrument. 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 in 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, control the slide 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 reset movement, if a blocking event is detected, the reset 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, i.e., at least one installation trigger button is in a triggered state. When the surgical instrument detaches from the slide, one or more installation trigger buttons are popped up. Accordingly, when any triggered installation trigger button is detected to change from the triggered state to the popped-up state, the surgical instrument is determined to have detached from the slide.

[0063] Optionally, when the installation trigger button is in the triggered state, a status signal is continuously transmitted, wherein the status signal can indicate that the installation trigger button is in the triggered state. When the installation trigger button is released, 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., the surgical instrument has been determined to be 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 detecting 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 and / or the second state signal are interrupted.

[0065] It can be understood that when the surgical robot is equipped with multiple robotic arms, the first state signal and the second state signal can 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 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). When the duration exceeds a 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 if the duration of the installation trigger button changing to a pop-up state is less than the first duration and it is triggered again, it indicates 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 the surgical instrument is detected to have disengaged from the slide, a reset control signal is generated and transmitted to the slide, causing the slide to perform a reset movement in response to the reset control signal. Optionally, the reset control signal may include a robotic arm identifier or a slide identifier. Specifically, the slide's motor responds to the reset control signal and drives the slide toward the reset position of the robotic arm guide rail until it reaches the reset position.

[0068] Optionally, when the surgical instrument is detected to be detached from the slide, a prompt message is output, wherein the prompt message is used to indicate that the surgical instrument has detached from the slide. It is understood 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; and 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 status of the surgical instrument by the color or on / off status of the prompt light.

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

[0071] In this embodiment, when it is detected that the surgical instrument has detached from the slide, a prompt message is output to inform 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 embodiment, during the reset movement of the slide, a blocking event is detected. The blocking event can be understood as an event that blocks the reset movement of the slide. When the blocking event is detected, it indicates that the surgical instrument has abnormally detached from the slide, and the reset movement of the slide is stopped to avoid adverse interference of the reset movement of the slide on the surgical process.

[0073] Optionally, the blocking event includes one or more of a trigger event for installing a trigger button, a trigger event for setting a key, an abnormal current event, and a voice blocking event. Upon detecting any of these blocking events, the reset motion of the slide is stopped. The order in which the trigger event for installing a trigger button, the trigger event for setting a key, the abnormal current event, and the voice blocking event are detected is not limited; they may be detected simultaneously or based on a preset order.

[0074] The triggering event of the installation trigger button can be understood as the event of the installation trigger button being re-triggered in a pop-up state. It is understandable that, based on the prompt information or when observing the abnormal resetting movement of the slide during the operation, the assistant can perform remedial operations on the attachment point between the surgical instrument and the slide, such as pressing the attachment point between the surgical instrument and the slide to re-attach the surgical instrument to the slide. Accordingly, during the resetting movement of the slide, the pop-up installation trigger button is triggered again, indicating that the current resetting movement of the slide is an abnormal resetting movement caused by abnormal detachment 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 triggering event of the installation trigger button is detected.

[0076] Specifically, during the reset movement, a status signal transmitted by any of the installed trigger buttons in the pop-up state may be detected, indicating that any of the installed trigger buttons in the pop-up state has been triggered again, and the trigger event of the installed trigger button is determined to have been detected, and the slide is controlled to stop the reset movement. Specifically, the surgical robot system may generate a blocking signal based on the trigger event of the installed trigger button, transmit the blocking signal to the slide, and the slide's motor may stop the reset movement in response to the blocking signal.

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

[0078] Based on the above embodiment, to improve the accuracy of detecting the trigger event of the installation trigger button, a timer is used when any of the installation trigger buttons in the pop-up state is detected to determine the duration of the installation trigger button being triggered again (i.e., the duration of the status information received again). If the duration exceeds a second duration, it is determined that the installation trigger button trigger event has been detected. The first duration and the second duration can be the same or different and can be determined based on detection requirements. By determining the trigger event of the installation trigger button based on the duration of the installation trigger button being triggered again, false detection of the installation trigger button trigger event can be avoided.

[0079] A set button trigger event can be understood as the triggering of a set button on the robotic arm of the surgical robot during the slide's reset motion. In some embodiments, the set button includes a blocking button for blocking the slide's reset operation. An assistant can press the blocking button in response to a prompt. When the blocking button is triggered, a blocking signal is generated. The surgical robot system then controls the slide to stop its reset motion based on the blocking signal.

