Surgical robotic control system, method, master console cart, and surgical robot

Abstract

The application provides a surgical robot control system, method, master control console vehicle and surgical robot, the control system comprising a controller and a button assembly, the controller being 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 transmit the adjustment object motion control instruction to the controller, the adjustment object motion control instruction comprising target freedom degree type information and target freedom degree motion parameter information; the controller is configured to control the target adjustment object to perform adjustment motion of the target freedom degree according to the adjustment object motion control instruction. By designing a multifunctional button, the master control console vehicle, the seat and the surgical bed can be more conveniently controlled, so that the continuity of surgical operation is improved.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a surgical robot control system, method, main control carriage, and surgical robot. Background Technology

[0002] Surgical robots are designed to perform complex surgical procedures with minimally invasive techniques and precision. A surgical robot consists of a master control carriage and a patient carriage. The master control carriage is operated by the surgeon to generate and transmit necessary signals; the patient carriage receives signals from the master control carriage to perform the actual procedures on the patient. Furthermore, a master control arm is mounted on the master control carriage, allowing the surgeon to manipulate the robotic arm mounted on the patient carriage and the surgical instruments attached to its end effector.

[0003] Surgical robots have a clutch function, typically activated by a foot pedal. Depressing the pedal deactivates the slave arm, allowing adjustment of the main control arm's position. To improve surgical continuity, existing technologies have added clutch buttons to the main control arm's rotation joints. Pressing the clutch button directly adjusts the main control arm. While this manual method is more convenient than foot pedals, and although this improvement enhances surgical continuity and the user experience, it only provides a clutch function, limiting its contribution to surgical continuity. It cannot adjust the main control carriage, seat, or operating table, which are cumbersome and negatively impact surgical continuity.

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

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

[0006] To achieve the above objectives, 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 adjustable object, the at least one adjustable object comprising at least one of a main control trolley, an operating table, and a seat;

[0007] The button component is configured to be located at a preset position on the surgical robot, so that the operator can input motion control commands for the target adjustment object after identifying the target adjustment object among the at least one adjustment object, and transmit the motion control commands for the target adjustment object to the controller. The preset position is a position that is convenient for the operator to operate and does not affect the surgery. The motion control commands for the target adjustment object include 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 the target degree of freedom adjustment movement according to the adjustment object motion control command.

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

[0010] Optionally, the button component is further configured to allow the operator to input an adjustment trigger command and transmit the adjustment trigger command to the controller, which is configured to execute an adjustment object selection mode according to the adjustment trigger command, so that the operator can input a target adjustment object determination command.

[0011] Optionally, the controller 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 command based on the selection interface and the button component.

[0012] Optionally, the control system further includes a microphone communicatively connected to the controller. The microphone is configured to allow the operator to input a target adjustment object determination command and transmit the target adjustment object determination command to the controller. The controller is configured to execute a corresponding target adjustment object control mode according to the target adjustment object determination command.

[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 reciprocate along a first direction relative to a preset position of the surgical robot. The elastic pressing part 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.

[0014] Optionally, the control system further includes a guide rail configured to be disposed 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 near the guide rail having a second positioning member that matches the first positioning members.

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

[0016] Optionally, the controller is further configured to send corresponding prompts and / or alarms when controlling the target adjustment object to perform adjustment movements.

[0017] To achieve the above objectives, the present invention also provides a surgical robot control method. The surgical robot is provided with a button assembly at a preset position, the preset position being convenient for the operator to operate and not affecting the surgery. The button assembly is configured to allow the operator to input motion control commands for the target adjustment object after identifying it among at least one adjustment object. The at least one adjustment object includes at least one of a main control trolley, an operating table, and a seat. The control method includes:

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

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

[0020] To achieve the above objectives, the present invention also provides a main control vehicle, which includes the surgical robot control system described above.

[0021] To achieve the above objectives, the present invention also provides a surgical robot, which includes the main control vehicle described above.

