Mechanical arm control system

Abstract

The embodiment of the invention discloses a mechanical arm control system. Comprising a control condition determination module used for determining a first quantity condition and a first control condition in response to a mechanical arm grabbing instruction under the condition that a target medical instrument is not mounted on an external mechanical arm; the mechanical arm grabbing signal sending module is used for determining a first main target main hand and a first target mechanical arm based on the mechanical arm grabbing instruction, the first quantity condition and the first control condition, and sending a mechanical arm grabbing signal to the auxiliary console; the auxiliary console is used for responding to the received mechanical arm grabbing signal, determining a first target mechanical arm and transferring the mechanical arm control right of the first target mechanical arm to the main console; and the mechanical arm switching module is used for switching the control object of the first main target master hand into a first target mechanical arm. According to the technical scheme, under the condition that the external mechanical arm is connected, flexible control over the mechanical arm by the main control table can be achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of motion control, and in particular to a robotic arm control system. Background Art

[0002] In recent years, in order to better provide patients with high-quality medical services, when performing surgery with a surgical robot, a dual control console can be used to control the different robotic arms of the surgical robot separately, thereby improving the efficiency and safety of the operation.

[0003] However, when performing complex operations, more robotic arms need to be connected to complete the surgical operation. At this time, how to ensure the flexible control of the robotic arms by the main console among the dual consoles needs to be solved urgently. Summary of the invention

[0004] An embodiment of the present invention provides a robotic arm control system, so that when a surgical robot is connected to an external robotic arm, a main control console can flexibly control the robotic arm.

[0005] According to one aspect of the present invention, a robot arm control system is provided, which may include:

[0006] A surgical robot, a main control console and an auxiliary control console, wherein the main control console includes a control situation determination module, a robot arm grabbing signal sending module, a robot arm switching module, a main left master hand and a main right master hand, and the surgical robot includes an external robot arm and multiple auxiliary robot arms; wherein,

[0007] A control situation determination module, for responding to a robot arm grabbing instruction, and determining a first quantity situation of a main control robot arm and an auxiliary control robot arm, and a first control situation of each main control robot arm by a main left master hand and a main right master hand respectively, when a target medical device is not installed on an external robot arm, wherein the main control robot arm is a robot arm whose control right is on a main control console among an external robot arm and a plurality of auxiliary robot arms, and the auxiliary control robot arm is a robot arm whose control right is on an auxiliary control console among an external robot arm and a plurality of auxiliary robot arms;

[0008] A robot arm grabbing signal sending module, used to determine a first main target master hand from the main left master hand and the main right master hand, and determine a first target robot arm from each auxiliary control robot arm based on the robot arm grabbing instruction, the first quantity situation and the first control situation, and send a robot arm grabbing signal corresponding to the first target robot arm to the auxiliary control station;

[0009] The auxiliary control console is used to determine a first target robotic arm from each auxiliary control robotic arm in response to the received robotic arm grabbing signal, and transfer the robotic arm control right of the first target robotic arm to the main control console;

[0010] The robot arm switching module is used to switch the control object of the first main target master hand to the first target robot arm after the robot arm control right of the first target robot arm is transferred to the main control console.

[0011] The technical solution of the embodiment of the present invention includes: a surgical robot, a main control console and an auxiliary control console, wherein the main control console includes a control situation determination module, a robot arm grabbing signal sending module, a robot arm switching module, a main left master hand and a main right master hand, and the surgical robot includes an external robot arm and multiple auxiliary robot arms; wherein the control situation determination module is used to respond to the robot arm grabbing instruction, and when the target medical device is not installed on the external robot arm, determine the first quantity situation of the main control robot arm and the auxiliary control robot arm, and the first control situation of the main left master hand and the main right master hand on each main control robot arm respectively, wherein the main control robot arm is the robot arm whose robot arm control right is on the main control console among the external robot arm and the multiple auxiliary robot arms, and the auxiliary control robot arm is the robot arm whose robot arm control right is on the auxiliary control console among the external robot arm and the multiple auxiliary robot arms, so as to facilitate the subsequent determination of the first main target master hand and the first target robot arm through the first quantity situation and the first control situation; the robot arm grabbing signal sending module is used to determine the first main target master hand and the first target robot arm based on the robot arm grabbing instruction , a first quantity situation and a first control situation, determining a first main target master hand from the main left master hand and the main right master hand, and determining a first target robotic arm from each auxiliary control robotic arm, and sending a robotic arm grabbing signal corresponding to the first target robotic arm to the auxiliary control console, and can determine different first main target master hands and first target robotic arms in different situations based on the robotic arm grabbing instruction, and send a robotic arm grabbing signal to achieve the grabbing of the first target robotic arm; the auxiliary control console is used to respond to the received robotic arm grabbing signal, determine the first target robotic arm from each auxiliary control robotic arm, and transfer the robotic arm control right of the first target robotic arm to the main control console, complete the real-time transfer of the robotic arm control right from the auxiliary control console to the main control console, so as to provide control authority for the subsequent main control console to control the first target robotic arm; a robotic arm switching module is used to switch the control object of the first main target master hand to the first target robotic arm after the robotic arm control right of the first target robotic arm is transferred to the main control console, so as to achieve rapid switching of the control object by the main control console. The above technical scheme, through the robotic arm grabbing instruction, the first quantity situation and the first control situation, can determine the first main target main hand to be grabbed by the robotic arm in the main control console and the first target robotic arm to be grabbed in the auxiliary control console under different situations. After an external robotic arm is added to the surgical robot, the main control console can flexibly control each robotic arm when the dual control consoles jointly control the surgical robot.

