Surgical robot control system and method, main control trolley and surgical robot

Abstract

The invention provides a surgical robot control system and method, a main control trolley and a surgical robot, the control system comprises a controller and a button assembly, and the controller is in communication connection with the button assembly and at least one adjustment object; the button assembly is configured to be arranged at a preset position of the surgical robot so that an operator can input an adjustment object motion control instruction after determining a target adjustment object in the at least one adjustment object, and the adjustment object motion control instruction is transmitted to the controller. The adjustment object motion control instruction comprises target degree-of-freedom type information and target degree-of-freedom motion parameter information; and the controller is configured to control the target adjustment object to perform adjustment motion of the target degree of freedom according to an adjustment object motion control instruction. The multifunctional buttons are designed, so that the main control trolley, the seat and the operating bed can be controlled more conveniently, and the continuity of surgical operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a surgical robot control system, method, main control trolley and surgical robot. Background Art

[0002] Surgical robots are designed to perform complex surgical procedures with precision and minimally invasive procedures. They consist of a main control trolley and a patient trolley. The main control trolley, operated by the surgeon, generates and transmits necessary signals; the patient trolley receives these signals to perform the actual patient procedures. Furthermore, a master control arm is mounted on the main control trolley, allowing the surgeon to manipulate the movements of a robotic arm mounted on the patient trolley and the surgical instruments mounted on its end.

[0003] The surgical robot has a clutch function, which is generally achieved by a foot pedal. When the foot pedal is pressed, the slave end can stop following and adjust the position of the master control arm. In order to increase the continuity of the operation, existing technologies have added a clutch button to the main control arm's rotating joint. When the clutch button is turned, the master control arm can be directly adjusted. The manual dialing method is more convenient than stepping on the foot pedal. Although the improvement of this technology has increased the continuity of the operation and improved the operating experience, this technology can only achieve the clutch function through the button, and the function of improving the continuity of the operation is relatively simple. It cannot achieve the adjustment of the main control cart, seat, and operating table. The adjustment of the main control cart, seat, and operating table is relatively cumbersome, affecting the continuity of the operation.

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

[0005] The object of the present invention is to provide a surgical robot control system, method, main control trolley and surgical robot. By designing a multi-function button on the main control arm, at least one of the main control trolley, chair and operating table can be controlled more conveniently to improve the continuity of surgical operations.

[0006] To achieve the above-mentioned object, the present invention provides a surgical robot control system, the control system comprising a controller and a button assembly, the controller being communicatively connected to the button assembly and at least one adjustment object, the at least one adjustment object comprising at least one of a main control trolley, an operating table, and a chair;

[0007] The button assembly is configured to be set at a preset position of the surgical robot, so that the operator can input a motion control instruction for the adjustment object after determining a target adjustment object from the at least one adjustment object, and transmit the motion control instruction for the adjustment object to the controller. The preset position is a position that is convenient for the operator to operate and does not affect the operation. The motion control instruction for the adjustment object includes target degree of freedom type information and target degree of freedom motion parameter information;

[0008] The controller is configured to control the target adjustment object to perform adjustment movement of the target degree of freedom according to the adjustment object movement control instruction.

[0009] Optionally, the button component is further configured to allow the operator to input a target adjustment object determination instruction, and transmit the target adjustment object determination instruction to the controller, and the controller is configured to execute a corresponding target adjustment object control mode according to the target adjustment object determination instruction.

[0010] Optionally, the button component is also configured for the operator to input an adjustment trigger instruction and transmit the adjustment trigger instruction to the controller. The controller is configured to execute an adjustment object selection mode according to the adjustment trigger instruction so that the operator can input a target adjustment object determination instruction.

[0011] Optionally, the controller is configured to execute an adjustment object selection mode by displaying a selection interface for the adjustment object, so that the operator can input a target adjustment object determination instruction according to the selection interface and the button component.

[0012] Optionally, the control system also includes a microphone communicatively connected to the controller, the microphone being configured for an operator to input a target adjustment object determination instruction and transmit the target adjustment object determination instruction to the controller, the controller being configured to execute a corresponding target adjustment object control mode according to the target adjustment object determination instruction.

[0013] Optionally, the button assembly includes a button body and a displacement sensor, the button body includes a connected slider and an elastic pressing part, the slider can move back and forth along a first direction relative to a preset position of the surgical robot, and the elastic pressing part can move back and forth along a second direction relative to the slider, the first direction is perpendicular to the second direction, and the displacement sensor is used to detect the displacement information of the button body along the first direction.

[0014] Optionally, the control system also includes a guide rail configured to be set at a preset position of the surgical robot, the guide rail having a plurality of first positioning members spaced apart along the first direction, and the end of the slider close to the guide rail having a second positioning member matching the first positioning member.

[0015] Optionally, the displacement sensor includes an infrared emitting device provided on the slider and a plurality of infrared receiving devices provided in one-to-one correspondence with the first positioning members.

[0016] Optionally, the controller is further configured to send corresponding prompt information and / or warning information when controlling the target adjustment object to perform adjustment movement.

[0017] To achieve the above-mentioned objectives, the present invention further provides a method for controlling a surgical robot, wherein a button assembly is provided at a preset position of the surgical robot, the preset position being a position convenient for an operator to operate and not affecting the surgical procedure, the button assembly being configured for the operator to input motion control instructions for the adjustment object after determining a target adjustment object from among at least one adjustment object, the at least one adjustment object comprising at least one of a main control console trolley, an operating table, and a chair, the control method comprising:

[0018] receiving an adjustment object motion control instruction input by an operator, wherein the adjustment object motion control instruction includes target degree of freedom type information and target degree of freedom motion parameter information;

[0019] The target adjustment object is controlled to perform adjustment movement of the target degree of freedom according to the adjustment object movement control instruction.

