Slave operation device, control method thereof, and storage medium

Abstract

The invention discloses slave operation equipment. When the slave operation equipment receives the one-key unfolding instruction, a stand column, a large arm, a small arm, an orientation platform and a mechanical arm of the slave operation equipment are controlled to move to respective preset unfolding positions according to the one-key unfolding sequence; and when the sterile cover is mounted on the slave operation equipment and a sterile folding instruction is received, an operation arm of the mechanical arm is controlled to enter a folded state, so that the sterile cover is located in a sterile barrier range. The invention further discloses the slave operation equipment. The preoperative preparation work can be simplified, so that the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a slave operating device, a control method for the slave operating device, and a computer-readable storage medium. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a master console and a slave operating device. The master console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform corresponding surgical operations.

[0004] Before performing a surgical operation, a sterile cover needs to be put on the operating equipment for sterile isolation. In order to facilitate the installation of the sterile cover, the existing solution usually manually adjusts the columns, booms, and mechanical arms of the operating equipment to a position suitable for installing the sterile cover. However, since it is a manual adjustment, not only is the operation cumbersome, but it is also impossible to ensure that the position is appropriate each time, resulting in cumbersome preoperative preparation work and affecting surgical efficiency. Summary of the invention

[0005] The main purpose of the present application is to provide a slave operating device, a control method for the slave operating device and a computer-readable storage medium, aiming to simplify preoperative preparations and thus improve surgical efficiency.

[0006] To achieve the above-mentioned purpose, the present application provides a slave operation device, the slave operation device comprises a base, a column which can be raised and lowered and is arranged on the base, a large arm connected to the column in sequence, a small arm which can rotate relative to the large arm, and an directional platform which can rotate relative to the small arm, a plurality of mechanical arms connected to the directional platform, and a processor which is communicatively connected to the column, the large arm, the small arm, the directional platform and the mechanical arms, the mechanical arms comprising an adjustment arm connected to the directional platform and an operation arm connected to the adjustment arm, the slave operation device is configured to have a one-key expansion sequence, and the processor is configured to perform the following steps:

[0007] Upon receiving a one-key deployment instruction, the column, the upper arm, the lower arm, the directional platform and the mechanical arm are controlled to move to respective preset deployment positions according to the one-key deployment sequence;

[0008] When the sterile cover is installed on the slave operating device and a sterile folding instruction is received, the operating arm is controlled to enter a folded state so that the sterile cover is within the sterile barrier range.

[0009] Optionally, the operating arm includes a cyclone joint and a deflection joint arranged adjacent to the adjustment arm, and the cyclone joint and the deflection joint are configured to adjust the deflection angle of the operating arm relative to its center plane; the mechanical arm includes a first mechanical arm, a second mechanical arm and a third mechanical arm, and the processor is configured to perform the following specific steps:

[0010] When controlling the mechanical arm to move to its corresponding preset deployment position, controlling the cyclone joint of the first mechanical arm to rotate to the cyclone joint zero position, and controlling the deflection joint of the first mechanical arm to rotate counterclockwise to a first preset angle;

[0011] Controlling the cyclone joint of the third mechanical arm to rotate to the cyclone joint zero position, and controlling the deflection joint of the third mechanical arm to rotate clockwise to a second preset angle;

[0012] The operating arm controlling the second mechanical arm is located at its center plane.

[0013] Optionally, the operating arm further comprises a parallelogram joint arranged adjacent to the deflection joint, the parallelogram joint being arranged to adjust a pitch angle of the operating arm relative to a pitch axis, and the processor is further configured to perform the following steps:

[0014] The parallelogram joints of the first mechanical arm, the second mechanical arm and the third mechanical arm are controlled to rotate to the parallelogram joint zero position.

[0015] Optionally, the operating arm includes an instrument carrying arm located at the end, the instrument carrying arm is used to support the surgical instrument, the instrument carrying arm has an insertion axis passing through a remote center RC point, the cyclone joint has a cyclone axis passing through the RC point, and the deflection joint has a deflection axis passing through the RC point, and when the robotic arm moves to its corresponding preset deployment position, the insertion axis is perpendicular to the cyclone axis, or the insertion axis is perpendicular to the deflection axis.

[0016] Optionally, the operating arm includes a cyclone joint, a deflection joint and a parallelogram joint arranged adjacent to the adjustment arm, and an instrument carrying arm connected to the parallelogram joint, the instrument carrying arm is used to support the surgical instrument, the instrument carrying arm has an insertion axis passing through a remote center RC point, the deflection joint has a deflection axis passing through the RC point, and the processor is further configured to perform the following specific steps:

[0017] The cyclone joint is controlled to rotate to the cyclone joint zero position, the deflection joint is controlled to rotate to the deflection joint zero position, and the parallelogram joint is controlled to rotate until the angle between the insertion axis and the deflection axis reaches a preset range, so that the operating arm enters a folded state.

[0018] Optionally, the adjustment arm has a lifting joint, and the operating arm includes a cyclone joint, a deflection joint and a parallelogram joint arranged adjacent to the lifting joint, the lifting joint is configured to adjust the height of the operating arm relative to the base; the cyclone joint and the deflection joint are configured to adjust the deflection angle of the operating arm relative to its center plane; the parallelogram joint is configured to adjust the pitch angle of the operating arm relative to the pitch axis; the processor is configured to perform the following specific steps:

[0019] When the directional platform reaches a preset platform position, the lifting joint, the cyclone joint, the deflection joint and the parallelogram joint are sequentially controlled to move to corresponding preset joint positions; or

[0020] When the directional platform reaches the preset platform position, the cyclone joint, the deflection joint and the parallelogram joint are simultaneously controlled to rotate to the corresponding preset joint positions.

[0021] Optionally, the number of the mechanical arms includes at least two, and the processor is configured to perform the following specific steps:

[0022] When the lifting joints of all the mechanical arms reach the preset lifting joint positions, control the cyclone joints, deflection joints and parallelogram joints in all the mechanical arms to move to the corresponding preset joint positions in sequence; or

[0023] When the lifting joints of all the mechanical arms reach the preset lifting joint positions, the cyclone joints, deflection joints and parallelogram joints of all the mechanical arms are controlled to rotate to the corresponding preset joint positions at the same time.

[0024] Optionally, the processor is further configured to perform the following steps:

[0025] When receiving a pause instruction, control the current step to pause;

[0026] If at least one of the column, the arm, the forearm, the directional platform and the robotic arm undergoes an unexpected adjustment, upon receiving a continue execution instruction, the column, the arm, the forearm, the directional platform and the robotic arm are controlled to move to their respective preset deployment positions in the one-key deployment sequence; or

[0027] If at least one of the column, the upper arm, the lower arm, the directional platform and the robotic arm has undergone an unexpected adjustment, then when a continue execution instruction is received, the starting position of the above-mentioned structure where the unexpected adjustment has occurred in the one-key deployment sequence is determined; starting from the structure at the starting position, the corresponding structure of the slave operating device is controlled to move to the respective preset deployment positions according to the one-key deployment sequence.

