Surgical robot system

Abstract

The invention provides a surgical robot system, and relates to the technical field of surgical robots. The surgical robot system comprises a doctor control system, a patient surgical system and an auxiliary surgical system, the patient surgical system and the auxiliary surgical system are in communication connection with the doctor control system, displacement input by a main manipulator is obtained through the doctor control system, and after the displacement is mapped into an instruction, the instruction is sent to the patient surgical system and / or the auxiliary surgical system; the instruction is sent to the patient operation system and / or the auxiliary operation system, so that the patient operation system and / or the auxiliary operation system respond to the instruction, a mechanical arm in the patient operation system is driven to conduct operation, and / or a mechanical arm in the auxiliary operation system is driven to conduct operation, and master-slave control is achieved. Meanwhile, the acting force of the corresponding mechanical arm in the surgical operation process is obtained through the patient surgical system or the auxiliary surgical system, the acting force is fed back to the doctor control system, the corresponding acting force is output to an operator through the doctor control system, and force feedback is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a surgical robot system. Background Art

[0002] In the field of surgical robots, surgical robot control systems can achieve precise operation of surgical robots through the coordinated work of master-slave control and force feedback. Master-slave control is a control technology that remotely controls the slave device through the master device, allowing the slave device to track the trajectory of the master device. Force feedback is a technology that detects the interaction force between surgical tools and patient tissues through sensors and feeds the force back to the operator.

[0003] At present, the traditional surgical robot control system only includes master-slave control technology and lacks force feedback technology. In order to ensure the operation accuracy of the surgical robot during the operation, it is urgent to provide a surgical robot control system including force feedback technology. Summary of the invention

[0004] The present application provides a surgical robot system to solve the problem of lack of force feedback technology in the surgical robot system in the related art.

[0005] In a first aspect, the present application provides a surgical robot system, comprising: a doctor control system, and a patient surgical system and an auxiliary surgical system respectively connected to the doctor control system for communication; the doctor control system comprises a main manipulator; the main manipulator comprises a left main manipulator and a right main manipulator;

[0006] The doctor control system is used to obtain a first displacement inputted through the right main operator and a second displacement inputted through the left main operator, map the first displacement into a first instruction, and send the first instruction to the patient surgical system; map the second displacement into a second instruction, and send the second instruction to the auxiliary surgical system; and output the received force;

[0007] The patient surgical system is used to respond to the first instruction to drive the robotic arm in the patient surgical system to perform the surgical operation; and obtain the first force of the robotic arm in the patient surgical system during the surgical operation, and feed the first force back to the doctor control system;

[0008] The auxiliary surgery system is used to respond to the second instruction to drive the robotic arm in the auxiliary surgery system to perform the surgical operation; and to obtain the second force of the robotic arm of the auxiliary surgery system during the surgical operation, and feed back the second force to the doctor control system.

[0009] In one possible implementation, the main manipulator includes a wrist control module and a base control module; the wrist control module is used to control the rotation of the main manipulator in the X-axis direction, the Y-axis direction and the z-axis direction; the base control module is used to control the translation of the main manipulator in the X-axis direction, the Y-axis direction and the z-axis direction.

[0010] In a possible implementation, the main manipulator is configured with six joint axes, of which three joint axes are used to form a wrist control module, and the other three joint axes are used to form a base control module, and each joint axis is configured with an electrically connected motor and an encoder;

[0011] A motor, used to control the movement of the main manipulator and output feedback force;

[0012] The encoder is used to read the position information of the joint axis in real time, and perform fitting processing on the position information corresponding to different joint axes to generate the first displacement or the second displacement.

[0013] In a possible implementation, the patient surgical system further includes a first robotic arm base; the robotic arm in the patient surgical system is detachably mounted on the first robotic arm base;

[0014] And / or; the auxiliary surgery system also includes a second robotic arm base; the robotic arm in the auxiliary surgery system is detachably placed on the second robotic arm base.

[0015] In one possible implementation, the robotic arm includes an end effector, an end effector quick-change structure, a robotic arm body, and a robotic arm quick-change structure connected in sequence; the end effector is used to perform surgical operations; and the end effector quick-change structure is used to replace the end effector according to the surgical method.

[0016] In a possible implementation, the robot arm quick-change structure includes at least one of the following: a robot arm quick-change portion, a navigation tracer installation portion, and a bone connecting rod installation portion;

[0017] Robot arm quick-change part, used to replace the robot arm;

[0018] A navigation tracer installation portion, used for installing a navigation tracer to obtain position information of the robot arm through the navigation tracer;

[0019] The bone-connecting rod installation site is used to install the bone-connecting rod so as to connect the patient to the robotic arm through the bone-connecting rod.

[0020] In a possible implementation, the robot body is equipped with a force sensor and a plurality of joint axes, and each joint axis is equipped with an encoder and a brake;

[0021] A force sensor is used to obtain the force applied by the end effector;

[0022] Encoder, used to read the position information of the robot arm in real time;

[0023] The holding brake is used to control the robot arm to maintain its current position when the robot arm is powered off.

[0024] In a possible implementation, the end effector includes one or more of a super-knife clamping module, a grinding drill module, and a bone holding module.