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

[0023] The surgical robot control system provided by this invention includes a controller and a button assembly. The controller is communicatively connected to the button assembly and at least one adjustable object, which includes at least one of a main control trolley, an operating table, and a seat. The button assembly is configured to be located at a preset position on the surgical robot, allowing the operator to input motion control commands for the adjusted object after identifying it among the at least one adjustable object. These commands are then transmitted to the controller. The preset position is chosen to facilitate operator operation without interfering with the surgery. The motion control commands for the adjusted object include target degree-of-freedom type information and target degree-of-freedom motion parameter information. The controller is configured to control the target adjusted object to perform the adjustment motion of the target degree of freedom according to the motion control commands. Therefore, the surgical robot control system provided by this invention allows the operator to directly control at least one of the main control trolley, seat, and operating table via the button assembly, thereby improving operational intuitiveness, simplifying the adjustment of the main control trolley, seat, and operating table, improving surgical convenience, and enabling the operator to more easily perform adjustment operations on the main control trolley, seat, and operating table, thus improving the continuity of surgical operations. Furthermore, the surgical robot control system provided by this invention can increase the adjustment methods of equipment such as the main control carriage, seat, and operating table, thereby improving the equipment's fault tolerance.

[0024] Since the surgical robot control method, main control carriage, and surgical robot provided by this invention belong to the same inventive concept as the surgical robot control system provided by this invention, the surgical robot control method, main control carriage, and surgical robot provided by this invention have at least all the beneficial effects of the surgical robot control system provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the surgical robot control system provided by this invention above. Therefore, the beneficial effects of the surgical robot control method, main control carriage, and surgical robot provided by this invention will not be elaborated here. Attached Figure Description

[0025] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention;

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

[0027] Figure 3 This is a schematic diagram of the installation position of a button assembly provided according to an embodiment of the present invention;

[0028] Figure 4 A top view of a main control arm equipped with a button assembly, according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the adjustment of the main control vehicle according to one embodiment of the present invention;

[0030] Figure 6 A schematic diagram of seat adjustment provided according to an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of operating table adjustment provided according to one embodiment of the present invention;

[0032] Figure 8 A schematic diagram of the degree-of-freedom adjustment process provided in one embodiment of the present invention;

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

[0034] Figure 10 This is a schematic diagram of the structure of a button assembly provided in one embodiment of the present invention;

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

[0036] Figure 12 This is a schematic diagram of the microphone installation position provided according to an embodiment of the present invention;

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

[0038] Figure 14 This is a flowchart illustrating a surgical robot control method according to an embodiment of the present invention.

[0039] Figure 15 This is a block diagram of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0040] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed account of the surgical robot control system, method, main control carriage, surgical robot, and electronic equipment proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clarify the purpose provided by this invention. Please refer to the drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to enable those skilled in the art to understand and read them, and are not intended to limit the implementation conditions of this invention. Any modifications to the structure, changes in proportions, or adjustments to the size, provided that the effects and objectives achieved by this invention are the same or similar, should still fall within the scope of the technical content disclosed in this invention.

[0041] The core idea of ​​this invention is to provide a surgical robot control system, method, main control carriage, surgical robot, and electronic equipment. By designing multi-functional buttons on the main control arm, at least one of the main control carriage, seat, and operating table can be controlled more conveniently, thereby improving the continuity of surgical operations. It should be noted that, as those skilled in the art will understand, the term "end point" as used herein refers to the end closer to the lesion, referring to the patient carriage end; and the term "end point" as used herein refers to the end closer to the operator, referring to the main control carriage end. It should also be noted that, as those skilled in the art will understand, the electronic equipment provided by this invention can be applied to the main control arm operation control system and main control carriage provided by this invention, and the electronic equipment can be hardware devices with various operating systems.

[0042] To facilitate understanding, before introducing the main control arm operation control system, method, main control carriage, and surgical robot provided by this invention, a brief description of the application scenarios of the surgical robot will be given. Please refer to... Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention. For example... Figure 1As shown, the surgical robot includes a main control cart 100 and a patient cart 200, with a main control arm 110 mounted on the main control cart 100. The patient cart 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 seat 600 located in front of the main control cart 100 and remotely operates the robot via the main control arm 110 to perform minimally invasive surgery on the patient on the operating table 500. The main control arm 110, the robotic arm 210, the surgical instruments 220, and the endoscope form a master-slave control relationship. Specifically, the robotic arm 210 and the surgical instruments 220 move according to the movement of the main control arm 110 during the surgery, i.e., according to the operator's hand movements. Furthermore, the main control arm 110 also receives force information from human tissues and organs on the surgical instruments 220 and feeds it back to the operator's hand, allowing the operator to more intuitively experience the surgical procedure. The main control cart 100 has a first display device 120, which is communicatively connected to an endoscope mounted on the robotic arm 210 of the patient cart 200, and can receive and display images acquired by the endoscope. Based on the images displayed on the first display device 120 on the main control cart 100, the operator controls the movement of the robotic arm 210 and surgical instruments 220 via the main control arm 110. The endoscope and surgical instruments 220 can enter the lesion location through wounds or natural openings in the patient's body, respectively.