[0028] Optionally, the processor is further configured to perform the following steps:

[0029] When the sterile cover is in a semi-installed state, if a one-key deployment command is received, the column, upper arm, lower arm, directional platform and the robotic arm are controlled to move to their respective corresponding preset deployment positions, so that the sterile cover is deployed along with the movement of the column, upper arm, lower arm, directional platform and the robotic arm.

[0030] Optionally, the slave operation device is further configured to have a one-key recovery sequence, and the processor is further configured to perform the following steps:

[0031] When a one-key recovery command is received, the column, the upper arm, the lower arm, the directional platform and the mechanical arm are controlled to move to their respective preset recovery positions according to the one-key recovery sequence.

[0032] Optionally, the rotation joint of the forearm deviates from the straight line formed by the rotation joint of the upper arm and the rotation joint of the orienting platform, and the rotation joint of the upper arm and the rotation joint of the orienting platform are located at the center line position of the slave operating device.

[0033] Optionally, the operating arm includes a base connecting rod connected to the adjustment arm, a parallelogram mechanism connected to the base connecting rod, and an instrument carrying arm connected to the parallelogram mechanism, the instrument carrying arm is used to support surgical instruments, the parallelogram mechanism includes a first rod connected to the base connecting rod, a second rod connected to the first rod, and a third rod connected to the instrument carrying arm, when each joint of the robotic arm rotates to a corresponding preset recovery position, the first rod, the second rod and the third rod overlap.

[0034] To achieve the above-mentioned purpose, the present application also provides a control method for a slave operating device, wherein the slave operating device comprises a base, a column which can be raised and lowered and is arranged on the base, a large arm connected to the column in sequence, a small arm which can rotate relative to the large arm, and an directional platform which can rotate relative to the small arm, a plurality of mechanical arms connected to the directional platform, and a processor which is communicatively connected to the column, the large arm, the small arm, the directional platform and the mechanical arms, wherein the mechanical arm comprises an adjustment arm connected to the directional platform and an operating arm connected to the adjustment arm, the slave operating device is configured to have a one-key expansion sequence, and the control method for the slave operating device comprises the following steps:

[0035] Upon receiving a one-key deployment instruction, the column, the upper arm, the lower arm, the directional platform and the mechanical arm are controlled to move to respective preset deployment positions according to the one-key deployment sequence;

[0036] When the sterile cover is installed on the slave operating device and a sterile folding instruction is received, the operating arm is controlled to enter a folded state so that the sterile cover is within the sterile barrier range.

[0037] To achieve the above objectives, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and the computer program instructions are configured to be loaded and executed by a processor to implement the steps of the method described above.

[0038] The slave operation device, the control method of the slave operation device, and the computer-readable storage medium provided by the present application can realize the deployment action of the mechanical arm of the slave operation device by one-key triggering, which can avoid the cumbersome steps of manual operation and improve the work efficiency of preoperative preparation; further, by controlling the various structures of the slave operation device to move to their respective preset deployment positions in a one-key deployment sequence, it can be ensured that each structure is deployed to a position suitable for installing a sterile cover, providing sufficient operating space for the deployment of the sterile cover, and avoiding collision of the mechanical arm during deployment. In addition, when the sterile cover is installed on the slave operation device and receives a sterile folding instruction, the operating arm is controlled to enter a folded state, so that the sterile cover is within the sterile barrier range, thereby providing a reliable guarantee for the smooth progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the structure of a surgical robot disclosed in one embodiment of the present application;

[0040] Figure 2 for Figure 1 A structural schematic diagram of an embodiment of a central main operating console;

[0041] Figure 3 for Figure 1A structural schematic diagram of an embodiment of an electronic equipment cart;

[0042] Figure 4 for Figure 1 Schematic diagram of the framework structure;

[0043] Figure 5 for Figure 1 A schematic diagram of the structure of an embodiment of an operating device;

[0044] Figure 6 for Figure 1 A schematic diagram of the structure of an embodiment of an operating device;

[0045] Figure 7 for Figure 6 A schematic structural diagram of an embodiment of an operating arm;

[0046] Figure 8 for Figure 6 A schematic structural diagram of an embodiment of a central operating arm having a central plane;

[0047] Fig. 9 This is a flow chart of an embodiment of a control method for operating a device according to the present application;

[0048] Fig.10 This is a schematic diagram of the structure of an embodiment of the present application having a center line from the operating device;

[0049] Fig.11 A simplified schematic diagram of an embodiment of an operating device of the present application;

[0050] Fig.12 for Fig. 9 A detailed flow chart of step S1 in an embodiment;

[0051] Fig.13 A flowchart of another embodiment of a control method for operating a device according to the present application;

[0052] Fig.14 This is a partial structural schematic diagram of an operating device according to an embodiment of the present application;

[0053] Fig.15 A schematic diagram of the structure of a control system of a slave operating device provided in one embodiment of the present application;

[0054] Fig.16 A schematic diagram of a computer-readable storage medium provided for an embodiment of the present application.

[0055] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0058] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0060] like Figure 1As shown, the surgical robot 1000 can be used to perform minimally invasive diagnosis or surgical procedures on a patient lying flat on an operating table. The surgical robot 1000 includes a main operating console 100 and a slave operating device 200, wherein the main operating console 100 is used to send a control command to the slave operating device 200 according to the doctor's operation to control the slave operating device 200; the slave operating device 200 is used to respond to the control command sent by the main operating console 100 and perform the corresponding surgical operation. The surgical robot may further include an electronic device cart 300 electrically connected to the main operating console 100. The surgeon can view the surgical site through the main operating console 100, and the slave operating device 200 can manipulate at least one removably connected surgical instrument (not shown in the figure) through a minimally invasive incision on the patient. The image of the surgical site can be obtained through an endoscope (not shown in the figure) such as a stereo endoscope, and the endoscope can be manipulated by the slave operating device 200 to orient the endoscope. The electronic device cart 300 can be used to display an image of the surgical site to display to the doctor's assistant.