[0020] In order to achieve the above-mentioned object, the present invention further provides a main control trolley, which includes the surgical robot control system described above.

[0021] In order to achieve the above-mentioned object, the present invention further provides a surgical robot, which includes the main control trolley described above.

[0022] Compared with the prior art, the surgical robot control system, method, main control trolley and surgical robot provided by the present invention have the following beneficial effects:

[0023] The surgical robot control system provided by the present invention includes a controller and a button assembly, the controller being communicatively connected to the button assembly and at least one adjustment object, the at least one adjustment object including at least one of a main control cart, an operating table, and a chair; the button assembly being configured to be disposed at a preset position of the surgical robot so that an operator can input a motion control instruction for the adjustment object after determining a target adjustment object from the at least one adjustment object, and transmit the motion control instruction for the adjustment object to the controller, the preset position being a position convenient for the operator to operate and not affecting the operation, the motion control instruction for the adjustment object including target degree of freedom type information and target degree of freedom motion parameter information; the controller being configured to control the target adjustment object to perform the adjustment motion of the target degree of freedom according to the motion control instruction for the adjustment object. Thus, the surgical robot control system provided by the present invention can enable the operator to directly control at least one of the main control cart, the chair, and the operating table through the button assembly, thereby improving the intuitiveness of the operation, simplifying the adjustment of the main control cart, the chair, and the operating table, improving the convenience of the operation, and allowing the operator to more conveniently perform adjustment operations on the main control cart, the chair, and the operating table, thereby improving the continuity of the surgical operation. In addition, the surgical robot control system provided by the present invention can increase the adjustment methods of the main control console trolley, chair, operating table and other equipment, thereby improving the fault tolerance of the equipment.

[0024] Since the surgical robot control method, main control trolley and surgical robot provided by the present invention belong to the same inventive concept as the surgical robot control system provided by the present invention, the surgical robot control method, main control trolley and surgical robot provided by the present invention have at least all the beneficial effects of the surgical robot control system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the surgical robot control system provided by the present invention in the above text. Therefore, the beneficial effects of the surgical robot control method, main control trolley and surgical robot provided by the present invention will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of an application scenario of a surgical robot provided by one embodiment of the present invention;

[0026] Figure 2 A schematic block diagram of a surgical robot control system according to one embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the installation position of a button assembly provided in one embodiment of the present invention;

[0028] Figure 4 A top view of a master control arm with a button assembly installed provided in accordance with one embodiment of the present invention;

[0029] Figure 5 A schematic diagram of adjusting the main control console vehicle provided in one embodiment of the present invention;

[0030] Figure 6 A schematic diagram of seat adjustment provided in one embodiment of the present invention;

[0031] Figure 7 A schematic diagram of adjusting the operating table provided in one embodiment of the present invention;

[0032] Figure 8 A schematic diagram of a degree of freedom adjustment process according to an embodiment of the present invention;

[0033] Figure 9 A schematic diagram of a trajectory following control algorithm flow chart provided in one embodiment of the present invention;

[0034] Figure 10 A schematic structural diagram of a button assembly provided in one embodiment of the present invention;

[0035] Figure 11 A schematic diagram of an adjustment object selection interface provided in one embodiment of the present invention;

[0036] Figure 12 A schematic diagram of the microphone installation position provided in one embodiment of the present invention;

[0037] Figure 13 A schematic diagram of the overall workflow of a surgical robot control system provided in one embodiment of the present invention;

[0038] Figure 14 A schematic flow chart of a surgical robot control method provided in one embodiment of the present invention;

[0039] Figure 15 A schematic block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following is a further detailed description of the surgical robot control system, method, main control trolley, surgical robot and electronic equipment proposed in the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose provided by the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification, so that people familiar with this technology can understand and read them, and are not used to limit the conditions for the implementation of the present invention. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention when the effect produced by the present invention and the purpose that can be achieved are the same or similar.

[0041] The core idea of ​​the present invention is to provide a surgical robot control system, method, main control trolley, surgical robot and electronic equipment. By designing a multi-function button on the main control arm, at least one of the main control trolley, chair and operating table can be controlled more conveniently to improve the continuity of the surgical operation. It should be noted that, as those skilled in the art will understand, with respect to the patient trolley end, the "end" referred to in this article refers to the end close to the lesion; with respect to the main control trolley end, the "end" referred to in this article refers to the end close to the operator. It should also be noted that, as those skilled in the art will understand, the electronic equipment provided by the present invention can be applied to the main control arm operation control system and the main control trolley provided by the present invention, and the electronic equipment can be a hardware device with various operating systems.