[0025] In a possible implementation, the surgical robot system further includes: a surgical field imaging system communicatively connected to a doctor control system; the surgical field imaging system is used to acquire 3D images of the surgical area and send the 3D images to the doctor control system.

[0026] In a possible implementation, the surgical robot system further includes: a navigation and positioning system communicatively connected to the patient surgical system and / or the auxiliary surgical system; the navigation and positioning system includes an optical positioning device and a display;

[0027] The navigation and positioning system is used to obtain the position information of the robotic arm in the patient surgical system and / or auxiliary surgical system through an optical positioning device and a navigation tracer, and display the position information through a display.

[0028] In a possible implementation, the physician control system further includes a display screen and / or a foot control panel;

[0029] A display screen, used to display real-time information during surgery;

[0030] The foot control panel is used to control the clutch reset of the main operator and the operation of the end effector based on the operator's foot operation.

[0031] The surgical robot system provided by the present application includes a doctor control system, and a patient surgical system and an auxiliary surgical system respectively connected to the doctor control system in communication. The doctor control system obtains the first displacement input by the right main manipulator and / or the second displacement input by the left main manipulator, and after mapping the first displacement to a first instruction, sends it to the patient surgical system, so that the patient surgical system responds to the first instruction and drives the mechanical arm in the patient surgical system to perform the surgical operation, and / or, after mapping the second displacement to a second instruction, sends it to the auxiliary surgical system, so that the auxiliary surgical system responds to the second instruction and drives the mechanical arm in the auxiliary surgical system to perform the surgical operation, thereby realizing master-slave control. At the same time, the second force of the mechanical arm in the patient surgical system during the surgical operation is obtained through the patient surgical system, and the second force is fed back to the doctor control system, and the second force of the mechanical arm in the auxiliary surgical system during the surgical operation is obtained through the auxiliary surgical system, and the second force is fed back to the doctor control system, so that the corresponding force is output to the operator through the doctor control system, thereby realizing force feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0033] Figure 1 Schematic diagram of the structure of the surgical robot system provided in the embodiment of the present application Figure 1 ;

[0034] Figure 2 A schematic diagram of the structure of the main operator provided in an embodiment of the present application;

[0035] Figure 3 A schematic diagram of the structure of a patient surgery system provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of the structure of the surgical assistance system provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of the structure of the robotic arm provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of the structure of the end effector provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of the structure of a surgical field imaging system provided in an embodiment of the present application;

[0040] Figure 8 A schematic diagram of the structure of a navigation and positioning system provided in an embodiment of the present application;

[0041] Fig. 9A schematic diagram of the structure of a navigation tracer provided in an embodiment of the present application;

[0042] Fig.10 A schematic diagram of the structure of a doctor control system provided in an embodiment of the present application;

[0043] Fig.11 Schematic diagram of the structure of the surgical robot system provided in the embodiment of the present application Figure 2 ;

[0044] Fig.12 A schematic diagram of a master-slave control architecture provided in an embodiment of the present application.

[0045] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0046] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0047] Based on the problems existing in the related technology, an embodiment of the present application provides a patient surgical system and an auxiliary surgical system including a doctor control system, which are respectively communicatively connected to the doctor control system. The doctor control system sends command information to the patient surgical system and / or the auxiliary surgical system respectively, so that the patient surgical system and / or the auxiliary surgical system respond to the command information and drive the corresponding robotic arm to perform the corresponding surgical operation to realize master-slave control. At the same time, the patient surgical system and / or the auxiliary surgical system obtains the force applied during the surgical operation and sends the corresponding force to the doctor control system, so as to output it to the operator through the doctor control system to realize force feedback.

[0048] The following first describes the applicable scenarios of the embodiments of the present application.

[0049] The surgical robot system provided in the embodiment of the present application is suitable for spinal surgery and can be applied to a spinal surgery robot.

[0050] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below in conjunction with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0051] Figure 1 Schematic diagram of the structure of the surgical robot system provided in the embodiment of the present application Figure 1 .like Figure 1 As shown, the surgical robot system 10 includes a doctor control system 110, and a patient surgical system 120 and an auxiliary surgical system 130 respectively connected to the doctor control system for communication. The doctor control system 110 includes a main operator, which includes a left main operator and a right main operator.

[0052] The doctor control system 110 is used to obtain a first displacement inputted through the right main operator and / or a second displacement inputted through the left main operator, map the first displacement into a first instruction, and send the first instruction to the patient surgery system; map the second displacement into a second instruction, and send the second instruction to the auxiliary surgery system; and output the received force;

[0053] The patient surgical system 120 is used to respond to the first instruction, drive the robotic arm in the patient surgical system to perform the surgical operation; and obtain the first force of the robotic arm in the patient surgical system during the surgical operation, and feed the first force back to the doctor control system;

[0054] The auxiliary surgery system 130 is used to respond to the second instruction to drive the robotic arm in the auxiliary surgery system to perform the surgical operation; and to obtain the second force of the robotic arm of the auxiliary surgery system during the surgical operation, and feed back the second force to the doctor control system.

[0055] It can be understood that the left main manipulator in the doctor's control system is used to control the robotic arm in the auxiliary surgery system, and the right main manipulator is used to control the robotic arm in the patient surgery system.