[0061] Figure 2 Schematic diagram of the surgeon's main console 100. The surgeon's main console 100 includes a left-eye display and a right-eye display (not shown in the figure), which are used to present a stereoscopic image of the surgical site that can perceive the depth to the surgeon. The main console 100 further includes one or more input control devices (not shown in the figure), and the doctor operates the input control device to synchronously manipulate one or more surgical instruments from the operating device 100. The input control device can provide the same degree of freedom as the surgical instrument associated with it, thereby providing the surgeon with remote presentation, or providing the perception that the input control device and the surgical instrument are integrated, so that the surgeon has a strong sense of directly controlling the surgical instrument.

[0062] Figure 3 3 is a schematic diagram of an electronics cart 300. The electronics cart 300 can be connected to an endoscope and can include a processor for processing captured images for display to the surgeon on a surgeon's console or on another suitable display located locally and / or remotely. For example, in the case of a stereo endoscope, an image host on the electronics cart 300 can process the captured images to present a coordinated stereo image of the surgical site to the surgeon. Such coordination can include alignment between opposing images and can include adjusting a stereo working distance of the stereo endoscope. As another example, image processing can include using predetermined camera calibration parameters to compensate for imaging errors of the image capture device, such as optical aberrations.

[0063] like Figure 4As shown, the surgeon's master console 100 can be used by the surgeon to control the slave operating device 200 during minimally invasive surgery. The slave operating device 200 can use an imaging device such as a stereo endoscope to capture an image of the surgical site and output the captured image to the master console 100 and the electronic device cart 300. As discussed above, the electronic device cart 300 can process the captured image in various ways before any subsequent display. For example, the electronic device cart 300 can overlay the captured image with a virtual control interface before displaying the combined image to the surgeon via the surgeon's master console 100. The slave operating device 200 can output the captured image for processing outside the electronic device cart 300. For example, the slave operating device 200 can output the captured image to the processor 500, where the processor 500 can be used to process the captured image. The image can also be processed by a combination of the electronic device cart 300 and the processor 500, which can be connected together to process the captured image together, sequentially and / or in combination. One or more separate displays 600 may also be connected to the processor 500 and / or the electronic device cart 300 for local and / or remote display of images, such as images of the surgical site or other related images. It is understood that the processor may include a processor of the main console 100, a processor of the slave operating device 200, and a processor of an image host (not shown) on the electronic device cart 300. For ease of understanding, only one processor is identified here.

[0064] like Figure 5 As shown, the slave operating device 200 provides manipulation of three surgical instruments 700 and an imaging device 800, such as a stereo endoscope for capturing images of the surgical site. The imaging device 800 and the surgical instrument 700 can be set and manipulated through an incision on the patient so that the kinematic RC point (Remote Center) is maintained at the incision to minimize the size of the incision. When the distal end of the surgical instrument 700 is set within the field of view of the imaging device 800, the image of the surgical site may include an image of the distal end of the surgical instrument 700.

[0065] like Figure 6As shown, the slave operation device 200 includes a base 20, a column 22 that can be raised and lowered on the base 20, a large arm 23 connected to the column 22 in sequence, a small arm 24 that can rotate relative to the large arm 23, and an orientation platform 30 that can rotate relative to the small arm 24, and a plurality of mechanical arms 40 connected to the orientation platform 30. The processor is respectively connected to the column 22, the large arm 23, the small arm 24, the orientation platform 30 and the mechanical arm 40 for communication. The mechanical arm 40 includes an adjustment arm 50 connected to the orientation platform 30 and an operating arm 60 connected to the adjustment arm 50, and the operating arm 60 is used to mount the surgical instrument (not shown in the figure). The surgical instrument can be an electric cauterizer, a clamp, a stapler, a shearing device, etc. used to perform surgical operations, or a camera or other surgical instrument for acquiring images, and multiple surgical instruments are inserted into the patient's body from different incisions.

[0066] like Figure 6 As shown, the operating arm 60 includes a base connecting rod 61 connected to the adjustment arm 50, a parallelogram mechanism 62 connected to the base connecting rod 61, and an instrument carrying arm 63 connected to the parallelogram mechanism 62, and the instrument carrying arm 63 is used to support the surgical instrument 700. The instrument carrying arm 63 has an insertion axis 660 passing through the RC point, so that the surgical instrument 700 can move along the insertion axis 660, thereby controlling the depth of the surgical instrument 700 inserted into the patient's body. The adjustment arm 50 has a lifting joint 64, and the lifting joint 64 is configured to adjust the height of the operating arm 60 relative to the base 20. Figure 7As shown, a cyclone joint 611 and a deflection joint 612 are provided in the base connecting rod 61. The cyclone joint 611 and the deflection joint 612 are arranged adjacent to the lifting joint 64. The cyclone joint 611 has a cyclone axis 613 passing through the RC point, and the deflection joint 612 has a deflection axis 614 passing through the RC point. When the operating arm 60 rotates around the cyclone axis or the deflection axis 614, the distance between the operating arm 60 and the patient can be adjusted, and avoidance space can also be provided for other operating arms 60. The parallelogram mechanism 62 includes a first rod 621 connected to the base connecting rod 61, a second rod 622 connected to the first rod 621, and a third rod 623 connected to the second rod 622 and the instrument carrying arm 63 at both ends, wherein a first joint 624 arranged adjacent to the deflection joint 612 is arranged at the connection between the first rod 621 and the second rod 622, a second joint 625 is arranged at the connection between the second rod 622 and the third rod 623, and a third joint 626 is arranged at the connection between the third rod 623 and the instrument carrying arm 63. There is a pitch joint 626, the first joint 624, the second joint 625 and the pitch joint 626 can form a parallelogram joint 620, the parallelogram joint 620 is arranged in the parallelogram mechanism 62, and the parallelogram joint 620 is arranged to make the operating arm 60 pitch relative to the pitch axis 630 when rotating, and adjust the pitch angle of the operating arm 60 relative to the pitch axis, so that the surgical instrument can pitch around the pitch axis, thereby making the surgical operation have a flexible operating space. In addition, the parallelogram mechanism 62 can also be folded and unfolded, so as to avoid occupying space when folded, and facilitate the installation of the sterile cover when unfolded.

[0067] like Figure 8 As shown, the operating arm 60 has a center plane 610 perpendicular to the horizontal plane, and the center plane 610 is a plane formed by the cyclone axis, the deflection axis 614 and the RC point when the cyclone joint 611 and the deflection joint 612 are at the initial zero position. The cyclone joint 611 and the deflection joint 612 are configured to adjust the deflection angle of the operating arm 60 relative to its center plane 610, thereby adjusting the distance between the operating arm 60 and the patient, and can also provide avoidance space for other operating arms.