[0043] Please continue to refer to this. 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 The system detects the operator's hand movements and uses them as input for the motion control of the entire surgical robot.

[0044] Please continue to refer to this. Figure 1 ,like Figure 1 As shown, the surgical robot also includes an image carriage 300. Images of the patient's internal environment acquired through the endoscope (specifically including information on human tissues and organs, surgical instruments 220, blood vessels, and body fluids) can be transmitted to the second display device 310 of the image carriage 300 for display.

[0045] To achieve the above-mentioned goals, this invention provides a surgical robot control system, please refer to... Figures 2 to 4 ,in, Figure 2 A block diagram illustrating the structure of a surgical robot control system according to an 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 4This is a top view of a main control arm 110 equipped with a button assembly 420, according to 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. The controller 410 is communicatively connected to the button assembly 420 and at least one adjustable object. The at least one adjustable object includes at least one of a main control trolley 100, an operating table 500, and a seat 600. The button assembly 420 is configured to be located at a preset position on the surgical robot. The preset position is a position that is convenient for the operator to operate and does not affect the surgery, so that the operator can input the motion control command of the adjustable object after determining the target adjustable object among the at least one adjustable object, and transmit the motion control command of the adjustable object to the controller 410. The motion control command of the adjustable object includes target degree of freedom type information and target degree of freedom motion parameter information. The controller 410 is configured to control the target adjustable object to perform the adjustment motion of the target degree of freedom according to the motion control command of the adjustable object.

[0046] Therefore, the surgical robot control system provided by this invention allows the operator to directly control at least one of the main control carriage 100, seat 600, and operating table 500 via the button assembly 420, thereby improving operational intuitiveness, simplifying the adjustment of the main control carriage 100, seat 600, and operating table 500, and improving surgical convenience. This allows the operator to more easily adjust the main control carriage 100, seat 600, and operating table 500, thus improving the continuity of surgical procedures. Furthermore, the surgical robot control system provided by this invention increases the adjustment methods for equipment such as the main control carriage 100, seat 600, and operating table 500, improving the equipment's fault tolerance.

[0047] It should be noted that, as those skilled in the art will understand, the controller 410 can be located within the main control vehicle 100 or can be located independently; the present invention does not limit this. It should also be noted that, as those skilled in the art will understand, the "target degree of freedom motion parameter information" includes the motion quantity 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 main control arm 110 of the main control carriage 100 of the surgical robot (the preset position may be, but is not limited to, the location of the end joint 111 of the main control arm 110). Thus, by placing the button assembly 420 on the main control arm 110, the operator can adjust the main control carriage 100, seat 600, and operating table 500 without removing their head or hands from the main control arm 110, thereby further improving the continuity of surgical procedures.

[0049] It should be noted that, as those skilled in the art will understand, the preset position can also be other positions on the surgical robot that are easy to operate. For example, the preset position can be set on the armrest of the main control carriage 100, the first display device 120, or other positions. The specific position can be set according to the actual situation, and the present invention does not limit it.

[0050] Please refer to Figure 5, which is a schematic diagram of the adjustment of the main control vehicle 100 according to one embodiment of the present invention. Figure 5 As shown, the adjustable degrees of freedom of the main control carriage 100 include pitch and vertical degrees of freedom. Adjusting the vertical degree of freedom allows for adjustment of the height of the handrails, main control arm 110, and first display device 120 on the main control carriage 100. Adjusting the pitch degree of freedom allows for adjustment of the angle of the first display device 120 on the main control carriage 100. Please continue to refer to... Figure 6 This is a schematic diagram of seat 600 adjustment provided in one embodiment of the present invention. Figure 6 As shown, the adjustable degrees of freedom of seat 600 include yaw and vertical degrees of freedom. Adjusting the vertical degree of freedom allows for height adjustment of seat 600, while adjusting the yaw degree of freedom allows for backrest angle adjustment of seat 600. Please continue to refer to... Figure 7 This is a schematic diagram illustrating the adjustment of the operating table 500 according to an embodiment of the present invention. Figure 7 As shown, the adjustable degrees of freedom of the operating table 500 include forward / backward, vertical, yaw, and pitch degrees of freedom. After determining the target adjustment object, the operator can first determine the type of target degree of freedom (e.g., pitch, vertical, forward / backward, or yaw) of the target adjustment object through the button component 420, and then determine the relevant motion parameters (including motion amount and direction) of the target degree of freedom of the target adjustment object through the button component 420.