[0056] Exemplarily, in response to the operator acting only on the right main operator in the doctor control system, the doctor control system obtains the first displacement input through the right main operator, and maps the first displacement to a first instruction through an algorithm; in response to the operator acting only on the left main operator in the doctor control system, the doctor control system obtains the second displacement input through the left main operator, and maps the second displacement to a second instruction through an algorithm; in response to the operator acting on both the right main operator and the left main operator in the doctor control system at the same time, the doctor control system obtains the first displacement input through the right main operator and the first displacement of the left main operator, and maps the first displacement to a first instruction and the second displacement to a second instruction through an algorithm.

[0057] Exemplarily, the robotic arm in the patient surgical system and the robotic arm in the auxiliary surgical system are both equipped with force sensors for collecting the force of the robotic arm in the patient surgical system or the robotic arm in the auxiliary surgical system during the operation, and feeding back the corresponding force to the main operator in the doctor's control system.

[0058] It should be noted that in the surgical robot system provided in the embodiment of the present application, while realizing master-slave control and force feedback, the coordination of the patient surgical system and the auxiliary surgical system at the slave end can improve surgical operation accuracy, surgical flexibility, surgical safety, etc.

[0059] The surgical robot system provided in the embodiment of the present application obtains the first displacement input by the right main manipulator and / or the second displacement input by the left main manipulator through the doctor control system, and after mapping the first displacement to the first instruction, sends it to the patient surgical system, so that the patient surgical system responds to the first instruction and drives the mechanical arm in the patient surgical system to perform the surgical operation, and / or, after mapping the second displacement to the second instruction, sends it to the auxiliary surgical system, so that the auxiliary surgical system responds to the second instruction and drives the mechanical arm in the auxiliary surgical system to perform the surgical operation, thereby realizing master-slave control. At the same time, the second force of the mechanical arm in the patient surgical system during the surgical operation is obtained through the patient surgical system, and the second force is fed back to the doctor control system, and the second force of the mechanical arm in the auxiliary surgical system during the surgical operation is obtained through the auxiliary surgical system, and the second force is fed back to the doctor control system, so that the corresponding force is output to the operator through the doctor control system, thereby realizing force feedback.

[0060] Combine the following Figure 2 The main operator provided in the embodiment of the present application is described in detail.

[0061] Figure 2 This is a schematic diagram of the structure of the main operator provided in the embodiment of the present application. Figure 2As shown, the main manipulator includes a wrist control module 210 and a base control module 220; wherein the wrist control module 210 is used to control the rotation of the main manipulator in the X-axis direction, the Y-axis direction and the z-axis direction; the base control module 220 is used to control the translation of the main manipulator in the X-axis direction, the Y-axis direction and the z-axis direction.

[0062] Exemplarily, the wrist control module and the base control module are connected via a mechanical component.

[0063] Optionally, a handle switch 230 is provided above the wrist control module 210, and the handle switch is used to control whether the operation of the main operator is effective.

[0064] In a possible implementation, when the operator presses the switch on the handle switch, the operation of the main operator will take effect to prevent accidental touch from affecting the surgery.

[0065] It is understandable that the main operator in the doctor control system provided in the embodiment of the present application has six degrees of freedom. Among the six degrees of freedom, three degrees of freedom related to rotation are R X , R Y , R Z It is realized through the wrist control module, and the three degrees of freedom of translation such as X, Y, and Z are realized through the base control module.

[0066] Optionally, the main manipulator is configured with six joint axes, of which three joint axes are used to form a wrist control module, and the other three joint axes are used to form a base control module, and each joint axis is configured with an electrically connected motor and an encoder; the motor is used to control the movement of the main manipulator and output feedback force; the encoder is used to read the position information of the joint axis in real time, and generate the first displacement or the second displacement by fitting the position information.

[0067] Exemplarily, the encoder may be a contactless magnetic encoder.

[0068] For example, the motor can control the movement of the main manipulator in six degrees of freedom and control its resetting, etc., and provide corresponding feedback force to the operator.

[0069] Exemplarily, for the encoder in each joint axis, the position information of the joint axis can be read in real time, and the position information corresponding to different joint axes can be fitted through an algorithm to generate an input displacement corresponding to the main operator, namely the first displacement or the second displacement.

[0070] In the robotic surgical system provided by the embodiment of the present application, on the one hand, the encoder contained in each joint axis in the main manipulator reads the position information of the corresponding joint axis in real time, and the position information corresponding to different joint axes is fitted through an algorithm to generate an input displacement corresponding to the main manipulator. The doctor control system maps the input displacement of the main manipulator into command information through the algorithm, and sends the command information to the patient surgical system and / or the auxiliary surgical system to achieve master-slave control; on the other hand, in the process of performing surgical operations through the robotic arm corresponding to the patient surgical system and / or the auxiliary surgical system, the force sensor on the robotic arm collects the force of the corresponding robotic arm in real time, and sends the force to the doctor control system through the patient surgical system and / or the auxiliary surgical system, and further outputs the corresponding force to the operator by applying the force to the main manipulator of the doctor control system to achieve force feedback.

[0071] Optionally, the patient surgical system also includes a first robotic arm base; the robotic arm in the patient surgical system is detachably mounted on the first robotic arm base; and / or; the auxiliary surgical system also includes a second robotic arm base; the robotic arm in the auxiliary surgical system is detachably mounted on the second robotic arm base.