[0068] like Fig. 9 As shown, in a first embodiment, the processor is configured to perform the following steps:

[0069] Step S1, upon receiving a one-key deployment instruction, controlling the column, the upper arm, the lower arm, the directional platform and the mechanical arm to move to respective preset deployment positions according to the one-key deployment sequence;

[0070] In this embodiment, the one-key deployment sequence is the sequence in which the joints of the column 22, the upper arm 23, the lower arm 24, the directional platform and the mechanical arm 40 rotate to their respective preset deployment positions. Further, the step S1 may include:

[0071] Step S11, upon receiving a one-key expansion instruction, determining whether the column has reached a preset column position, and if not, controlling the column to reach the preset column position;

[0072] In this embodiment, a control panel (not shown in the figure) is provided on the column 22, and a one-key expansion control button (not shown in the figure) is provided on the control panel. The one-key expansion control button can be a physical button or a virtual button provided on the display screen. In one embodiment, the user can trigger the one-key expansion command by a single instantaneous input, and in other embodiments, the user can trigger the one-key expansion control button by continuous pressing. In the embodiment of continuous input, the joints of the slave operating device move only when the button is pressed, so that all movements when the button is no longer pressed can be prevented. In this way, the movement can be stopped immediately in case of an emergency or when an emergency stop is required.

[0073] The preset column 22 position is the height of the column 22 relative to the base 20 or the ground. By moving the column 22 to the preset column position, sufficient height space can be provided for the installation of the sterile cover, thereby facilitating the installation of the sterile cover. It should be understood that in order to ensure a sterile surgical environment, the slave operating equipment needs to be isolated by a sterile cover before the operation. At least the column 22 and the robotic arm 40 can be installed with a sterile cover.

[0074] Step S12: If yes, determine whether the boom has reached the preset boom position; if no, control the boom to rotate to the preset boom position;

[0075] Step S13: If yes, determine whether the forearm has reached the preset forearm position; if no, control the forearm to rotate to the preset forearm position;

[0076] In this embodiment, Fig.10 As shown, the slave operation device has a center line 640. In order to facilitate the deployment of the sterile cover, in one embodiment, the upper arm 23 and the lower arm 24 can be deployed until both are on the center line 640. Of course, in other embodiments, at least one of the upper arm 23 and the lower arm 24 can also deviate from the center line 640 by a certain angle. That is, the preset upper arm position can be an angle of 0° with the center line 640, and the preset lower arm position can be an angle of 0° with the center line 640.

[0077] Step S14: If yes, determine whether the directional platform has reached the preset platform position; if not, control the directional platform to rotate to the preset platform position;

[0078] In this embodiment, the preset platform position may be at an angle of 0° with the center line 640 . Of course, in other embodiments, the orientation platform 30 may also have a certain angle with the center line 640 .

[0079] Step S15: If yes, determine whether the joints of the robotic arm have reached a preset joint position; if not, control the joints of the robotic arm to rotate to the preset joint position.

[0080] In this embodiment, the joints of the mechanical arm 40 may include the lifting joint 64, the cyclone joint 611, the rotating joint and the parallelogram joint 620 as described above. Each of the above joints may have a corresponding preset joint position. For example, the lifting joint 64 has its corresponding preset joint lifting position, and the cyclone joint 611, the rotating joint and the parallelogram joint 620 each have a corresponding rotation position. When controlling the movement or rotation (hereinafter, only the double meaning of movement will be used to indicate this) of the joints of the mechanical arm 40 to the corresponding preset joint position, the movement of each joint may be controlled in sequence, or the movement of each joint may be controlled simultaneously. The slave operation device may have a plurality of the mechanical arms 40, and the same joints of each mechanical arm 40 may be controlled to move simultaneously, and the joints may be controlled one by one from near to far in sequence (where far means close to the patient side); all joints of the mechanical arm 40 may be controlled to move simultaneously; and the mechanical arms 40 may be controlled one by one.

[0081] Specifically, in one embodiment, taking a single robotic arm 40 as an example, when the orienting platform 30 reaches the preset platform position, the lifting joint 64, the cyclone joint 611, the deflection joint 612 and the parallelogram joint 620 can be controlled in sequence to move to the corresponding preset joint positions; or when the orienting platform 30 reaches the preset platform position, the cyclone joint 611, the deflection joint 612 and the parallelogram joint 620 are simultaneously controlled to rotate to their respective corresponding preset joint positions.

[0082] In another embodiment, taking multiple robotic arms 40 as an example, when the lifting joints 64 of all the robotic arms 40 reach the preset lifting joint positions, the cyclone joints 611, the deflection joints 612 and the parallelogram joints 620 in all the robotic arms 40 are controlled to move to the corresponding preset joint positions in sequence. In this embodiment, assuming that the multiple robotic arms 40 include a first robotic arm, a second robotic arm and a third robotic arm, when all the lifting joints 64 of these three robotic arms reach the preset lifting joint positions, the cyclone joints 611 of the first robotic arm, the second robotic arm and the third robotic arm are first controlled to rotate to the preset joint positions, and then the deflection joints 612 of the first robotic arm, the second robotic arm and the third robotic arm are controlled to rotate to the preset joint positions, and then the The parallelogram joints 620 of the first robotic arm, the second robotic arm and the third robotic arm are all rotated to the preset joint positions. During this process, if the cyclone joints 611 of the second robotic arm and the third robotic arm have reached the preset joint positions, but the cyclone joint 611 of the first robotic arm has not yet reached them, the second robotic arm and the third robotic arm wait until the cyclone joint 611 of the first robotic arm also reaches the preset joint position. In other words, when the cyclone joints 611 of each robotic arm reach the preset joint position, the deflection joints 612 of each robotic arm will be controlled to rotate to the preset joint position. Similarly, when the deflection joints 612 of each robotic arm reach the preset joint position, the parallelogram joints 620 of each robotic arm will be controlled to rotate to the preset joint position.

[0083] In another embodiment, taking multiple robotic arms as an example, when the lifting joints 64 of all robotic arms reach the preset lifting joint positions, the cyclone joints 611, deflection joints 612 and parallelogram joints 620 of all robotic arms are controlled to rotate to the corresponding preset joint positions at the same time. In this embodiment, assuming that the multiple robotic arms include a first robotic arm, a second robotic arm and a third robotic arm, when all the lifting joints 64 of the three robotic arms reach the preset lifting joint positions, the cyclone joints 611, deflection joints 612 and parallelogram joints 620 of the first robotic arm, the second robotic arm and the third robotic arm are controlled to rotate to their respective corresponding preset joint positions at the same time.