[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 perform the adjustment motion of the target degree of freedom according to the planned motion trajectory. Thus, by first planning the motion trajectory and then controlling the adjustment motion of the target degree of freedom according to the planned motion trajectory, continuous adjustment can be achieved, ensuring adjustment accuracy, thereby better realizing the adjustment operations of the main control cart 100, seat 600, and operating table 500.

[0052] Please continue to refer to this. Figure 8 This is a schematic diagram of the degree-of-freedom adjustment process provided in 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 motion parameters of the target degree of freedom through the button component 420. The controller 410 then plans the motion trajectory according to the received target degree of freedom motion parameters to generate the desired motion trajectory. The controller 410 then controls the corresponding joint actuator to follow the trajectory and drives the motor to drive the target degree of freedom to reach the desired motion trajectory to follow the position.

[0053] Furthermore, the controller 410 is configured to control the target adjustment object to perform the target degree of freedom adjustment movement using a closed-loop control method. Thus, by employing a closed-loop control method (such as...) Figure 9 As shown, this is a schematic diagram of the trajectory following control algorithm provided in one embodiment of the present invention. The adjustment 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 carriage 100, seat 600, and operating table 500.

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

[0055]

[0056]

[0057] Where S is the control signal, K is the control gain, B is the parameter update rate, v is the relationship between error and update rate (the larger the update rate, the greater the impact of error on the parameters), and p e For the desired position, p f To provide feedback on the position measurement value, e max e represents the maximum error. min This represents the minimum error value.

[0058] Please continue to refer to this. Figure 10 This is a schematic diagram of the structure 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 part 4212. The slider 4211 is capable of reciprocating along a first direction relative to a preset position of the surgical robot (e.g., at the main control arm 110). The elastic pressing part 4212 is capable of reciprocating along a second direction relative to the slider 4211. The first direction is perpendicular to the second direction. 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. Therefore, by configuring the button body 421 of the button assembly 420 to include a slider 4211 capable of moving in a first direction and an elastic pressing part 4212 capable of moving in a second direction, the button body 421 can perform two gestures: forward / backward (first direction) tossing and up / down (second direction) pressing. This allows the button assembly 420 to provide both pressing and tossing signals, making it easier for the operator to input motion control commands for the adjusted object, including target degree-of-freedom type information and target degree-of-freedom motion parameter information, through the button assembly 420. It should be noted that, as those skilled in the art will understand, when the operator's hand leaves the elastic pressing part 4212, the elastic pressing part 4212 can return to its original state.

[0059] Specifically, the operator can confirm the type of the target degree of freedom of the target object by pressing the elastic pressing part 4212, and control the motion parameters of the target degree of freedom by moving the slider 4211. The controller 410 can determine the motion parameters of the target degree of freedom based on the displacement (including the distance and direction of movement) of the slider 4211 along the first direction. Further, 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., the target degree of freedom) according to pre-set rules (pitch, vertical, forward, and yaw each correspond to a position), and then confirm the type of the target degree of freedom of the target object by pressing the elastic pressing part 4212. Furthermore, when the main control vehicle 100 includes two main control arms 110, the operator can confirm the type of the target degree of freedom of the target object by using the button assembly 420 on one of the main control arms 110, and control the motion parameters of the target degree of freedom of the target object by using the button assembly 420 on the other main control arm 110.

[0060] Preferably, for easier 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 control the slider 4211 to slide along different sides of the guide rail 430 to simultaneously input the motion amount and direction of the target degree of freedom.

[0061] Furthermore, the elastic pressing part 4212 can be a flexible push-button switch. This arrangement not only ensures that the elastic pressing part 4212 can provide a pressure signal so that the controller 410 can accurately identify whether the operator has triggered a pressing gesture, but also simplifies the overall structure of the button assembly 420 and reduces its production cost. It should be noted that, as those skilled in the art will understand, the elastic pressing part 4212 is set to "off" when not pressed and "on" when pressed.