[0042] For ease of understanding, before introducing the master control arm operation control system, method, master control trolley and surgical robot provided by the present invention, the application scenarios of the surgical robot are briefly described. Figure 1 , which is a schematic diagram of an application scenario of a surgical robot provided by an embodiment of the present invention. Figure 1As shown, the surgical robot includes a main control trolley 100 and a patient trolley 200. The main control trolley 100 is equipped with a master control arm 110. The patient trolley 200 has at least one robotic arm 210, on which surgical instruments 220 and an endoscope (not shown) can be mounted. An operator (e.g., a surgeon) sits in a chair 600 located in front of the main control trolley 100 and remotely controls the master control arm 110 on the main control trolley 100 to perform minimally invasive surgery on a patient on an operating table 500. The master control arm 110, the robotic arm 210, the surgical instruments 220, and the endoscope form a master-slave control relationship. Specifically, during surgery, the robotic arm 210 and surgical instruments 220 move according to the movements of the master control arm 110, that is, according to the operator's hand movements. Furthermore, the master control arm 110 receives information about the forces exerted by human tissues and organs on the surgical instruments 220 and feeds it back to the operator's hand, allowing the operator to more intuitively experience the surgical operation. The main control cart 100 includes a first display device 120, which is communicatively connected to the endoscope mounted on the robotic arm 210 of the patient cart 200 and capable of receiving and displaying images captured by the endoscope. The operator controls the movement of the robotic arm 210 and surgical instruments 220 via the main control arm 110 based on the images displayed on the first display device 120 on the main control cart 100. The endoscope and surgical instruments 220 can each be inserted through an incision or natural opening in the patient's body to access the lesion.

[0043] Please continue to refer to Figure 1 ,like Figure 1 As shown, the main control vehicle 100 includes two main control arms 110. The two main control arms 110 are connected by their end joints (see Figure 3 ) detects the operator's hand motion information as the motion control input of the entire surgical robot.

[0044] Please continue to refer to Figure 1 ,like Figure 1 As shown, the surgical robot also includes an imaging trolley 300. The images of the patient's internal body scene captured by the endoscope (specifically including information such as human tissues and organs, surgical instruments 220, blood vessels, and body fluids) can be transmitted to the second display device 310 of the imaging trolley 300 for display.

[0045] To realize the above idea, the present invention provides a surgical robot control system, please refer to Figures 2 to 4 ,in, Figure 2 A schematic block diagram of a surgical robot control system according to one embodiment of the present invention; Figure 3 A schematic diagram of the installation position of the button assembly 420 provided in one embodiment of the present invention; Figure 4FIG. 1 is a top view of a master control arm 110 with a button assembly 420 installed, provided in accordance with an embodiment of the present invention. Figures 2 to 4 As shown, the surgical robot control system provided by the present invention includes a controller 410 and a button assembly 420, and the controller 410 is communicatively connected with the button assembly 420 and at least one adjustment object, and the at least one adjustment object includes at least one of the main control cart 100, the operating table 500 and the chair 600; the button assembly 420 is configured to be set at a preset position of the surgical robot, and the preset position is a position that is convenient for the operator to operate and does not affect the operation, so that the operator can input the adjustment object motion control instruction after determining the target adjustment object among the at least one adjustment object, and transmit the adjustment object motion control instruction to the controller 410, and the adjustment object motion control instruction includes target degree of freedom type information and target degree of freedom motion parameter information; the controller 410 is configured to control the target adjustment object to perform the adjustment movement of the target degree of freedom according to the adjustment object motion control instruction.

[0046] Thus, the surgical robot control system provided by the present invention enables the operator to directly control at least one of the main control trolley 100, chair 600, and operating table 500 through the button assembly 420, thereby improving the intuitiveness of operation, simplifying the adjustment of the main control trolley 100, chair 600, and operating table 500, and improving the convenience of surgery. The operator can more conveniently adjust the main control trolley 100, chair 600, and operating table 500, thereby improving the continuity of surgical operations. In addition, the surgical robot control system provided by the present invention can increase the adjustment methods of equipment such as the main control trolley 100, chair 600, and operating table 500, thereby improving the fault tolerance of the equipment.

[0047] It should be noted that, as those skilled in the art will appreciate, the controller 410 may be provided within the main control vehicle 100 or separately, and the present invention is not limited thereto. It should also be noted that, as those skilled in the art will appreciate, "target degree of freedom motion parameter information" includes motion amount information and motion direction information of the target degree of freedom of the target adjustment object.

[0048] In some exemplary embodiments, the preset position is located on the master control arm 110 of the surgical robot's main control trolley 100 (the preset position may be, but is not limited to, the location of the distal end joint 111 of the master control arm 110). Thus, by disposing the button assembly 420 on the master control arm 110, the operator can adjust the main control trolley 100, chair 600, and operating table 500 without having to remove their head or hands from the master control arm 110, thereby further improving the continuity of surgical operations.

[0049] It should be noted that, as those skilled in the art can understand, the preset position can also be other positions of the surgical robot that are convenient for operation. For example, the preset position can be set at the armrest of the main control trolley 100, the first display device 120 or other positions. It can be set specifically according to actual conditions, and the present invention is not limited to this.

[0050] Please continue to refer to 5, which is a schematic diagram of adjusting the main control vehicle 100 provided by an embodiment of the present invention. Figure 5 As shown, the adjustable degrees of freedom of the main control vehicle 100 include the pitch degree of freedom and the up-down degree of freedom. By adjusting the up-down degree of freedom, the height of the armrest, the main control arm 110 and the first display device 120 on the main control vehicle 100 can be adjusted. By adjusting the pitch degree of freedom, the angle of the first display device 120 on the main control vehicle 100 can be adjusted. Please continue to refer to Figure 6 , which is a schematic diagram of adjusting the seat 600 provided by one embodiment of the present invention. Figure 6 As shown, the adjustable degrees of freedom of the seat 600 include the yaw degree of freedom and the up-down degree of freedom. By adjusting the up-down degree of freedom, the height of the seat 600 can be adjusted. By adjusting the yaw degree of freedom, the inclination angle of the seat back 600 can be adjusted. Figure 7 , which is a schematic diagram of adjusting the operating table 500 provided in one embodiment of the present invention. Figure 7 As shown, the adjustable degrees of freedom of the operating table 500 include forward and backward degrees of freedom, vertical degrees of freedom, yaw degrees of freedom, and pitch degrees of freedom. After the operator determines the target adjustment object, he or she can first use button assembly 420 to determine the type of target degree of freedom of the target adjustment object (e.g., pitch degree of freedom, vertical degree of freedom, forward and backward degrees of freedom, or yaw degree of freedom), and then use button assembly 420 to determine the relevant motion parameters of the target degree of freedom of the target adjustment object (including motion amount and motion direction).