[0084] In another embodiment, taking multiple mechanical arms as an example, when the lifting joints 64 of all mechanical arms reach the preset lifting joint positions, the mechanical arms can also be controlled one by one. In this embodiment, assuming that the multiple mechanical arms include a first mechanical arm, a second mechanical arm, and a third mechanical arm, when all the lifting joints of the three mechanical arms reach the preset lifting joint positions, the cyclone joint 611, the deflection joint 612, and the parallelogram joint 620 of the first mechanical arm are first controlled to rotate to their respective corresponding preset joint positions, and then the cyclone joint 611, the deflection joint 612, and the parallelogram joint 620 of the second mechanical arm are controlled to rotate to their respective corresponding preset joint positions, and finally the cyclone joint 611, the deflection joint 612, and the parallelogram joint 620 of the third mechanical arm are controlled to rotate to their respective corresponding preset joint positions.

[0085] In one embodiment, the number of the mechanical arms includes at least three, and the operating arms located on both sides are deflected outward relative to their respective center planes 610. Fig.11 As shown, it is assumed that the robot arm includes a first robot arm 410, a second robot arm 420, a third robot arm 430 and a fourth robot arm 440, wherein the first robot arm 410 and the fourth robot arm 440 are located on both sides, and the second robot arm 420 and the third robot arm 430 are located in the middle. The operating arms of each robot arm have their own center plane 610, wherein the operating arm of the first robot arm 410 is deflected outwardly at a certain angle relative to its center plane 610, for example, deflected by -15°; the operating arm of the fourth robot arm 440 is deflected outwardly at a certain angle relative to its center plane 610, for example, deflected by +15°; the operating arms of the second robot arm 420 and the third robot arm 430 are at their center plane 610 positions, that is, they are not deflected relative to their respective center planes 610, that is, deflected by 0°.

[0086] In another embodiment, the Fig.11 As shown, it is assumed that the robotic arm includes a first robotic arm 410, a second robotic arm 420 and a third robotic arm 430, wherein the first robotic arm 410 and the third robotic arm 430 are located on both sides, and the second robotic arm 420 is located in the middle. It can be understood that the first robotic arm 420, the second robotic arm 430, the third robotic arm 430, etc. mentioned above are arranged from left to right in the direction in which the user faces the robotic arm. The operating arms of each robotic arm have their own center plane 610. As shown in FIG. Fig.12 As shown, the step S1 may further include:

[0087] Step S16: when controlling the mechanical arm to move to its corresponding preset deployment position, the cyclone joint of the first mechanical arm may be controlled to rotate to the cyclone joint zero position, and the deflection joint of the first mechanical arm may be controlled to rotate counterclockwise to a first preset angle;

[0088] In this embodiment, the preset deployment position corresponding to the first mechanical arm 410 includes the cyclone joint zero position corresponding to its cyclone joint; the target position corresponding to its deflection joint, such as the first preset angle, which can be a reasonable value between -10° and -35°, or other reasonable values. This specific value is only used to help understand the present application scheme and does not serve as a limitation. Assuming that the first preset angle is -30°, the deflection joint of the first mechanical arm 410 can be controlled to rotate counterclockwise until it rotates to -30° from the current position.

[0089] Step S17, controlling the cyclone joint of the third mechanical arm to rotate to the cyclone joint zero position, and controlling the deflection joint of the third mechanical arm to rotate clockwise to a second preset angle;

[0090] In this embodiment, the preset deployment position corresponding to the third mechanical arm 430 includes the cyclone joint zero position corresponding to its cyclone joint; the target position corresponding to its deflection joint, such as the second preset angle, which can be a reasonable value between +10° and +35°, or other reasonable values. This specific value is only used to help understand the present application and does not serve as a limitation. Assuming that the second preset angle is +25°, the deflection joint of the third mechanical arm 430 can be controlled to rotate clockwise until it rotates to +25° from the current position.

[0091] The second preset angle and the first preset angle may be the same or different. In some cases, for example, when there is an operating table or other structures next to the operating device and the space is relatively small, the deflection joint of the robotic arm on the corresponding side can be rotated with a smaller range according to actual conditions. In this way, the flexibility of preoperative preparation work can be improved.

[0092] Step S18: Control the operating arm of the second robot arm to be at its center plane.

[0093] In this embodiment, the operating arm of the second robotic arm 420 located in the middle is at its center plane 610 position, that is, it is not deflected relative to its respective center plane 610, that is, it is deflected by 0°. Specifically, the cyclone joint of the second robotic arm 420 rotates to the cyclone joint zero position, and the deflection joint rotates to the deflection joint zero position. It can be understood that before receiving the one-key expansion instruction, if the cyclone joint and the deflection joint of the second robotic arm 420 are already in their respective zero positions, there is no need to control the state change; if the cyclone joint and the deflection joint of the second robotic arm 420 are not in their respective zero positions, each joint can be controlled to rotate to its respective zero position.

[0094] In addition, based on step 17 and step 18, the parallelogram joints of the first mechanical arm 420, the second mechanical arm 430, and the third mechanical arm 430 can also be controlled to rotate to the parallelogram zero position. When the parallelogram joints rotate to the parallelogram zero position, the insertion axis 660 is perpendicular to the cyclone axis, or the insertion axis 660 is perpendicular to the deflection axis, so that the sterile cover can be sleeved on the operating arm.

[0095] In one embodiment, when executing any of the above steps, if a pause command is received, the current step is controlled to be paused; if at least one of the column 22, the upper arm 23, the lower arm 24, the directional platform 30 and the mechanical arm undergoes an unexpected adjustment, then when a continue execution command is received, the column 22, the upper arm 23, the lower arm 24, the directional platform 30 and the mechanical arm 40 are controlled to move to their respective preset deployment positions according to the one-key deployment sequence. In this embodiment, for safety reasons or other considerations, there is a situation where the processor needs to stop urgently when executing any of the above steps. At this time, releasing the button can trigger the pause command, and the slave operating device will immediately stop at the current action position; if the button is pressed again, the continue execution command will be triggered, and the processor will execute the next step according to the established program. In another embodiment, when the slave operating device is paused at a certain step, if the user adjusts the joints of one or several of the mechanical arms based on his or her temporary needs, at this time, if a continue execution instruction is received, the starting position of the above structure in the one-key expansion sequence where the unexpected adjustment has occurred will be first determined, and then starting from the structure at the starting position, the corresponding structure of the slave operating device will be controlled to move to the respective preset expansion positions according to the one-key expansion sequence to improve control efficiency. The above scheme can ensure that the column 22, upper arm 23, lower arm 24, directional platform 30 and mechanical arm of the slave operating device are deployed to a position suitable for installing a sterile cover, which not only facilitates the installation of the sterile cover, but also avoids the collision of the mechanical arms.

[0096] Step S2: After the sterile cover is installed on the slave operating device and a sterile folding instruction is received, the operating arm is controlled to enter a folded state so that the sterile cover is within the sterile barrier range.