[0062] Please continue to refer to this. Figure 10 ,like Figure 10 As shown, in some exemplary embodiments, the control system further includes a guide rail 430 configured to be located at a preset position on the surgical robot (e.g., at the main control arm 110). The guide rail 430 has a plurality of spaced first positioning elements 431 along the first direction, and the slider 4211 has a second positioning element 42111 at one end near the guide rail 430 that matches the first positioning elements 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 facilitating operation. Furthermore, by providing a plurality of first positioning elements 431 on the guide rail 430 and a second positioning element 42111 on the slider 4211, it is easier to guide the operator to slide the button body 421 to a designated position, thereby better guiding the operator to complete the input of the corresponding command. It should be noted that, as those skilled in the art will understand, the axial direction of the guide rail 430 is arranged along the first direction. It should also be noted that, although... Figure 10 The example given is that the guide rail 430 has four first positioning elements 431. However, as those skilled in the art will understand, this does not constitute a limitation of the present invention. The specific number of the first positioning elements 431 can be set according to specific circumstances. For example, the number of the first positioning elements 431 can also be two, three, five or more, which can be set according to actual needs.

[0063] Furthermore, such as Figure 10As shown, the first positioning member 431 is an approximately hemispherical slot-type structure, and the second positioning member 42111 is an approximately hemispherical block-type structure. Therefore, when the second positioning member 42111 on the slider 4211 engages with one of the first positioning members 431 on the guide rail 430, a tactile feedback is generated, allowing the operator to intuitively perceive that the button body 421 has moved to the corresponding designated position. Furthermore, by setting the first positioning member 431 as an approximately hemispherical slot-type structure and the second positioning member 42111 as an approximately hemispherical block-type structure, not only can the second positioning member 42111 smoothly engage with the first positioning member 431, but it also prevents the second positioning member 42111 from dislodging from the first positioning member 431 without external force, thus effectively preventing accidental operation.

[0064] In some exemplary embodiments, the displacement sensor 422 includes an infrared emitting device 4221 disposed on the slider 4211 and a plurality of infrared receiving devices 4222 corresponding one-to-one with the first positioning member 431. Thus, the controller 410 can directly identify whether the button body 421 has moved to a designated position based on the infrared signals received by the infrared receiving devices 4222, making operation more convenient. 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 set to on when it receives an infrared signal. It should also 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 besides infrared sensors; specific details can be found in related technologies known to those skilled in the art, and will not be elaborated upon here.

[0065] In some exemplary embodiments, the button assembly 420 is also configured to allow an operator to input an adjustment trigger command and transmit the adjustment trigger command to the controller 410. The controller 410 is configured to execute an adjustment object selection mode based on the adjustment trigger command, enabling the operator to input a target adjustment object determination command. Specifically, the operator can input the adjustment trigger command by pressing the button assembly 420 (specifically, the elastic pressing part 4212) for a long time. After receiving the adjustment trigger command and recognizing that an adjustment action is required, the controller 410 triggers the adjustment object selection (i.e., executes the adjustment object selection mode), enabling the operator to select the target adjustment object. It should be noted that, as those skilled in the art will understand, in other embodiments, the operator can also input the adjustment trigger command via voice, virtual interactive buttons, or other input methods.

[0066] In some exemplary embodiments, the controller 410 is configured to perform an adjustment object selection mode by displaying an adjustment object selection interface, enabling the operator to input a target adjustment object determination command based on the selection interface and the button component 420. Specifically, please refer to... Figure 11 This is a schematic diagram of the adjustment object selection interface provided in one embodiment of the present invention. Figure 11 As shown, the selection interface for adjustment objects displays icons for each adjustment object. The operator can input the command to determine the target adjustment object by selecting the icon of the adjustment object they want to adjust.

[0067] In some exemplary embodiments, the button assembly 420 is further configured to allow an operator to input a target adjustment object determination command and transmit the target adjustment object determination command to the controller 410, which is configured to execute a corresponding target adjustment object control mode based on the target adjustment object determination command. Specifically, in some embodiments, the operator can first move the button body 421 to the corresponding designated position (the main control cart 100, seat 600, and operating table 500 each correspond to a designated position), and then press down on the elastic pressing part 4212 to confirm, thereby completing the input of the target adjustment object determination command. For example, such as... Figure 10 As shown, assuming the main control carriage 100 corresponds to the leftmost first positioning element 431, the operator can first move the button body 421 to the leftmost first positioning element 431, and then press down the elastic pressing part 4212 to select the main control carriage 100 as the adjustment object (i.e., the target adjustment object). In other embodiments, the operator can also select the target adjustment object by briefly pressing the elastic pressing part 4212 through the selection interface based on the adjustment objects appearing in the field of vision (e.g., the main control carriage 100, the seat 600, the operating table 500), and lock the target adjustment object (i.e., confirm) by pressing the elastic pressing part 4212 again for a longer period of time. It should be noted that, as those skilled in the art will understand, 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 subsequently received adjustment object movement control instructions.