[0051] In some exemplary embodiments, the controller 410 is configured to plan a motion trajectory based on the target degree of freedom motion parameter information, and control the target adjustment object to adjust the target degree of freedom according to the planned motion trajectory. Thus, by first planning the motion trajectory and then controlling the target degree of freedom adjustment movement according to the planned motion trajectory, continuous adjustment can be achieved, ensuring adjustment accuracy, thereby better implementing adjustment operations for the main control trolley 100, chair 600, and operating table 500.

[0052] Please continue to refer to Figure 8 , which is a schematic diagram of the degree of freedom adjustment process provided by one embodiment of the present invention. Figure 8As shown, each time a degree of freedom is adjusted, the operator can first select the target degree of freedom through the button component 420, and then input the target degree of freedom motion parameters through the button component 420. The controller 410 then plans the motion trajectory based on the received target degree of freedom motion parameters to generate the desired motion trajectory. The controller 410 then controls the corresponding joint driver to follow the trajectory, and drives the motor to drive the target degree of freedom to reach the desired motion trajectory to follow into place.

[0053] Furthermore, the controller 410 is configured to control the target adjustment object to perform the adjustment movement of the target degree of freedom by adopting a closed-loop control method. Figure 9 As shown, which is a flow chart of the trajectory following control algorithm provided by one embodiment of the present invention), the adjustment movement of the control degree of freedom can ensure that the output control torque will make the measured position (i.e., the actual position) closer to the desired position, thereby further improving the adjustment accuracy of the main control trolley 100, the chair 600, and the operating table 500.

[0054] Specifically, the specific implementation process of the closed-loop control method is shown in the following formula:

[0055]

[0056]

[0057] Among them, S is the control signal, K is the control gain, B is the parameter update rate, and v is the relationship between error and update rate. The larger the update rate, the greater the impact of error on the parameter. e is the expected position, p f is the feedback position measurement value, e max is the maximum error, e min is the minimum error.

[0058] Please continue to refer to Figure 10 , which is a structural diagram of a button assembly 420 provided in one embodiment of the present invention. Figure 10As shown, in some exemplary embodiments, the button assembly 420 includes a button body 421 and a displacement sensor 422, the button body 421 includes a connected slider 4211 and an elastic pressing portion 4212, the slider 4211 can reciprocate along a first direction relative to a preset position of the surgical robot (for example, at the main control arm 110), the elastic pressing portion 4212 can reciprocate along a second direction relative to the slider 4211, the first direction is perpendicular to the second direction, and the displacement sensor 422 is used to detect the displacement information of the button body 421 along the first direction and transmit the displacement information to the controller 410. Thus, by configuring the button body 421 of the button assembly 420 to include a slider 4211 that can move in a first direction and an elastic pressing portion 4212 that can move in a second direction, the button body 421 can be provided with two gestures: forward and backward (first direction) toggling and upward and downward (second direction) pressing. This allows the button assembly 420 to provide both a push signal and a toggle signal, thereby making it easier for the operator to input, through the button assembly 420, an adjustment object motion control instruction including target degree of freedom type information and target degree of freedom motion parameter information of the target adjustment object. It should be noted that, as will be understood by those skilled in the art, when the operator's hand leaves the elastic pressing portion 4212, the elastic pressing portion 4212 can return to its original state.

[0059] Specifically, the operator can confirm the target degree of freedom type of the target adjustment object by pressing the elastic pressing portion 4212 and control the target degree of freedom motion parameters by moving the slider 4211. The controller 410 can determine the target degree of freedom motion parameters based on the displacement (including the movement distance and movement direction) of the slider 4211 along the first direction. Furthermore, the operator can first move the button body 421 along the first direction to the position corresponding to the desired degree of freedom (i.e., target degree of freedom) according to a pre-set rule (one position each for the pitch degree of freedom, the up-down degree of freedom, the fore-aft degree of freedom, and the yaw degree of freedom), and then confirm the target degree of freedom type of the adjustment object by pressing the elastic pressing portion 4212. Furthermore, when the master control vehicle 100 includes two master control arms 110, the operator can confirm the target degree of freedom type of the target adjustment object using the button assembly 420 on one master control arm 110 and control the target degree of freedom motion parameters of the target adjustment object using the button assembly 420 on the other master control arm 110.

[0060] Preferably, in order to facilitate operation, the initial position of the button body 421 can be set at the middle position of the guide rail 430, so that the operator can slide the control slider 4211 along different sides of the guide rail 430 to simultaneously input the movement amount and movement direction of the target degree of freedom.

[0061] Furthermore, the elastic pressing portion 4212 can be an elastic pressing switch. This configuration not only ensures that the elastic pressing portion 4212 can provide a downward pressure signal, allowing the controller 410 to accurately identify whether the operator has triggered a pressing gesture, but also simplifies the overall structure of the button assembly 420, reducing the production cost of the button assembly 420. It should be noted that, as will be understood by those skilled in the art, the elastic pressing portion 4212 is set to off when not pressed, and is set to on when pressed.