[0072] Combine the following Figure 3 The patient surgery system provided in the embodiment of the present application is described in detail.

[0073] Figure 3 This is a schematic diagram of the structure of the patient surgery system provided in the embodiment of the present application. Figure 3 As shown, the patient surgery system includes a control panel 310 , an electrical interface 320 , a chassis 330 , a display screen 340 , a robotic arm 350 , and a first robotic arm base 360 ​​.

[0074] Among them, the control panel 310 is used to control various functions included in the patient surgery system, such as the system main switch, chassis stabilizer lifting and lowering, first robotic arm base lifting and lowering, and resetting of the four working states of the first robotic arm base.

[0075] The electrical interface 320 is used to electrically connect with the auxiliary surgery system and the doctor control system to realize the information exchange and power transmission between different systems. For example, the exchanged information can be state information, position information, force feedback information, etc.

[0076] The chassis 330 is provided with four universal wheels for easy pushing and pulling. At the same time, four small lifting columns are installed at the bottom of the chassis 330 to realize the automatic leveling function of the patient surgical system.

[0077] Display screen 340 is used to display information during the operation in real time, so that the operator can understand the operation status in real time.

[0078] The robotic arm 350 is used to perform surgical operations, such as osteotomy operations.

[0079] The first robot arm base 360 ​​is used to assist the robot arm 350 to reach the working area.

[0080] Exemplarily, the robot arm 350 is detachably mounted on the first robot arm base 360, that is, a quick-change design is provided between the robot arm 350 and the first robot arm base 360, so as to facilitate flexible replacement of the robot arm 350, such as convenient replacement and maintenance of the robot arm.

[0081] For example, the first robot base 360 ​​has the characteristics of high rigidity and high load capacity, and can realize the movement of the robot 350 in three degrees of freedom, X, Y, and Z, wherein the height of the Z axis, i.e., the first robot base 360, can be adjusted up and down. In a possible implementation, after the robot 350 moves to the working space, the first robot base 360 ​​is fixed, and the robot 350 starts to work.

[0082] Exemplarily, the first robotic arm base 360 ​​also has a manual adjustment function to prevent the patient from being unable to be transferred in time when a power outage occurs.

[0083] Optionally, a rechargeable battery is provided inside the patient surgical system so that when a power outage or other emergency occurs during the operation, the operation can be completed by using the energy support inside the rechargeable battery.

[0084] Exemplarily, the rechargeable battery may be a lead-acid battery.

[0085] Combine the following Figure 4 The assisted surgery system provided in the embodiment of the present application is described in detail.

[0086] Figure 4 This is a schematic diagram of the structure of the surgical assistance system provided in the embodiment of the present application. Figure 4 As shown, the surgical assistance system includes a control panel 410 , an electrical interface 420 , a chassis 430 , a robotic arm 440 , and a second robotic arm base 450 .

[0087] Among them, the control panel 410 is used to control various functions included in the auxiliary surgery system, such as the system main switch, the lifting and lowering of the chassis stabilizer, the lifting and lowering of the first robotic arm base, and the resetting of the four working states of the first robotic arm base.

[0088] The electrical interface 420 is used to electrically connect with the patient's surgical system and the doctor's control system to realize information exchange and power transmission between different systems. For example, the exchanged information may be state information, position information, force feedback information, and the like.

[0089] The chassis 430 is provided with four universal wheels for easy pushing and pulling. At the same time, four small lifting columns are installed at the bottom of the chassis 430 to realize the automatic leveling function of the auxiliary surgery system.

[0090] The robot arm 440 is used to clamp the vertebral body of the target spine. For example, in an osteotomy operation, the vertebral body of the target spine may be the bone to be cut.

[0091] The second robot arm base 450 is used to assist the robot arm 440 to reach the working area.

[0092] Exemplarily, the robot arm 440 is detachably mounted on the second robot arm base 450, that is, a quick-change design is provided between the robot arm 440 and the second robot arm base 450, so as to facilitate flexible replacement of the robot arm 440, such as convenient replacement and maintenance of the robot arm.

[0093] It should be noted that the structure of the auxiliary surgery system is similar to that of the patient surgery system, but the main function of the auxiliary surgery system is to clamp the cut bone to assist the patient surgery system. Therefore, compared with the patient surgery system, the auxiliary surgery system can reduce the floor space by reducing certain functions.

[0094] It should be noted that the mechanical arm 350 in the patient surgery system and the mechanical arm 440 in the auxiliary surgery system are similar in structure. Figure 5 A unified description is given of the robotic arm in the patient surgery system and the robotic arm in the auxiliary surgery system provided in the embodiments of the present application.

[0095] Figure 5 This is a schematic diagram of the structure of the mechanical arm provided in the embodiment of the present application. Figure 5 As shown, the robot arm includes an end effector 510, an end effector quick-change structure 520, a robot arm body 530 and a robot arm quick-change structure 540 connected in sequence;

[0096] Wherein, the end effector 510 is used to perform surgical operations;

[0097] The end effector quick-change structure 520 is used to replace the end effector according to the surgical method.

[0098] It can be understood that in the patient surgery system and the auxiliary surgery system, the end effector quick-change structure set on the robotic arm can realize flexible disassembly and replacement of the end effector, so that the surgical robot system provided in the embodiment of the present application can be suitable for a variety of different types of surgeries.