[0068] Please continue to refer to this. 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 is configured to allow the operator to input a target adjustment object determination command and transmit the target adjustment object determination command to the controller 410. The controller 410 is configured to execute a corresponding target adjustment object control mode based on the target adjustment object determination command. Specifically, after the operator inputs an adjustment trigger command by pressing the button assembly 420 (specifically, the elastic pressing part 4212) for a long time, the controller 410 enters an adjustment object selection mode that waits for voice input of the adjustment object, so that the operator can input the adjustment object (i.e., the target adjustment object) to be adjusted through the microphone 440 to complete the input of the target adjustment object determination command.

[0069] Please continue to refer to this. Figure 12 This is a schematic diagram of the microphone 440 installation position according to an 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 carriage 100. Therefore, by mounting the microphone 440 on the first display device 120 of the main control carriage 100, the microphone 440 can accurately capture sound signals, thereby further improving the control effect of the surgical robot control system provided by the present invention. It should be noted that, as those skilled in the art will understand, the present invention does not limit the specific mounting position of the microphone 440 on the first display device 120, and the specific position can be set according to the actual situation.

[0070] In some exemplary embodiments, the controller 410 is further configured to send corresponding prompts and / or alarms when controlling the target adjustment object to perform adjustment movements. Thus, the prompts can facilitate notification to other personnel regarding the adjustment movements currently being performed; the alarms can alert other personnel that active adjustments are currently being made.

[0071] Specifically, the prompts issued by the controller 410 may, but are not limited to, be displayed on the second display device 310 of the image carriage 300, and the prompts may, but are not limited to, include the object to be adjusted. Further, the controller 410 may issue alarms via sound and light; even further, the controller 410 is configured to send alarm information to the patient carriage 200 to control the patient carriage 200 to issue sound and light alarms.

[0072] Please continue to refer to this. Figure 1 and Figure 2 ,like Figure 1 and Figure 2As shown, in some exemplary embodiments, the surgical robot control system further includes an indicator light 450 and a buzzer 460 communicatively connected to the controller 410, the indicator light 450 and the buzzer 460 being mounted on the patient cart 200. Thus, the indicator light 450 provides a visual alarm, and the buzzer 460 provides an audible alarm.

[0073] Furthermore, the controller 410 is also configured to control the indicator light 450 to emit different colors of light according to different system states. This configuration allows other personnel to easily understand what adjustments are currently being made. Specifically, please refer to Table 1, which shows the correspondence between the colors of the indicator light 450 and the system states. In the table, "slave device adjustment state" means that the target degree of freedom adjustment of the operating table 500 is currently being performed; "master device adjustment state" means that the target degree of freedom adjustment of the seat 600 or the main control carriage 100 is currently being performed; "system normal operation" means that no adjustments are being made to the main control carriage 100, operating table 500, or seat 600; and "ignorable alarm" means that the alarm from the buzzer 460 can be ignored.

[0074] Table 1. Correspondence between indicator light colors and system status

[0075] Indicator Light System status Green light always on The system is working normally. White light flashing Adjusting status from the end device The white light remains on. Master device in adjustment status Blue light always on Alarms can be ignored