[0097] In this embodiment, the sterile barrier range X (such as Figure 5As shown in the figure, it can be defined as: the range of space that will not be contaminated after the robotic arm is put on the sterile cover. For example, after the robotic arm is put on the sterile cover, if the position of the robotic arm is lowered so that the end of the operating arm is closer to the ground or the base, there will be a risk of contamination; if the range of the robotic arm is too large, there will also be a risk of contamination caused by being touched by other substances. Therefore, the reasonable space range around the robotic arm is the above-mentioned sterile barrier range. After the sterile cover is installed, the operation cannot be carried out immediately for some reason. At this time, it is necessary to wait for a while. In order to avoid the user touching the operating arm 60 or the sterile cover when passing by and destroying the sterile barrier, the robotic arm 40 can be sterilely put away. Specifically, as described above, assuming that the mechanical arm 40 includes a first mechanical arm, a second mechanical arm and a third mechanical arm, after the slave operating device completes the one-key unfolding action, the first mechanical arm located outside is deflected outward by a certain angle relative to its center plane 610 or the zero position of the deflection joint, for example, by -15°; the operating arm of the third mechanical arm is deflected outward by a certain angle relative to its center plane 610 or the zero position of the deflection joint, for example, by +15°; the operating arm of the second mechanical arm is on its center plane 610. If a sterile folding instruction is received, the operating arm located above can be controlled to enter a folded state.

[0098] In one embodiment, the cyclone joint can be controlled to rotate to the cyclone joint zero position, the deflection joint can be controlled to rotate to the deflection joint zero position, and the parallelogram joint can be controlled to rotate until the angle between the insertion axis and the deflection axis reaches a preset range, so that the operating arm enters a folded state. It can be understood that before receiving the sterile stowage instruction, if the cyclone joint and the deflection joint of the mechanical arm are already in their respective corresponding zero positions, for example, the second mechanical arm is already on its center plane 610, then there is no need to control the state change of its cyclone joint and deflection joint, and only the parallelogram joint of the second mechanical arm is controlled to rotate until the angle between the insertion axis and the deflection axis reaches a preset range; if the cyclone joint and the deflection joint of each mechanical arm are not in their respective corresponding zero positions, then the cyclone joint and the deflection joint of each mechanical arm can be controlled to rotate to their respective corresponding zero positions, and at the same time, the parallelogram joint of each arm is controlled to rotate until the angle between the insertion axis and the deflection axis reaches a preset range. The angle range may be a reasonable value within the range of 0 to 90°, for example, 40°, 50°, 60°, 70°, etc.

[0099] Further, the folded state may be that the first rod 621, the second rod 622 and the third rod 623 overlap. Specifically, the first connecting rod, the second connecting rod and the instrument carrying arm 63 may be located on adjacent planes.

[0100] In this embodiment, in order to achieve aseptic folding, all the operating arms can be placed in a folded state; the operating arms can be placed in a folded state from a position deviating from the center plane 610 to the center plane 610; all the operating arms can be placed in a folded state and the operating arms can be placed in a folded state from a position deviating from the center plane 610 to the center plane 610. In this way, folding the robotic arms can prevent the user from accidentally damaging the aseptic barrier of the robotic arms. In addition, by not lowering the columns, the ends of the operating arms of the various robotic arms can be prevented from moving outside the aseptic range, thereby ensuring that the robotic arms are within the aseptic barrier range.

[0101] This embodiment can realize the deployment of the mechanical arm of the slave operating device through one-touch triggering, which can avoid the tedious steps of manual operation and improve the work efficiency of preoperative preparation; further, by controlling the various structures of the slave operating device to move to their respective preset deployment positions in a one-touch deployment sequence, it can ensure that each structure is deployed to a position suitable for installing a sterile cover, providing sufficient operating space for the deployment of the sterile cover, and avoiding collision of the mechanical arm during deployment. In addition, when the sterile cover is installed on the slave operating device and receives a sterile folding instruction, the operating arm is controlled to enter a folded state, so that the sterile cover is within the sterile barrier range, thereby providing a reliable guarantee for the smooth progress of the operation.

[0102] In the second embodiment, when the sterile cover is in a semi-installed state, if a one-key expansion command is received, the column 22, the upper arm 23, the lower arm 24, the directional platform 30 and the mechanical arm 40 are controlled to move to their respective corresponding preset expansion positions, so that the sterile cover is expanded along with the movement of the column 22, the upper arm 23, the lower arm 24, the directional platform 30 and the mechanical arm 40. In this embodiment, the semi-installed state refers to a state in which the end of the sterile cover is fixed on the mechanical arm 40 and is not fully expanded. When the user triggers a one-key expansion command, the column 22, the upper arm 23, the lower arm 24, the directional platform 30 and the mechanical arm 40 are controlled to move to their respective corresponding preset expansion positions, at which time, the sterile cover is gradually expanded under the drive of the corresponding structure. For example, for a sterile cover used to be set on the mechanical arm 40, the sterile cover can be fixed to the mechanical arm 40 before the mechanical arm 40 is not expanded, and then the sterile cover is expanded accordingly along with the expansion of the mechanical arm 40. Since the slave operation device usually has four mechanical arms, when each mechanical arm is not deployed (i.e., in a folded state), the corresponding sterile cover is first half-installed on the mechanical arm to prevent the user from accidentally touching the mechanical arm when installing the sterile cover. By making the sterile cover unfold accordingly with the deployment of the mechanical arm, the tediousness of the user installing the sterile cover can be reduced, while reducing the possibility of manual contamination or tearing of the sterile cover.

[0103] like Fig.13As shown, in the third embodiment, the processor is further configured to perform the following steps:

[0104] Step S3: upon receiving the one-key recovery command, controlling the column, the upper arm, the lower arm, the directional platform and the robotic arm to move to their respective preset recovery positions in the one-key recovery sequence.

[0105] In this embodiment, the one-key recovery sequence is the order in which the joints of the column 22, the upper arm 23, the lower arm 24, the directional platform and the mechanical arm 40 rotate to their respective preset recovery positions. Further, step S3 may include:

[0106] Step S31, determining whether each joint of the robotic arm has reached a joint retracted position, and if not, controlling each joint of the robotic arm to rotate to the joint retracted position;

[0107] In this embodiment, the one-key recovery control button is also a physical or virtual button set on the control panel. In one embodiment, the user can trigger the one-key recovery control button by a single instantaneous input, and in other embodiments, the user can trigger the one-key recovery control button by continuous pressing. In the embodiment of continuous input, the joints of the slave operating device only move when the button is pressed, so that all movements when the button is no longer pressed can be prevented. In this way, the movement can be stopped immediately in case of an emergency or an emergency stop.