[0062] Please continue to refer to Figure 10 ,like Figure 10 As shown, in some exemplary embodiments, the control system further includes a guide rail 430 configured to be arranged at a preset position of the surgical robot (for example, at the main control arm 110), and the guide rail 430 has a plurality of first positioning members 431 spaced apart along the first direction, and the end of the slider 4211 close to the guide rail 430 has a second positioning member 42111 that matches the first positioning member 431. Thus, by providing the guide rail 430 on the main control arm 110, it can be ensured that the slider 4211 can reciprocate along the guide rail 430, thereby making it easier to operate. In addition, by providing a plurality of first positioning members 431 on the guide rail 430 and a second positioning member 42111 on the slider 4211, it can be facilitated to guide the operator to slide the button body 421 to the specified position, so as to better guide the operator to complete the input of the corresponding instructions. It should be noted that, as can be understood by those skilled in the art, the axial direction of the guide rail 430 is provided along the first direction. It should also be noted that although Figure 10 The description is made by taking the example of four first positioning members 431 provided on the guide rail 430, but as those skilled in the art can understand, this does not constitute a limitation to the present invention, and the specific number of the first positioning members 431 can be set according to the specific situation. For example, the number of the first positioning members 431 can also be 2, 3, 5 or more, which can be set according to actual needs.

[0063] Further, if Figure 10As shown, the first positioning member 431 is approximately a hemispherical slot structure, and the second positioning member 42111 is a hemispherical block structure. Thus, when the second positioning member 42111 on the slider 4211 is inserted into a first positioning member 431 on the guide rail 430, a sense of jamming will be generated, so that the operator can intuitively perceive that the button body 421 has moved to the corresponding designated position. In addition, by setting the first positioning member 431 to be approximately a hemispherical slot structure and the second positioning member 42111 to be approximately a hemispherical block structure, not only can the second positioning member 42111 be smoothly inserted into the first positioning member 431, but also the second positioning member 42111 will not fall out of the first positioning member 431 when there is no external force, thereby effectively preventing misoperation.

[0064] In some exemplary embodiments, the displacement sensor 422 includes an infrared emitting device 4221 provided on the slider 4211 and a plurality of infrared receiving devices 4222 provided in one-to-one correspondence with the first positioning member 431. Thus, the controller 410 can directly identify whether the button body 421 has moved to the specified position based on the infrared signal received by the infrared receiving device 4222, which is more convenient for operation. It should be noted that, as those skilled in the art will understand, the infrared receiving device 4222 is set to off when it does not receive an infrared signal, and is set to on when the infrared receiving device 4222 receives an infrared signal. It should be noted that, as those skilled in the art will understand, the displacement sensor 422 can also be other types of sensors capable of measuring displacement in addition to infrared sensors. For details, reference can be made to relevant technologies known to those skilled in the art, which will not be elaborated here.

[0065] In some exemplary embodiments, the button assembly 420 is further configured to allow the operator to input an adjustment trigger instruction and transmit the adjustment trigger instruction to the controller 410. The controller 410 is configured to execute an adjustment object selection mode according to the adjustment trigger instruction so that the operator can input a target adjustment object determination instruction. Specifically, the operator can input the adjustment trigger instruction by pressing the button assembly 420 (specifically the elastic pressing portion 4212) for a long time. After receiving the adjustment trigger instruction and identifying that an adjustment action is required, the controller 410 triggers the adjustment object selection (i.e., executes the adjustment object selection mode) so that the operator can select the target adjustment object. It should be noted that, as can be understood by those skilled in the art, in some other embodiments, the operator can also input the adjustment trigger instruction by voice, virtual interactive button or other input method.

[0066] In some exemplary embodiments, the controller 410 is configured to execute an adjustment object selection mode by displaying an adjustment object selection interface, so that the operator can input a target adjustment object determination instruction according to the selection interface and the button component 420. Figure 11 , which is a schematic diagram of an adjustment object selection interface provided by an embodiment of the present invention. Figure 11 As shown, the adjustment object selection interface displays icons of various adjustment objects, and the operator can input a target adjustment object determination instruction by selecting the icon of the adjustment object to be adjusted.

[0067] In some exemplary embodiments, the button assembly 420 is further configured to allow the operator to input a target adjustment object determination instruction, and transmit the target adjustment object determination instruction to the controller 410. The controller 410 is configured to execute the corresponding target adjustment object control mode according to the target adjustment object determination instruction. Specifically, in some embodiments, the operator can first move the button body 421 to the corresponding designated position (the main control trolley 100, the chair 600, and the operating table 500 each correspond to a designated position), and then press the elastic pressing portion 4212 downward to confirm, so as to complete the input of the target adjustment object determination instruction. For example, Figure 10 As shown, assuming that the main control trolley 100 corresponds to the position of the first positioning member 431 on the far left, the operator can first move the button body 421 to the position of the first positioning member 431 on the far left, and then press the elastic pressing portion 4212 downward to select the main control trolley 100 as the adjustment object to be adjusted (i.e., the target adjustment object). In other embodiments, the operator can also select the interface based on the adjustment objects appearing in the field of view (e.g., the main control trolley 100, the chair 600, the operating table 500), scroll through the target adjustment objects by briefly pressing the elastic pressing portion 4212, and lock the target adjustment object (i.e., confirm) by pressing the elastic pressing portion 4212 again for a longer period of time. It should be noted that, as will be understood by those skilled in the art, after the controller 410 enters the corresponding target adjustment object control mode according to the target adjustment object determination instruction, it can control the target adjustment object to perform corresponding movements according to the adjustment object motion control instruction subsequently received.