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

[0077] Please continue to refer to this. Figure 13 This is a schematic diagram of the overall workflow of a surgical robot control system provided in one embodiment of the present invention. Figure 13As shown, the doctor (operator) can initiate the adjustment action by triggering the button component 420 (e.g., pressing the elastic pressing part 4212 for a long time). After the controller 410 recognizes the need for adjustment, it triggers the adjustment object selection mode, allowing the doctor (operator) to select the target adjustment object from multiple adjustment objects such as the main control cart 100, seat 600, and operating table 500. After the doctor (operator) selects the target adjustment object, the controller 410 executes the adjustment logic (i.e., 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 audio-visual alarms will be provided. 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 motion of the target degree of freedom (i.e., 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 (e.g., 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, this invention also provides a surgical robot control method. The surgical robot has a button assembly 420 at a preset position. This preset position is designed for easy operation by the operator and does not interfere with the surgery. The button assembly 420 is configured to allow the operator to input motion control commands for the target adjustment object after identifying it among at least one adjustment object. The at least one adjustment object includes at least one of a main control trolley 100, an operating table 500, and a seat 600. Please continue to refer to... Figure 14 This is a flowchart illustrating a surgical robot control method provided in 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: Receive the motion control command for the adjusted object input by the operator. The motion control command for the adjusted object includes target degree of freedom type information and target degree of freedom motion parameter information.

[0080] Step S200: Control the target adjustment object to perform the target degree of freedom adjustment movement according to the adjustment object motion control command.

[0081] Therefore, the surgical robot control method provided by this invention allows the operator to directly control at least one of the main control cart 100, seat 600, and operating table 500 via the button assembly 420, thereby improving operational intuitiveness, simplifying the adjustment of the main control cart 100, seat 600, and operating table 500, and improving surgical convenience. This allows the operator to more easily adjust the main control cart 100, seat 600, and operating table 500, thus improving the continuity of surgical procedures. Furthermore, the surgical robot control method provided by this invention increases the adjustment methods for equipment such as the main control cart 100, seat 600, and operating table 500, improving the equipment's fault tolerance.

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

[0083] Receive the target adjustment object determination instruction input by the operator;

[0084] Based on the target adjustment object determination instruction, the corresponding target adjustment object control mode is executed.

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

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

[0087] Receive adjustment trigger commands input by the operator;

[0088] According to the adjustment trigger command, the adjustment object selection mode is executed so that the operator can input the target adjustment object determination command.

[0089] For details on how the operator should input the adjustment trigger command, please refer to the relevant content above, which will not be repeated here.

[0090] In some exemplary embodiments, the step of executing the 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 the adjustment object selection interface, so that the operator can input the target adjustment object determination command according to the selection interface and the button component 420.

[0092] Specifically, the details of how the operator inputs the target adjustment object determination command based on the selection interface and the button component 420 can be found in the relevant content above, and will not be repeated 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, send corresponding prompt information and / or alarm information.

[0095] For details on how to provide prompts and alerts, please refer to the relevant content above, which will not be repeated here.

[0096] To achieve the above-mentioned ideas, the present invention also provides a main control carriage 100, which includes the surgical robot control system described above. Since the main control carriage 100 provided by the present invention includes the surgical robot control system provided by the present invention, the main control carriage 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 descriptions of the beneficial effects of the surgical robot control system provided by the present invention above; therefore, the beneficial effects of the main control carriage 100 provided by the present invention will not be repeated here. It should be noted that, as those skilled in the art will understand, further details regarding the main control carriage 100 provided by the present invention can be found in the relevant descriptions of the main control carriage 100 above, and will not be repeated here.

[0097] To achieve the above-mentioned ideas, the present invention also provides a surgical robot, which includes the main control carriage 100 described above. Since the surgical robot provided by the present invention includes the main control carriage 100, and the main control carriage 100 includes the surgical robot control system, the surgical robot provided by the present invention also possesses at least the beneficial effects of the surgical robot control system. For details, please refer to the relevant descriptions of the beneficial effects of the surgical robot control system provided by the present invention above; therefore, the beneficial effects of the surgical robot provided by the present invention will not be repeated here. It should be noted that, as those skilled in the art will understand, further details regarding the surgical robot provided by the present invention can be found in the relevant descriptions of the surgical robot above, and will not be repeated here.

[0098] Based on the same inventive concept, the present invention also provides an electronic device, please refer to... Figure 15 This is a block diagram of an electronic device provided in one embodiment of the present invention. Figure 15As shown, the electronic device provided by this invention includes a processor 710 and a memory 730. The memory 730 stores a computer program, which, when executed by the processor 710, implements the surgical robot control method described above. Since the electronic device and the surgical robot control method provided by this invention belong to the same inventive concept, the electronic device provided by this invention possesses at least all the advantages of the surgical robot control method provided by this invention. Specifically, these advantages can be seen in the relevant descriptions of the beneficial effects of the surgical robot control method provided by this invention above; therefore, the beneficial effects of the electronic device provided by this invention will not be described further here.