[0080] In some embodiments, at least one setting button is provided on the robotic arm on which the slide is located; the setting button may include a triggerable button located on the robotic arm, such as, but 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 understood that if a surgical instrument is abnormally disengaged, resulting in an abnormal repositioning of the slide, an assistant may, in an emergency, trigger any button on the robotic arm of the surgical robot to interrupt the repositioning movement. It is understood that the purpose of triggering a function button on the robotic arm is to interrupt the repositioning 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 a set button is triggered during the reset movement, and controlling the slide to stop the reset movement based on the blocking signal, the problem of assistants accidentally touching the set button in an emergency and mistakenly executing the original function of the set button is avoided. For example, during the reset movement, if the patient distance button is detected to be triggered, it is determined that the set button trigger event has been detected, and the reset movement of the slide is stopped instead of executing the original function of the patient distance button, thereby preventing the original function of the patient distance button from interfering with the surgical process.

[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 process. 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 the first triggering of a set button during reset motion, the system treats it as a set button trigger event and stops the reset motion of the slide, effectively blocking any abnormal reset motion. If a set button is not triggered for the first time (e.g., the second time), the original function corresponding to the set button is executed, ensuring normal execution of the original function and avoiding interference with the original function.

[0085] Abnormal current events can be understood as abnormal current flow caused by the slide pulling the surgical instrument against the tissue during abnormal resetting motion, resulting from abnormal detachment of the surgical instrument. It is understood that during this abnormal resetting motion, the slide pulls the surgical instrument against the tissue, creating resistance to the slide's resetting motion. To perform the resetting motion, the slide must increase the current to overcome this resistance, causing the current required during the abnormal resetting motion to exceed the normal current range.

[0086] Accordingly, the method further includes: detecting an operating current corresponding to the slide during the reset movement, and determining that the abnormal current event has been detected when the operating current exceeds a preset current threshold. The preset current threshold may be determined based on a normal current range during normal movement of the slide, and the preset current threshold may be a maximum value within the normal current range, or greater than the maximum value within 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 understood that the above-mentioned set voice message is only used for detection during the reset motion of a slide and does not interfere with the normal operation of other slides on the robot arm that are not in the reset process. For example, if two or more slides are simultaneously reset, the detected set voice message can be used to synchronously control the two or more slides to stop their reset motion, thereby achieving synchronous control of multiple slides.

[0090] On the basis of the above embodiment, a slider control button is provided on the robotic 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 can include a first trigger operation on the slider control button, which is not limited here. Here, the reset trigger operation can 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, thereby reducing damage to the surgical object.

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

[0092] Figure 3 This is a flowchart of another slide control method provided by an embodiment of the present disclosure. After a surgical instrument is successfully installed, the surgical robot system detects whether the surgical instrument has detached from the slide. Upon detecting that the surgical instrument has detached from the slide, the slide status indicator (i.e., the indicator light described above) changes from a highlighted blue state to an off gray state, displaying a prompt to the assistant. The slide performs a reset motion, wherein the reset position is the top of the robotic arm guide rail, and accordingly, the reset motion is an upward movement of the slide. The system detects whether the slide has reached the reset position. If the slide has not reached the reset position, the system detects whether a setting button (e.g., a port clutch button, an instrument clutch button, a patient distance button, and a slide movement button) has been triggered (i.e., pressed). If any of the setting buttons is triggered, the slide's reset motion is stopped. The system detects whether at least one installation trigger button has been retriggered. If the first installation trigger button corresponding to the adapter or the second installation trigger button corresponding to the surgical instrument is retriggered in the pop-up state, the slide's reset motion is stopped. The system also detects the slide motor current. If the slide motor current is abnormal, i.e., exceeds a preset current threshold, the slide's reset motion is stopped.

[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 This is a schematic diagram of the structure of a slide control device provided by an embodiment of the present disclosure. The device is integrated into a surgical robot, wherein a surgical instrument is mounted on a slide configured in the surgical robot, and the slide moves on the guide rails of the surgical robot's robotic arm. The device specifically includes:

[0095] a reset control module 210, configured to control the slide to perform a reset movement on the robotic arm guide rail when detecting that the surgical instrument has detached from the slide, so as to move the slide to a reset position on the robotic arm guide rail;

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

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

[0098] The reset control module 210 is configured to determine that the surgical instrument is detached from the slide when detecting 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 isolation cover is mounted on the slide, the first mounting trigger button is triggered; the bacteria isolation cover includes an adapter, and the adapter is mounted on the slide;

[0101] When the surgical instrument is mounted on the transfer adapter, the second mounting 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 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 configured to: determine that a triggering event of the installation trigger button is detected when it is detected that any installation trigger button in the pop-up state is triggered and the duration of the triggering is longer than a second duration.

[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 robotic 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 robotic 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 trigger 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 configured to detect an 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 interrupt module 220 is further configured to: receive voice information during the reset movement, and determine that the voice blocking event is detected when the received voice information includes setting voice information.