[0068] Please continue to refer to Figure 2 ,like Figure 2As shown, in some exemplary embodiments, the surgical robot control system further includes a microphone 440 communicatively connected to the controller 410, the microphone 440 being configured for the operator to input a target adjustment object determination instruction, and transmitting the target adjustment object determination instruction to the controller 410, the controller 410 being configured to execute a corresponding target adjustment object control mode according to the target adjustment object determination instruction. Specifically, after the operator inputs an adjustment trigger instruction by pressing the button assembly 420 (specifically the elastic pressing portion 4212) for a long time, the controller 410 enters an adjustment object selection mode waiting for voice input of an adjustment object, so that the operator can input the adjustment object (i.e., the target adjustment object) that he wants to adjust through the microphone 440 to complete the input of the target adjustment object determination instruction.

[0069] Please continue to refer to Figure 12 , which is a schematic diagram of the installation position of the microphone 440 provided in one embodiment of the present invention. Figure 12 As shown, in some exemplary embodiments, the microphone 440 can be mounted on the first display device 120 of the main control cart 100. Thus, by mounting the microphone 440 on the first display device 120 of the main control cart 100, the microphone 440 can accurately capture sound signals, further improving the control effect of the surgical robot control system provided by the present invention. It should be noted that, as will be understood by those skilled in the art, the present invention does not limit the specific mounting position of the microphone 440 on the first display device 120, and the specific mounting position can be set according to actual circumstances.

[0070] In some exemplary embodiments, the controller 410 is further configured to send corresponding prompt information and / or warning information when controlling the target adjustment object to perform an adjustment movement. Thus, the prompt information can be used to easily inform other people of the relevant information of the adjustment movement currently being performed; the warning information can be used to inform other people that active adjustments are currently being performed.

[0071] Specifically, the prompt information issued by the controller 410 may be displayed on the second display device 310 of the imaging cart 300, but is not limited to displaying the prompt information. The prompt information may include, but is not limited to, the adjustment object. Furthermore, the controller 410 may issue an audible or visual alarm. Furthermore, the controller 410 is configured to send an alarm information to the patient cart 200 to control the patient cart 200 to issue an audible or visual alarm.

[0072] Please continue to refer to Figure 1 and Figure 2 ,like Figure 1 and Figure 2As shown, in some exemplary embodiments, the surgical robot control system further includes a warning light 450 and a buzzer 460 that are communicatively connected to the controller 410. The warning light 450 and the buzzer 460 are disposed on the patient cart 200. Thus, the warning light 450 can provide a light warning, and the buzzer 460 can provide an audible warning.

[0073] Furthermore, the controller 410 is also configured to control the prompt light 450 to emit different colors of light according to different system states. Therefore, this setting can make it easier for other personnel to know what kind of adjustment is currently being made. Specifically, please refer to Table 1, which shows the correspondence between the color of the prompt light 450 and the system state. Among them, the slave device adjustment state means that the target degree of freedom of the operating table 500 is currently being adjusted; the master device adjustment state means that the target degree of freedom of the chair 600 or the main control trolley 100 is currently being adjusted; the normal operation of the system means that the main control trolley 100, the operating table 500 and the chair 600 are not currently being adjusted; the ignorable alarm means that the alarm of the buzzer 460 can be ignored.

[0074] Table 1 Correspondence between the color of the warning light and the system status

[0075] Tip light System Status Green light is always on The system is working normally White light flashing Adjust the status of the slave device Solid white light The master device is in adjustment state Solid blue light Ignore the warning

[0076] It should be noted that, as those skilled in the art will appreciate, the correspondence between the color of the indicator light 450 and the system status shown in Table 1 is merely illustrative and does not constitute a limitation of the present invention. During specific use, the corresponding relationship can be arbitrarily set. It should also be noted that, as those skilled in the art will appreciate, the present invention does not limit the specific installation position of the indicator light 450 on the patient cart 200. The indicator light 450 can be, but is not limited to, installed at the top of the tool arm of the robotic arm 210, and the buzzer 460 can be, but is not limited to, installed at the bottom of the base 230 of the patient cart 200.

[0077] Please continue to refer to Figure 13 , which is a schematic diagram of the overall workflow of the surgical robot control system provided by one embodiment of the present invention. Figure 13As shown, the doctor (operator) can start the adjustment action by triggering the button component 420 (for example, pressing the elastic pressing part 4212 for a long time); after the controller 410 recognizes that an adjustment action is required, it triggers the adjustment object selection mode, so that the doctor (operator) can select a target adjustment object from multiple adjustment objects such as the main control cart 100, the chair 600, the operating table 500, etc.; after the doctor (operator) determines the target adjustment object, the controller 410 executes the adjustment logic (that is, the controller 410 triggers the adjustment object control mode), which can instruct and guide the doctor (operator) to adjust the corresponding degree of freedom of the target adjustment object; during the adjustment process, image prompts and sound and light alarms will be given, and at the same time, the controller 410 plans the motion trajectory according to the target degree of freedom motion parameters input by the doctor (operator) to control the target adjustment object to perform the adjustment movement of the target degree of freedom (that is, target adjustment object response control); after completing the adjustment action of the target adjustment object, the doctor (operator) can trigger the button component 420 again (for example, pressing the elastic pressing part 4212 for a long time) to exit the adjustment action and end the adjustment.