[0108] When the joints of the mechanical arm 40 reach the joint retracted position, the operating arm 60 is in a folded state, wherein the first rod 621, the second rod 622 and the third rod 623 overlap. Specifically, the first connecting rod, the second connecting rod and the instrument carrying arm 63 can be located on adjacent planes. Such an arrangement can save space to the greatest extent when the operating arm 60 is folded.

[0109] Step S32: If yes, determine whether the directional platform has reached the platform retracted position; if not, control the directional platform to rotate to the platform retracted position;

[0110] In this embodiment, the platform retracted position may be at an angle of 0° with the center line 640 . Of course, in other embodiments, the platform retracted position may also have a certain angle with the center line 640 .

[0111] Step S33: If yes, determine whether the forearm has reached the preset forearm position; if no, control the forearm to rotate to the forearm retracted position;

[0112] Step S34: If yes, determine whether the boom has reached the preset boom position; if no, control the boom to rotate to the boom retracted position;

[0113] In this embodiment, in order to reduce the space occupied by the slave operating device when it is folded, the upper arm 23 and the lower arm 24 are both offset from the center line 640 by a certain angle. Fig.14 As shown, the rotation joint B of the small arm 24 deviates from the straight line formed by the rotation joint A of the upper arm 23 and the rotation joint C of the orientation platform 30, and the rotation joint A of the upper arm 23 and the rotation joint C of the orientation platform 30 are located at the center line 640 of the slave operating device. In an optional embodiment, the angle of ∠ABC can be set relatively small to minimize the space occupied by the slave operating device when it is folded.

[0114] Step S35: If yes, determine whether the column has reached the preset column position; if not, control the column to reach the column retracted position.

[0115] In this embodiment, the preset column position is the initial zero position of the column 22, and the one-key recovery action from the operating device is finally completed by lowering the column 22 to its initial position. Similarly, as in the first embodiment, if a pause command is received, the current step is controlled to pause; if at least one of the column 22, the upper arm 23, the lower arm 24, the directional platform 30 and the mechanical arm 40 undergoes an unexpected adjustment, then when a continue execution command is received, steps S6 to S10 are re-executed. No further details are given here.

[0116] Similarly, as in the first embodiment, when controlling the joints of the mechanical arm 40 to move or rotate (hereinafter, only the word "move" will be used to indicate this dual meaning) to the corresponding joint retracted position, the movement of each joint can be controlled in sequence, or the movement of each joint can be controlled simultaneously. The slave operating device can have multiple mechanical arms, and the same joints of each mechanical arm can be controlled to move simultaneously, and each joint can be controlled sequentially from far to near; all joints of the mechanical arm can be controlled to move simultaneously; or each mechanical arm can be controlled one by one.

[0117] The present embodiment is applicable to the retraction of the column 22, upper arm 23, lower arm 24, directional platform 30 and robotic arm 40 of the slave operating equipment to the minimum position by one-touch triggering after removing the sterile cover, thereby avoiding the tedious steps of manual operation, shortening the postoperative tidying time and improving the utilization rate of the operating room; further, by successively judging whether the joints of the robotic arm 40 have reached the joint retraction position, whether the directional platform 30 has reached the platform retraction position, whether the lower arm 24 has reached the lower arm retraction position, whether the upper arm 23 has reached the upper arm retraction position, and whether the column 22 has reached the column retraction position, not only the operating room space occupied by the slave operating equipment can be reduced, but also the collision of the robotic arm 40 when retracting can be avoided.

[0118] The present application also provides a control system for a slave operating device. Fig.15 , which shows a schematic diagram of the structure of a control system of a slave operating device provided in an embodiment of the present application. Fig.16 As shown, the control system 900 includes: a processor 90, a memory 91, a bus 92 and a communication interface 93, and the processor 90, the communication interface 93 and the memory 91 are connected via the bus 92; the memory 91 stores computer program instructions that can be executed by the processor 90, and when the processor 90 executes the computer program instructions, it executes the control method of the slave operating device provided in any of the aforementioned embodiments of the present application.

[0119] The memory 91 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the device network element and at least one other network element is realized through at least one communication interface 93 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0120] The bus 92 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 91 is used to store programs, and the processor 90 executes the programs after receiving the execution instruction. The control method of the slave operation device disclosed in any implementation of the embodiment of the present application may be applied to the processor 90, or implemented by the processor 90.

[0121] The processor 90 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 90. The above processor 90 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be combined and executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 91, and the processor 90 reads the information in the memory 91 and completes the steps of the above method in combination with its hardware.

[0122] The slave operating device provided in the embodiment of the present application and the control method of the slave operating device provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0123] The present application also provides a computer-readable storage medium corresponding to the control method of the slave operating device provided in the above embodiment. Fig.16 , which shows a computer-readable storage medium 9 on which computer program instructions are stored. When the computer program instructions are executed by a processor, the control method of the slave operating device provided in any of the aforementioned embodiments will be implemented.

[0124] It should be noted that examples of the computer-readable storage medium may include, but are not limited to, optical disks, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0125] The above description is only an optional embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the application concept of the present application, or directly / indirectly used in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A slave operating device, characterized in that: The slave operation device includes a base, a column that can be raised and lowered and is arranged on the base, a large arm connected to the column in sequence, a small arm that can rotate relative to the large arm, and an orientation platform that can rotate relative to the small arm, a plurality of mechanical arms connected to the orientation platform, and a processor that is communicatively connected to the column, the large arm, the small arm, the orientation platform, and the mechanical arms, the mechanical arms including an adjustment arm connected to the orientation platform and an operation arm connected to the adjustment arm, the slave operation device is configured to have a one-key deployment sequence, and the processor is configured to perform the following steps: Upon receiving a one-key deployment instruction, the column, the upper arm, the lower arm, the directional platform and the mechanical arm are controlled to move to respective preset deployment positions according to the one-key deployment sequence; When the sterile cover is installed on the slave operating device and a sterile folding instruction is received, the operating arm is controlled to enter a folded state so that the sterile cover is within the sterile barrier range.

2. The slave operating device according to claim 1, characterized in that: The operating arm includes a cyclone joint and a deflection joint arranged adjacent to the adjustment arm, and the cyclone joint and the deflection joint are configured to adjust the deflection angle of the operating arm relative to the center plane thereof; the mechanical arm includes a first mechanical arm, a second mechanical arm and a third mechanical arm, and the processor is configured to perform the following specific steps: When controlling the mechanical arm to move to its corresponding preset deployment position, controlling the cyclone joint of the first mechanical arm to rotate to the cyclone joint zero position, and controlling the deflection joint of the first mechanical arm to rotate counterclockwise to a first preset angle; Controlling the cyclone joint of the third mechanical arm to rotate to the cyclone joint zero position, and controlling the deflection joint of the third mechanical arm to rotate clockwise to a second preset angle; The operating arm controlling the second mechanical arm is located at its center plane.