[0099] Exemplarily, the robot arm quick-change structure 540 includes at least one of the following: a robot arm quick-change portion 5401, a navigation tracer installation portion 5402, and a bone connecting rod installation portion 5403;

[0100] Among them, the robotic arm quick-change part 5401 is used to replace the robotic arm; the navigation tracer installation part 5402 is used to install the navigation tracer to obtain the position information of the robotic arm through the navigation tracer; the bone connecting rod installation part 5403 is used to install the bone connecting rod to connect the patient and the robotic arm through the bone connecting rod.

[0101] Exemplarily, after a navigation tracer is installed on the robotic arm through the navigation tracer installation portion, the position information of the robotic arm can be obtained through an optical positioning device to improve surgical accuracy.

[0102] Exemplarily, the navigation tracer may be a navigation frame.

[0103] Exemplarily, a force sensor is also provided at the bone connecting rod installation site. When the patient's position changes, the force sensor can monitor the corresponding change of the patient's position to provide prompt information to the operator.

[0104] Exemplarily, the force sensor provided on the bone connecting rod mounting portion can also be used to detect the displacement frequency caused by the patient's breathing, and based on the displacement frequency, control the height of the first robotic arm base in the patient surgical system to rise and fall, and / or control the height of the second robotic arm base in the auxiliary surgical system to rise and fall, so that the robotic arm origin remains stable relative to the patient's position.

[0105] Optionally, the robot body 530 is configured with a force sensor and multiple joint axes, and each joint axis is configured with an encoder and a brake; wherein the force sensor is used to obtain the force of the end effector; the encoder is used to read the position information of the robot arm in real time; the brake is used to control the robot arm to maintain its current position when the robot arm is powered off.

[0106] Exemplarily, there may be two encoders configured in each joint axis, that is, one encoder is configured inside and outside the joint axis, wherein the encoders configured inside and outside are respectively used to read different position information inside and outside the robot arm in real time to improve surgical accuracy.

[0107] For example, the holding brake configured on the joint axis can keep the robot arm in its original position when the power is cut off, preventing the robot arm from falling and causing injury in an emergency.

[0108] It is understandable that the robotic arm has six degrees of freedom and can perform operations such as osteotomy.

[0109] Combine the following Figure 6 The end effector provided in the embodiment of the present application is described in detail.

[0110] Figure 6 This is a schematic diagram of the structure of the end effector provided in the embodiment of the present application. Figure 6As shown, the end effector includes one or more of a super-knife clamping module 610 , a grinding drill module 620 and a bone holding module 630 .

[0111] Exemplarily, any of the above end effectors is configured with a quick-change interface to achieve quick connection with the robotic arm.

[0112] For example, the super knife clamping module 610 can be used for ultrasonic bone knife osteotomy. Among them, the clamping function designed in the super knife clamping module 610 can enable the operator to easily remove the super knife for supplementary operation after the master-slave operation of osteotomy is completed. At the same time, the tooling is designed to ensure the position of the knife head and the robotic arm to improve the surgical accuracy.

[0113] Exemplarily, the grinding drill module 620 can be used for grinding drill osteotomy and can be controlled by a doctor control system.

[0114] Exemplarily, the bone holding module 630 can be used to clamp the operated bone during the osteotomy process, making the entire surgical procedure more controllable, more stable and safer.

[0115] Exemplarily, the blade clamping module 610 and the drill module 620 can be used on a robotic arm in a patient surgery system, and the bone holding module 630 can be used on a robotic arm in an auxiliary surgery system.

[0116] The above is only an example. It should be noted that the embodiment of the present application does not limit the type of end effector configured in the patient surgery system and the auxiliary surgery system, and it can be determined according to actual application requirements.

[0117] Optionally, the surgical robot system provided in the embodiment of the present application also includes: a surgical field imaging system communicatively connected to the doctor control system; the surgical field imaging system is used to capture 3D images of the surgical area and send the 3D images to the doctor control system.

[0118] Compared with the immersive display of traditional surgical robots, the 3D display function of the surgical field imaging system provided in the embodiment of the present application can display surgical information more intuitively and improve the accuracy of surgical operations. At the same time, the 3D image is displayed on the display screen in the doctor's control system, so that the operator does not need to keep his head down to operate, which can reduce the operator's stress.

[0119] Figure 7 This is a schematic diagram of the structure of the surgical field imaging system provided in the embodiment of the present application. Figure 7 As shown, the surgical field imaging system includes an external mirror 710, a cold light source 720, an external mirror host 730, a light source host 740 and a surgical field imaging system body 750.

[0120] Among them, the exoscope 710 can collect surgical site information, such as information about the surgical area, and output the collected information as a 3D image through the exoscope host 730, and further send the 3D image to the doctor control system to display it on the doctor control system.

[0121] Exemplarily, the external mirror host and the light source host are both arranged on the main body of the surgical field imaging system.

[0122] Exemplarily, a cold light source can be used as a supplementary light source for an image to improve image quality.