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

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

[0117] Based on the above embodiment, optionally, the reset control module 210 is further configured to output a prompt message when detecting that the surgical instrument is detached from the slide, wherein the prompt message is used to indicate that the surgical instrument is detached from the slide;

[0118] 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 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 the structure of a surgical robot provided by an embodiment of the present disclosure. Surgical robot 10 is intended to represent various types of surgical robots, including but not limited to laparoscopic surgical robots. 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 as described and / or claimed herein.

[0122] The surgical instrument is mounted on the 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 robotic arm guide rails and the slide are not shown. Figure 5 As shown, the surgical robot 10 also includes at least one processor 11 and memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from the storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the surgical robot 10. The processor 11, the ROM 12, and the RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

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

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

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

[0126] Various embodiments of the systems and techniques described above 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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] Computer programs for implementing the slide control methods of the present disclosure can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0128] The present disclosure also provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a processor to execute a sliding table 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 robotic arm guide rail so that the slide moves to the reset position of the robotic 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 apparatus. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, 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), optical fibers, 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 can be implemented on a surgical robot that has: 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 can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0132] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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 clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting 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 described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of this disclosure can be achieved, and this document is not limited here.

[0135] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A surgical robot, characterized in that: The surgical instrument is mounted on a slide configured in the surgical robot, and the slide moves on the guide rail of the robotic arm 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, wherein the computer program is executed by the at least one processor so as to enable the at least one processor to perform a sliding stage control method; The slide control method includes: When detecting that the surgical instrument is detached from the slide, controlling the slide to perform a reset movement on the robot arm guide rail so as to move the slide to a 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; The blocking event includes one or more of an installation trigger button trigger event, a setting button trigger event, and an abnormal current event; the installation trigger button trigger event is an event in which the installation trigger button in a pop-up state is triggered again; the abnormal current event is an event in which the slide drives the surgical instrument to pull the tissue to generate abnormal current; At least one setting button is provided on the robotic arm where the slide is located; during the reset movement, when it is detected that any of the setting buttons on the robotic arm is triggered, it is determined that the setting button triggering event is detected; And, when the setting button is triggered for the first time during the reset movement, it is determined 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.

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

3. The surgical robot 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 isolation cover is installed on the slide, the first installation trigger button is triggered; The bacteria isolation cover includes an adapter, and the adapter is mounted on the slide; When the surgical instrument is mounted on the transfer adapter, the second mounting 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 surgical robot 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 one 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 surgical robot 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 time period, it is determined that the surgical instrument is detached from the slide; and / or, When it is detected that any one of the installation trigger buttons in the pop-up state is triggered and the duration exceeds a second duration, it is determined that a triggering event of the installation trigger button is detected.

6. The surgical robot according to claim 1, characterized in that: The setting buttons include one or more of a port clutch button, an instrument clutch button, a patient distance button, and a slide movement button.

7. The surgical robot according to claim 1, characterized in that: The blocking event includes an abnormal current event; The method further comprises: An 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 current abnormality event is detected.

8. The surgical robot 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.

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

10. The surgical robot according to claim 1, characterized in that: The surgical robot is equipped with multiple 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.

11. A slide control device, characterized in that: Integrated in a surgical robot, the surgical instrument is mounted on a slide configured in the surgical robot, and the slide moves on the robotic arm guide rail of the surgical robot; The device comprises: a reset control module, configured to control the slide to perform a reset movement on the robotic 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 robotic arm guide rail; a reset interrupt module, configured to stop the reset movement of the slide if a blocking event is detected during the reset movement, wherein the blocking event includes one or more of a trigger event of an installation trigger button, a trigger event of a setting button, and an abnormal current event; the trigger event of the installation trigger button is an event in which the installation trigger button in a pop-up state is triggered again; and the abnormal current event is an event in which the slide drives the surgical instrument to pull the tissue to generate abnormal current; At least one setting button is provided on the robotic arm where the slide is located; the reset interrupt module is also used to: during the reset movement, when it is detected that any of the setting buttons on the robotic arm is triggered, determine that the setting button triggering event is detected; and when the setting button is triggered for the first time during the reset movement, determine that the setting button triggering event is detected; when the setting button is not triggered for the first time during the reset movement, execute the original function corresponding to the setting button.

12. 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 a sliding table control method when executed, wherein the sliding table control method includes: When detecting that the surgical instrument is detached from the slide, controlling the slide 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, wherein the blocking event includes one or more of a trigger event of an installation trigger button, a trigger event of a setting button, and an abnormal current event; the trigger event of the installation trigger button is an event in which the installation trigger button in a pop-up state is triggered again; the abnormal current event is an event in which the slide drives the surgical instrument to pull the tissue to generate abnormal current; At least one setting button is provided on the robotic arm where the slide is located; during the reset movement, when it is detected that any of the setting buttons on the robotic arm is triggered, it is determined that the setting button triggering event is detected; And, when the setting button is triggered for the first time during the reset movement, it is determined 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.

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