3. The slave operating device according to claim 2, characterized in that: The operating arm further comprises a parallelogram joint disposed adjacent to the deflection joint, wherein the parallelogram joint is configured to adjust a pitch angle of the operating arm relative to a pitch axis, and the processor is further configured to perform the following steps: The parallelogram joints of the first mechanical arm, the second mechanical arm and the third mechanical arm are controlled to rotate to the parallelogram joint zero position.

4. The slave operating device according to claim 2, characterized in that: The operating arm includes an instrument carrying arm located at the end, the instrument carrying arm is used to support the surgical instrument, the instrument carrying arm has an insertion axis passing through a remote center RC point, the cyclone joint has a cyclone axis passing through the RC point, and the deflection joint has a deflection axis passing through the RC point. When the robotic arm moves to its corresponding preset deployment position, the insertion axis is perpendicular to the cyclone axis, or the insertion axis is perpendicular to the deflection axis.

5. The slave operating device according to claim 1, characterized in that: The operating arm comprises a cyclone joint, a deflection joint and a parallelogram joint arranged adjacent to the adjustment arm, and an instrument carrying arm connected to the parallelogram joint, the instrument carrying arm is used to support the surgical instrument, the instrument carrying arm has an insertion axis passing through a remote center RC point, the deflection joint has a deflection axis passing through the RC point, and the processor is further configured to perform the following specific steps: The cyclone joint is controlled to rotate to the cyclone joint zero position, the deflection joint is controlled to rotate to the deflection joint zero position, and the parallelogram joint is controlled to rotate until the angle between the insertion axis and the deflection axis reaches a preset range, so that the operating arm enters a folded state.

6. The slave operating device according to claim 1, characterized in that: The adjustment arm has a lifting joint, and the operating arm includes a cyclone joint, a deflection joint and a parallelogram joint arranged adjacent to the lifting joint, and the lifting joint is arranged to adjust the height of the operating arm relative to the base; The cyclone joint and the deflection joint are configured to adjust the deflection angle of the operating arm relative to the center plane thereof; the parallelogram joint is configured to adjust the pitch angle of the operating arm relative to the pitch axis; the processor is configured to perform the following specific steps: When the directional platform reaches the preset platform position, the lifting joint, the cyclone joint, the deflection joint and the parallelogram joint are sequentially controlled to move to corresponding preset joint positions; or When the directional platform reaches the preset platform position, the cyclone joint, the deflection joint and the parallelogram joint are simultaneously controlled to rotate to the corresponding preset joint positions.

7. The slave operating device according to claim 6, characterized in that: The number of the mechanical arms includes at least two, and the processor is configured to perform the following specific steps: When the lifting joints of all the mechanical arms reach the preset lifting joint positions, controlling the cyclone joints, deflection joints and parallelogram joints in all the mechanical arms to move to the corresponding preset joint positions in sequence; or When the lifting joints of all the mechanical arms reach the preset lifting joint positions, the cyclone joints, deflection joints and parallelogram joints of all the mechanical arms are controlled to rotate to the corresponding preset joint positions at the same time.

8. The slave operating device according to claim 1, characterized in that: The processor is further configured to perform the following steps: When receiving a pause instruction, control the current step to pause; If at least one of the column, the arm, the forearm, the directional platform and the robotic arm undergoes an unexpected adjustment, upon receiving a continue execution instruction, the column, the arm, the forearm, the directional platform and the robotic arm are controlled to move to their respective preset deployment positions in the one-key deployment sequence; or If at least one of the column, the upper arm, the lower arm, the directional platform and the robotic arm has undergone an unexpected adjustment, then when a continue execution instruction is received, the starting position of the above-mentioned structure where the unexpected adjustment has occurred in the one-key deployment sequence is determined; starting from the structure at the starting position, the corresponding structure of the slave operating device is controlled to move to the respective preset deployment positions according to the one-key deployment sequence.

9. The slave operating device according to claim 1, characterized in that: The processor is further configured to perform the following steps: When the sterile cover is in a semi-installed state, if a one-key deployment command is received, the column, upper arm, lower arm, directional platform and the robotic arm are controlled to move to their respective corresponding preset deployment positions, so that the sterile cover is deployed along with the movement of the column, upper arm, lower arm, directional platform and the robotic arm.

10. The slave operating device according to claim 1, characterized in that: The slave operation device is further configured to have a one-key recovery sequence, and the processor is further configured to perform the following steps: When a one-key recovery command is received, the column, the upper arm, the lower arm, the directional platform and the mechanical arm are controlled to move to their respective preset recovery positions according to the one-key recovery sequence.

11. The slave operating device according to claim 10, characterized in that: The rotation joint of the forearm deviates from the straight line formed by the rotation joint of the upper arm and the rotation joint of the orienting platform, and the rotation joint of the upper arm and the rotation joint of the orienting platform are located at the center line position of the slave operating device.

12. The slave operating device according to claim 10, characterized in that: The operating arm includes a base connecting rod connected to the adjustment arm, a parallelogram mechanism connected to the base connecting rod, and an instrument carrying arm connected to the parallelogram mechanism, the instrument carrying arm is used to support surgical instruments, the parallelogram mechanism includes a first rod connected to the base connecting rod, a second rod connected to the first rod, and a third rod connected to the instrument carrying arm, when each joint of the robotic arm rotates to a corresponding preset recovery position, the first rod, the second rod and the third rod overlap.

13. A control method for a slave operating device, characterized in that: The slave operation device comprises a base, a column which can be raised and lowered and is arranged on the base, a large arm connected to the column in sequence, a small arm which can rotate relative to the large arm, and an orientation platform which can rotate relative to the small arm, a plurality of mechanical arms connected to the orientation platform, and a processor which is communicatively connected to the column, the large arm, the small arm, the orientation platform and the mechanical arms, the mechanical arms comprising an adjustment arm connected to the orientation platform and an operation arm connected to the adjustment arm, the slave operation device is configured to have a one-key deployment sequence, and the control method of the slave operation device comprises the following steps: Upon receiving a one-key deployment instruction, the column, the upper arm, the lower arm, the directional platform and the mechanical arm are controlled to move to respective preset deployment positions according to the one-key deployment sequence; When the sterile cover is installed on the slave operating device and a sterile folding instruction is received, the operating arm is controlled to enter a folded state so that the sterile cover is within the sterile barrier range.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which are configured to be loaded and executed by a processor to implement the steps of the method according to claim 13 .

Images