[0123] Optionally, the surgical robot system provided in the embodiment of the present application further includes: a navigation and positioning system communicatively connected to the patient surgical system and / or the auxiliary surgical system; the navigation and positioning system includes an optical positioning device and a display;

[0124] The navigation and positioning system is used to obtain the position information of the robotic arm in the patient's surgical system and / or auxiliary surgical system through optical positioning equipment and navigation tracers, and display the position information through a display to make the entire operation more accurate and improve the accuracy of surgical operations.

[0125] Figure 8 This is a schematic diagram of the structure of the navigation and positioning system provided in the embodiment of the present application. Figure 8 As shown, the navigation and positioning system includes an optical positioning device 810 , a display 820 , an electrical cabinet 830 and a navigation and positioning system body 840 .

[0126] Among them, the navigation positioning system locates the device equipped with the navigation tracer through the optical positioning device 810, and displays the surgical information and other contents to the on-site personnel through its own display 820, thereby improving the accuracy of the surgical operation.

[0127] Exemplarily, the optical positioning device is located at the top of the navigation and positioning system and can be used to position the patient's surgical system and auxiliary surgical system.

[0128] Exemplarily, the optical positioning device may be an optical positioning instrument.

[0129] Fig. 9 This is a schematic diagram of the structure of the navigation tracer provided in the embodiment of the present application. Fig. 9 As shown, the navigation tracer includes a photosensitive ball 910 and a navigation tracer frame 920 .

[0130] For example, the number of photosensitive balls may be four. Fig. 9 As shown in , four photosensitive balls can be respectively set on the four end points of the navigation tracer frame 920.

[0131] There is no limitation on the number of photosensitive balls in the navigation tracer provided in the embodiment of the present application, and the specific number can be determined according to actual application requirements.

[0132] Exemplarily, the position of the photosensitive ball can be remotely identified by an optical positioning device, so that the target point can be located to confirm the position and posture of the target point.

[0133] Exemplarily, a plurality of different photosensitive balls are arranged at the four end points and other different positions of the navigation tracer frame, and can display the position information of the patient's surgical system and / or the auxiliary surgical system.

[0134] Optionally, the doctor control system also includes a display screen and / or a foot control panel; wherein the display screen is used to display real-time information during the operation; the foot control panel is used to control the clutch reset of the main manipulator and the operation of the end effector based on the operator's foot operation.

[0135] Exemplarily, the display screen may include a 3D display screen and a sub-display screen, wherein the 3D display screen is used to display the 3D image sent by the surgical field imaging system, and the sub-display screen is used to display other real-time information during the operation.

[0136] Combine the following Fig.10 The doctor control system provided in the embodiment of the present application is described in detail.

[0137] Fig.10 This is a schematic diagram of the structure of the doctor control system provided in the embodiment of the present application. Fig.10 As shown, the doctor control system includes a 3D display screen 101 , a sub-display screen 102 , a foot control panel 103 , a left main operator 104 , a right main operator 105 and an armrest 106 .

[0138] The 3D display screen 101 is used to display the 3D image converted after the surgical field imaging system images it, so that the operator can understand the information of the target area such as the surgical area more intuitively.

[0139] The secondary display screen 102 is used to display real-time information of the operation, so that the operator can understand the on-site information at any time. At the same time, the secondary display screen 102 can also add a touch function to control some functions during the operation.

[0140] The foot control panel 103 can be extended and retracted forward and backward through the control button on the armrest 106 to adapt to the habits of different operators. For example, the main operator clutch reset, end effector operation and the like can be performed based on the operator's foot operation by releasing the pedal.

[0141] The left master manipulator 104 is used to control the robot arm in the assisted surgery system. Exemplarily, the master-slave control is achieved by mapping its own position to the corresponding robot arm.

[0142] The right master operator 105 is used to control the robot arm in the patient surgery system. Exemplarily, the master-slave control is achieved by mapping its own position to the corresponding robot arm.

[0143] A variety of different control buttons are arranged on the armrest 106, and different control buttons are used to control the machine switch, pedal extension and the like. At the same time, it is convenient for the operator to place his hands and optimize the operator experience.

[0144] Fig.11 Schematic diagram of the structure of the surgical robot system provided in the embodiment of the present application Figure 2 .like Fig.11 As shown, the surgical robot control system includes a doctor control system 110 , a patient surgical system 120 , an auxiliary surgical system 130 , a surgical field imaging system 140 , and a navigation and positioning system 150 .

[0145] The doctor control system 110 is respectively connected to the patient surgery system 120 , the auxiliary surgery system 130 and the surgical field imaging system 140 , and the navigation and positioning system 150 is connected to the patient surgery system 120 .

[0146] Among them, the doctor control system 110 is configured with two main operators for operator control, such as a left main operator and a right main operator. The main operator is an input device in the robot control system provided in the embodiment of the present application; the patient surgery system 120 is configured with a robotic arm (surgical arm) for operating the main surgical instruments, and its main surgical instruments, namely the end effectors, include active power devices such as a grinding drill or a super knife used for osteotomy; the auxiliary surgery system 130 is configured with a robotic arm (auxiliary arm) for operating bone-holding instruments; the surgical field imaging system 140 is configured with a 3D exoscopic mirror and an image processing device; the navigation and positioning system 150 is configured with an optical positioning device, a keyboard, a mouse and a display.

[0147] The specific functions and compositions of the components in the surgical robot system in this embodiment are similar to those described above and will not be repeated here.