[0078] Based on the same inventive concept, the present invention also provides a method for controlling a surgical robot, wherein a button assembly 420 is provided at a preset position of the surgical robot, the preset position being a position that is convenient for the operator to operate and does not affect the operation, and the button assembly 420 is configured to allow the operator to input a motion control instruction for the adjustment object after determining a target adjustment object among the at least one adjustment object, the at least one adjustment object including at least one of the main control trolley 100, the operating table 500 and the chair 600. Please continue to refer to Figure 14 , which is a flow chart of a surgical robot control method provided by one embodiment of the present invention. Figure 14 As shown, the surgical robot control method provided by the present invention includes the following steps:

[0079] Step S100: receiving an adjustment object motion control instruction input by an operator, wherein the adjustment object motion control instruction includes target degree of freedom type information and target degree of freedom motion parameter information.

[0080] Step S200: controlling the target adjustment object to perform adjustment movement of the target degree of freedom according to the adjustment object movement control instruction.

[0081] Thus, the surgical robot control method provided by the present invention enables the operator to directly control at least one of the main control trolley 100, chair 600, and operating table 500 through the button assembly 420, thereby improving the intuitiveness of operation, simplifying the adjustment of the main control trolley 100, chair 600, and operating table 500, and improving the convenience of surgery. The operator can more conveniently adjust the main control trolley 100, chair 600, and operating table 500, thereby improving the continuity of surgical operations. In addition, the surgical robot control method provided by the present invention can increase the adjustment methods of equipment such as the main control trolley 100, chair 600, and operating table 500, thereby improving the fault tolerance of the equipment.

[0082] In some exemplary embodiments, before receiving the object motion adjustment control instruction input by the operator, the surgical robot control method further includes the following steps:

[0083] receiving a target adjustment object determination instruction input by an operator;

[0084] According to the target adjustment object determination instruction, a corresponding target adjustment object control mode is executed.

[0085] Specifically, for details on how the operator inputs the target adjustment object determination instruction, please refer to the relevant content above, which will not be repeated here.

[0086] In some exemplary embodiments, before receiving the target adjustment object determination instruction input by the operator, the surgical robot control method further includes the following steps:

[0087] receiving an adjustment trigger instruction input by an operator;

[0088] According to the adjustment trigger instruction, an adjustment object selection mode is executed to enable the operator to input a target adjustment object determination instruction.

[0089] Specifically, for details on how the operator inputs the adjustment trigger instruction, please refer to the relevant content above, which will not be repeated here.

[0090] In some exemplary embodiments, executing an adjustment object selection mode according to the adjustment trigger instruction so that the operator can input a target adjustment object determination instruction includes:

[0091] The adjustment object selection mode is executed by displaying an adjustment object selection interface, so that the operator can input a target adjustment object determination instruction according to the selection interface and the button component 420 .

[0092] Specifically, for details on how the operator inputs the target adjustment object determination instruction according to the selection interface and the button component 420 , reference may be made to the relevant content above, which will not be elaborated here.

[0093] In some exemplary embodiments, the surgical robot control method further includes the following steps:

[0094] When controlling the target adjustment object to perform adjustment movement, corresponding prompt information and / or warning information is sent.

[0095] Specifically, for details on how to issue prompts and alarms, please refer to the relevant content above and will not be repeated here.

[0096] In order to realize the above-mentioned idea, the present invention also provides a main control trolley 100, and the main control trolley 100 includes the surgical robot control system described above. Since the main control trolley 100 provided by the present invention includes the surgical robot control system provided by the present invention, the main control trolley 100 provided by the present invention at least has the beneficial effects of the surgical robot control system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the surgical robot control system provided by the present invention above, so the beneficial effects of the main control trolley 100 provided by the present invention will not be repeated here. It should be noted that, as those skilled in the art can understand, more details about the main control trolley 100 provided by the present invention can be referred to the relevant description of the main control trolley 100 above, and will not be repeated here.

[0097] In order to realize the above ideas, the present invention also provides a surgical robot, which includes the main control trolley 100 described above. Since the surgical robot provided by the present invention includes the main control trolley 100 provided by the present invention, and the main control trolley 100 provided by the present invention includes the surgical robot control system provided by the present invention, the surgical robot provided by the present invention also has at least the beneficial effects of the surgical robot control system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the surgical robot control system provided by the present invention above, so the beneficial effects of the surgical robot provided by the present invention will not be repeated here. It should be noted that, as those skilled in the art can understand, more content about the surgical robot provided by the present invention can refer to the relevant description of the surgical robot above, and will not be repeated here.

[0098] Based on the same inventive concept, the present invention also provides an electronic device, please refer to Figure 15 , which is a block diagram of an electronic device provided by one embodiment of the present invention. Figure 15As shown, the electronic device provided by the present invention includes a processor 710 and a memory 730. The memory 730 stores a computer program. When the computer program is executed by the processor 710, it implements the surgical robot control method described above. Since the electronic device provided by the present invention and the surgical robot control method provided by the present invention belong to the same inventive concept, the electronic device provided by the present invention at least has all the advantages of the surgical robot control method provided by the present invention. Specifically, the beneficial effects of the surgical robot control method provided by the present invention can be referred to above. Therefore, the beneficial effects of the electronic device provided by the present invention will not be described here.

[0099] like Figure 15 As shown, the electronic device further includes a communication interface 720 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other via the communication bus 740. The communication bus 740 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 740 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or one type of bus. The communication interface 720 is used for communication between the above-mentioned electronic device and other devices.