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

[0100] The processor 710 referred to in this invention can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 710 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines.

[0101] The memory 730 can be used to store the computer program, and 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 non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

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

[0104] This invention, by providing a button assembly 420 on the main control arm 110 of the main control carriage 100, allows the operator to directly control at least one of the main control carriage 100, seat 600, and operating table 500 via the button assembly 420. This improves operational intuitiveness, simplifies the adjustment of the main control carriage 100, seat 600, and operating table 500, and enhances surgical convenience. It also allows the operator to more easily adjust the main control carriage 100, seat 600, and operating table 500, thereby improving the continuity of surgical procedures. Furthermore, the button assembly 420 increases the adjustment methods for the main control carriage 100, seat 600, and operating table 500, improving the equipment's fault tolerance.

[0105] It should be noted that computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can be connected to the user's computer via 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., via the Internet using an Internet service provider).

[0106] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0107] It should also be noted that the above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A surgical robot control system, characterized in that, The control system includes a controller and a button assembly. The controller is communicatively connected to the button assembly and at least one adjustable object. The at least one adjustable object includes at least one of a main control trolley, an operating table, and a seat. The adjustable degrees of freedom of the main control trolley include pitch and vertical degrees of freedom. The adjustable degrees of freedom of the operating table include forward and backward, vertical, yaw, and pitch. The adjustable degrees of freedom of the seat include yaw and vertical degrees of freedom. The button component is configured to be located at a preset position on the surgical robot, so that the operator can input motion control commands for the target adjustment object after identifying the target adjustment object among the at least one adjustment object, and transmit the motion control commands for the target adjustment object to the controller. The preset position is a position that is convenient for the operator to operate and does not affect the surgery. The motion control commands for the target adjustment object include 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 the target degree of freedom adjustment movement according to the adjustment object motion control command; 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 reciprocate along a first direction relative to a preset position of the surgical robot. The elastic pressing part can reciprocate along a second direction relative to the slider. The first direction and the second direction are perpendicular. The displacement sensor is used to detect the displacement information of the button body along the first direction. The operator can confirm the type of target degree of freedom of the target adjustment object by pressing the elastic pressing part, and control the motion parameters of the target degree of freedom by moving the slider.

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

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

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 an adjustment object selection interface, so that the operator can input a target adjustment object determination command based on the selection interface and the button component.

5. The surgical robot control system according to claim 1, characterized in that, The control system further includes a microphone communicatively connected to the controller. The microphone is configured to allow the operator to input a target adjustment object determination command and transmit the target adjustment object determination command to the controller. The controller is configured to execute a corresponding target adjustment object control mode according to the target adjustment object determination command.

6. The surgical robot control system according to claim 1, characterized in that, The control system further 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 near the guide rail having a second positioning member that matches the first positioning members.

7. The surgical robot control system according to claim 1, characterized in that, The controller is also configured to send corresponding prompts and / or alarms when controlling the target adjustment object to perform adjustment movements.

8. A surgical robot control method, characterized in that, The surgical robot is equipped with a button assembly at a preset position. This preset position is designed for easy operation by the operator without interfering with the surgery. The button assembly is configured to allow the operator to input motion control commands for the target object after identifying it among at least one adjustment object. The at least one adjustment object includes at least one of a main control trolley, an operating table, and a seat. The adjustable degrees of freedom of the control trolley include pitch and vertical freedom; the adjustable degrees of freedom of the operating table include forward / backward, vertical, yaw, and pitch freedom; and the adjustable degrees of freedom of the seat include yaw and vertical freedom. 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 reciprocate along a first direction relative to a preset position of the surgical robot, and the elastic pressing part can reciprocate along a second direction relative to the slider. The first direction and the second direction are perpendicular. The displacement sensor is used to detect the displacement information of the button body along the first direction. The operator can confirm the type of target degree of freedom of the target adjustment object by pressing the elastic pressing part, and control the motion parameters of the target degree of freedom by moving the slider. The control method includes: Receive the motion control command of the adjustment object input by the operator, wherein the motion control command of the adjustment object includes target degree of freedom type information and target degree of freedom motion parameter information; The target adjustment object is controlled to perform the target degree of freedom adjustment movement according to the motion control command of the adjustment object.

9. A main control vehicle, characterized in that, The surgical robot control system includes any one of claims 1 to 7.

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