[0148] Combine the following Fig.12 The master-slave control logic in the surgical robot system provided in the embodiment of the present application is described in detail.

[0149] It should be noted that in Fig.12 In the figure, the master hand represents the master manipulator, and the slave hand represents the robot arm.

[0150] Fig.12 Schematic diagram of the master-slave control architecture provided in the embodiment of the present application. Fig.12As shown, the master-slave control architecture includes a master end and a slave end separated by a dotted line. The master end includes a master hand, and an encoder and a driver corresponding to the master hand; the slave end includes a slave hand, and an encoder, a driver and a force sensor corresponding to the slave hand.

[0151] like Fig.12 As shown in , the master end also includes a registration module, which first obtains the posture relationship between the surgical field imaging system and the slave end tool from the navigation and positioning system, and then uses the registration algorithm to perform registration to obtain the master-slave registration posture relationship.

[0152] like Fig.12 As shown in , the master end also includes a master hand positive kinematics module. The position information of each joint is collected through the encoder of the master hand, and the collected position information of each joint is input into the master hand positive kinematics module to calculate the end position of the master hand at any time; the end position of the master hand and the master hand posture optimization matrix provided by the registration module are input into the master hand posture reconstruction module to reconstruct the master hand mapping posture; the master hand mapping posture is subjected to the coordinate transformation and scaling module to obtain the slave hand mapping posture; the slave hand mapping posture is optimized by the slave hand posture optimization module to obtain the slave hand reference posture; the slave hand joint position instruction is calculated according to the slave hand reference posture and the master hand input energy through the virtual slave hand module, and then the instruction is sent to the slave hand.

[0153] like Fig.12 As shown in , the slave end also includes a slave hand positive kinematics module. The slave hand positive kinematics module obtains the slave hand feedback posture of the virtual slave hand module through the slave hand joint instruction, and inputs the slave hand feedback posture into the slave hand posture reconstruction module to reconstruct the slave hand mapping posture; the slave hand mapping posture is obtained by the reverse coordinate transformation and scaling module to obtain the master hand mapping posture; the master hand mapping posture is optimized by the master hand posture optimization module to obtain the master hand reference posture; the master hand reference posture is input into the indirect force feedback calculation module to calculate the feedback force joint torque; then the feedback force joint torque is added to the dynamic compensation joint torque output by the master hand dynamics module of the master end to obtain the master hand joint torque instruction, and then the instruction is sent to the master hand.

[0154] like Fig.12 As shown in , the slave hand energy observer module is used to calculate the slave hand input energy, and the master hand energy observer module is used to calculate the master hand energy input. By comparing the slave hand input energy and the master hand input energy, it is determined whether the master hand mapping feedback force needs to be corrected. Among them, the master hand mapping feedback force is the feedback force output by the slave hand after being processed by the reverse coordinate transformation module.

[0155] In summary, the surgical robot system provided in each embodiment is described in detail below in conjunction with specific embodiments to implement spinal surgery using the surgical robot system.

[0156] The embodiment of the present application also provides a spinal surgery method using master-slave control. The specific implementation method of the spinal surgery method using master-slave control can be: before the start of the operation, the operator uses the medical host software to make preoperative plans for the surgical area and the osteotomy method; during the operation, the operator uses the doctor control system in combination with the 3D surgical field provided by the 3D imaging device in the surgical field imaging system, and operates the right master operator and the left master operator to remotely control the robotic arm and its end effector in the patient's surgical system, as well as the robotic arm and its end effector in the auxiliary surgical system, to complete the osteotomy operation. At the same time, during the operation, the operator can also control the end effectors of the robotic arm in the patient's surgical system and the robotic arm in the auxiliary system through the foot control panels with different functions in the doctor control system, such as starting and stopping the grinding drill, opening and closing the bone holding instrument, etc.

[0157] The following uses the drill as the end effector in the patient surgical system as an example to describe in detail the master-slave control spinal surgery method provided by the embodiment of the present application. The specific implementation method of the master-slave control spinal surgery method may include the following steps:

[0158] S1, the operator determines the initial positions of the robotic arms in the patient surgery system and the robotic arms in the auxiliary surgery system based on the medical host computer.

[0159] Illustratively, the initial position is generally located above the center of the surgical area of ​​the patient's spine.

[0160] S2, adjust the external mirror in the surgical field imaging system to the appropriate surgical field.

[0161] S3, by installing missing devices on the robotic arm in the patient's surgical system, the robotic arm in the auxiliary surgical system and the optical positioning device in the Donghang positioning system, the surgical robot system automatically determines the posture relationship between the robotic arm in the patient's surgical system, the robotic arm in the auxiliary surgical system and the exoscope.

[0162] S4, on the doctor control system side, select the required master-slave mapping ratio and grinding drill speed through the medical host computer, and enter the master-slave control mode after confirmation.

[0163] S5, waiting for the master device to connect to the slave device and complete the master-slave registration.

[0164] Exemplarily, the master device may be a doctor control system, and the slave device may be a patient surgery system and an auxiliary surgery system.

[0165] S6, completes the master-slave osteotomy operation based on the master operator and foot control panel in the doctor control system.

[0166] For example, during the master-slave osteotomy process, the operator can press the grip button at the end of the right master manipulator and move the right master manipulator to control the robotic arm in the patient surgical system, and at the same time can control the robotic arm in the auxiliary surgical system by pressing the grip button at the end of the left master manipulator and moving the left master manipulator.