[0100] The processor 710 referred to in the present invention may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor 710 is the control center of the electronic device, connecting various parts of the entire electronic device using various interfaces and lines.

[0101] The memory 730 may be used to store the computer program. The processor 710 implements various functions of the electronic device by running or executing the computer program stored in the memory 730 and calling the data stored in the memory 730.

[0102] The memory 730 may include nonvolatile and / or volatile memory. Nonvolatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0103] In summary, compared with the prior art, the surgical robot control system, method, main control trolley 100, and surgical robot provided by the present invention have the following beneficial effects:

[0104] The present invention provides a button assembly 420 on the master control arm 110 of the main control trolley 100, allowing the operator to directly control at least one of the main control trolley 100, the chair 600, and the operating table 500 through the button assembly 420. This improves intuitive operation, simplifies adjustment of the main control trolley 100, the chair 600, and the operating table 500, and enhances surgical convenience. The operator can more conveniently adjust the main control trolley 100, the chair 600, and the operating table 500, thereby improving the continuity of surgical operations. Furthermore, the button assembly 420 increases the number of adjustment methods for the main control trolley 100, the chair 600, the operating table 500, and other equipment, thereby improving the equipment's fault tolerance.

[0105] It should be noted that the computer program code for performing the operations of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0106] It should be noted that the devices and methods disclosed in the embodiments of this document may also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the devices, methods, and computer program products according to the various embodiments of this document. In this regard, each box in the flowchart or block diagram may represent a module, program, or portion of code, wherein the module, program segment, or portion of code contains one or more executable instructions for implementing a specified logical function, and the module, program segment, or portion of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in each embodiment of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0107] It should also be noted that the above description is merely a description of preferred embodiments of the present invention and does not limit the scope of the present invention. Any changes or modifications made by persons skilled in the art based on the above disclosure are within the scope of protection of the present invention. Obviously, various modifications and variations may be made by persons skilled in the art without departing from the spirit and scope of the present invention. Thus, provided such modifications and variations fall within the scope of the present invention and its equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A surgical robot control system, characterized in that: The control system includes a controller and a button assembly, wherein the controller is in communication with the button assembly and at least one adjustment object, wherein the at least one adjustment object includes at least one of a main control trolley, an operating table, and a chair; The button assembly is configured to be set at a preset position of the surgical robot, so that the operator can input the adjustment object motion control instruction after determining the target adjustment object from the at least one adjustment object, and transmit the adjustment object motion control instruction to the controller, the preset position is a position that is convenient for the operator to operate and does not affect the operation, and the adjustment object motion control instruction includes target degree of freedom type information and target degree of freedom motion parameter information; The controller is configured to control the target adjustment object to perform adjustment movement of the target degree of freedom according to the adjustment object movement control instruction.

2. The surgical robot control system according to claim 1, characterized in that: The button assembly is also configured to allow the operator to input a target adjustment object determination instruction, and transmit the target adjustment object determination instruction to the controller, and the controller is configured to execute a corresponding target adjustment object control mode according to the target adjustment object determination instruction.

3. The surgical robot control system according to claim 1, characterized in that: The button assembly is also configured to allow the operator to input an adjustment trigger instruction and transmit the adjustment trigger instruction to the controller. The controller is configured to execute an adjustment object selection mode according to the adjustment trigger instruction so that the operator can input a target adjustment object determination instruction.

4. The surgical robot control system according to claim 3, characterized in that: The controller is configured to execute an adjustment object selection mode by displaying a selection interface for the adjustment object, so that an operator can input a target adjustment object determination instruction according to the selection interface and the button assembly.

5. The surgical robot control system according to claim 1, characterized in that: The control system also includes a microphone communicatively connected to the controller, the microphone being configured for an operator to input a target adjustment object determination instruction and transmit the target adjustment object determination instruction to the controller, the controller being configured to execute a corresponding target adjustment object control mode according to the target adjustment object determination instruction.

6. The surgical robot control system according to claim 1, characterized in that: The button assembly includes a button body and a displacement sensor. The button body includes a connected slider and an elastic pressing portion. The slider can reciprocate along a first direction relative to a preset position of the surgical robot. The elastic pressing portion can reciprocate along a second direction relative to the slider. The first direction is perpendicular to the second direction. The displacement sensor is used to detect the displacement information of the button body along the first direction.

7. The surgical robot control system according to claim 6, characterized in that: The control system also includes a guide rail configured to be set at a preset position of the surgical robot, the guide rail has a plurality of first positioning members spaced apart along the first direction, and the end of the slider close to the guide rail has a second positioning member matching the first positioning member.

8. The surgical robot control system according to claim 1, characterized in that: The controller is further configured to send corresponding prompt information and / or warning information when controlling the target adjustment object to perform an adjustment movement.

9. A surgical robot control method, characterized in that: A button assembly is provided at a preset position of the surgical robot, the preset position is a position that is convenient for the operator to operate and does not affect the operation, the button assembly is configured for the operator to input a motion control instruction of the adjustment object after determining a target adjustment object from at least one adjustment object, the at least one adjustment object includes at least one of a main control console trolley, an operating table and a chair, and the control method includes: receiving an adjustment object motion control instruction input by an operator, wherein the adjustment object motion control instruction includes target degree of freedom type information and target degree of freedom motion parameter information; The target adjustment object is controlled to perform adjustment movement of the target degree of freedom according to the adjustment object movement control instruction.

10. A main control vehicle, characterized in that: A surgical robot control system comprising any one of claims 1 to 8.

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