[0167] For example, when the foot control panel is a drill pedal, the rotation and stop of the drill can be controlled by the drill pedal; when the foot control panel is an opening and closing pedal of a bone holding instrument, the opening and closing of the bone holding instrument can be controlled by the opening and closing pedal of the bone holding instrument.

[0168] For example, the operator can use the repositioning foot control panel to suspend the master-slave control and simultaneously move the master operator to any suitable position to suit the operator's operating habits.

[0169] For example, during the master-slave osteotomy process, if the drill at the end of the robotic arm in the patient surgical system contacts the patient or exceeds the working range specified before the operation, it will constrain the movement of the robotic arm in the patient surgical system and generate feedback force at the master manipulator end.

[0170] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A surgical robot system, characterized in that: include: A doctor control system, and a patient surgery system and an auxiliary surgery system respectively connected to the doctor control system in communication; the doctor control system comprises a main operator; the main operator comprises a left main operator and a right main operator; The doctor control system is used to obtain a first displacement input through the right main operator and / or a second displacement input through the left main operator, map the first displacement into a first instruction, and send the first instruction to the patient surgery system; map the second displacement into a second instruction, and send the second instruction to the auxiliary surgery system; It is also used to output the received force; The patient surgical system is configured to respond to the first instruction to drive a robotic arm in the patient surgical system to perform a surgical operation; and obtain a first force applied by the robotic arm in the patient surgical system during the surgical operation, and feed the first force back to the doctor control system; The auxiliary surgery system is used to respond to the second instruction to drive the robotic arm in the auxiliary surgery system to perform surgical operations; and to obtain the second force applied by the robotic arm of the auxiliary surgery system during the surgical operation, and to feed back the second force to the doctor control system.

2. The surgical robot system according to claim 1, characterized in that: The main operator includes a wrist control module and a base control module; The wrist control module is used to control the rotation of the main manipulator in the X-axis direction, the Y-axis direction and the Z-axis direction; The base control module is used to control the translation of the main manipulator in the X-axis direction, the Y-axis direction and the Z-axis direction.

3. The surgical robot system according to claim 2, characterized in that: The main manipulator is equipped with six joint axes, of which three joint axes are used to form the wrist control module, and the other three joint axes are used to form the base control module, and each of the joint axes is equipped with an electrically connected motor and an encoder; The motor is used to control the movement of the main operator and output feedback force; The encoder is used to read the position information of the joint axis in real time, and perform fitting processing on the position information corresponding to different joint axes to generate the first displacement or the second displacement.

4. The surgical robot system according to any one of claims 1 to 3, characterized in that: The patient surgical system also includes a first robotic arm base; The robotic arm in the patient surgical system is detachably mounted on the first robotic arm base; and / or; The assisted surgery system also includes a second robotic arm base; The robotic arm in the auxiliary surgery system can be detachably placed on the second robotic arm base.

5. The surgical robot system according to any one of claims 1 to 3, characterized in that: The robotic arm comprises an end effector, an end effector quick-change structure, a robotic arm body and a robotic arm quick-change structure connected in sequence; The end effector is used to perform surgical operations; The end effector quick-change structure is used to replace the end effector according to the surgical method.

6. The surgical robot system according to claim 5, characterized in that: The robot arm quick-change structure includes at least one of the following: a robot arm quick-change part, a navigation tracer installation part, and a bone connecting rod installation part; The mechanical arm quick-change part is used to replace the mechanical arm; The navigation tracer installation part is used to install the navigation tracer so as to obtain the position information of the robot arm through the navigation tracer; The bone connecting rod installation portion is used to install a bone connecting rod so as to connect the patient to the robotic arm through the bone connecting rod.

7. The surgical robot system according to claim 5, characterized in that: The robot arm body is equipped with a force sensor and a plurality of joint axes, and each of the joint axes is equipped with an encoder and a brake; The force sensor is used to obtain the force of the end effector; The encoder is used to read the position information of the robotic arm in real time; The holding brake is used to control the robotic arm to maintain a current position when the robotic arm is powered off.

8. The surgical robot system according to claim 5, characterized in that: The end effector includes one or more of a super-knife clamping module, a grinding drill module and a bone holding module.

9. The surgical robot system according to any one of claims 1 to 3, characterized in that: Also includes: A surgical field imaging system is communicatively connected to the doctor control system; the surgical field imaging system is used to acquire 3D images of the surgical area and send the 3D images to the doctor control system.

10. The surgical robot system according to any one of claims 1 to 3, characterized in that: Also includes: A navigation and positioning system communicatively connected to the patient surgical system and / or the auxiliary surgical system; The navigation and positioning system includes an optical positioning device and a display; The navigation and positioning system is used to obtain the position information of the robotic arm in the patient surgery system and / or the auxiliary surgery system through the optical positioning device and the navigation tracer, and display the position information through the display.

11. The surgical robot system according to any one of claims 1 to 3, characterized in that: The doctor control system further comprises a display screen and / or a foot control panel; The display screen is used to display real-time information during the operation; The foot control panel is used to control the clutch reset of the main operator and the operation of the end effector based on the operator's foot operation.

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