[0012] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 is a structural block diagram of a robotic arm control system provided according to an embodiment of the present invention;

[0015] Figure 2 is a schematic diagram of a control situation in a robotic arm control system provided by an embodiment of the present invention;

[0016] Figure 3 is a structural block diagram of another robotic arm control system provided according to an embodiment of the present invention;

[0017] Figure 4 is a schematic diagram of a control situation in another robotic arm control system provided according to an embodiment of the present invention;

[0018] Figure 5 is a schematic diagram of another control situation in another robotic arm control system provided according to an embodiment of the present invention;

[0019] Figure 6 is a schematic diagram of another control situation in another robot arm control system provided according to an embodiment of the present invention;

[0020] Figure 7 is a structural block diagram of another robotic arm control system provided according to an embodiment of the present invention;

[0021] Figure 8 is a schematic diagram of a control situation in another robot arm control system provided in an embodiment of the present invention;

[0022] Fig. 9 is a structural block diagram of another robotic arm control system provided according to an embodiment of the present invention;

[0023] Fig.10 This is a schematic diagram of a control situation in another robotic arm control system provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The situations of "target", "original", etc. are similar and will not be repeated here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Figure 1 This is a structural block diagram of a robotic arm control system provided by an embodiment of the present invention. This embodiment is applicable to the case of controlling the robotic arm of a surgical robot, and is particularly applicable to the case of controlling the robotic arm of a surgical robot through a dual control console after an external robotic arm is added to the surgical robot.

[0027] See also Figure 1 The robot control system of the embodiment of the present invention includes: a surgical robot 11, a main control console 12 and an auxiliary control console 13, wherein the main control console 12 includes a control situation determination module 121, a robot grabbing signal sending module 122, a robot switching module 123, a main left master hand 124 and a main right master hand 125, and the surgical robot 11 includes an external robot arm 111 and a plurality of auxiliary robot arms 112; wherein,

[0028] The control situation determination module 121 is used to determine, in response to the robot arm grabbing instruction, a first quantity situation of the main control robot arm and the auxiliary control robot arm, and a first control situation of each main control robot arm by the main left master hand 124 and the main right master hand 125 respectively, when the target medical device is not installed on the external robot arm 111, wherein the main control robot arm is the robot arm on the main control console 12 among the external robot arm 111 and the multiple auxiliary robot arms 112, and the auxiliary control robot arm is the robot arm on the auxiliary control console 13 among the external robot arm 111 and the multiple auxiliary robot arms 112;

[0029] The robot arm grabbing signal sending module 122 is used to determine the first main target master hand from the main left master hand 124 and the main right master hand 125, and determine the first target robot arm from each auxiliary control robot arm based on the robot arm grabbing instruction, the first quantity situation and the first control situation, and send a robot arm grabbing signal corresponding to the first target robot arm to the auxiliary control console 13;

[0030] The auxiliary control console 13 is used to determine a first target robotic arm from the auxiliary control robotic arms in response to the received robotic arm grabbing signal, and transfer the robotic arm control right of the first target robotic arm to the main control console 12;

[0031] The robot arm switching module 123 is used to switch the control object of the first main target master hand to the first target robot arm after the robot arm control right of the first target robot arm is transferred to the main control console 12 .

[0032] The surgical robot 11 can be understood as a robot that assists doctors in performing surgical operations through multiple robotic arms during surgical operations, especially urological operations, which can improve the accuracy and efficiency of surgical operations. Optionally, the surgical robot 11 may include multiple auxiliary robotic arms 112. When performing complex surgical operations, in order to meet the needs of surgical operations, external robotic arms 111 may be connected to the surgical robot 11. Optionally, the number of external robotic arms 111 can be determined according to actual conditions, and no specific restrictions are made here.

[0033] The main console 12 can be understood as a console that mainly controls the surgical robot 11, and may include a control situation determination module 121, a robotic arm grabbing signal sending module 122, a robotic arm switching module 123, a main left master hand 124, and a main right master hand 125. The doctor may control the robotic arms of the surgical robot 11 through the main left master hand 124 and the main right master hand 125 to perform surgical operations. The control situation of the main console 12 over the surgical robot 11 may be determined through the control situation determination module 121, and a robotic arm grabbing signal may be sent to the auxiliary console 13 through the robotic arm grabbing signal sending module 122. The control objects of the main left master hand 124 and the main right master hand 125 in the main console 12 may be switched through the robotic arm switching module 123.

[0034] The auxiliary console 13 can be understood as a console for assisting the control of the surgical robot 11. Optionally, the auxiliary console 13 can be the same as or different from the main console 12. The surgical robot 11 can be operated simultaneously by the main console 12 and the auxiliary console 13, and different robotic arms can be controlled respectively, so that two doctors can work together to complete the operation and improve the efficiency of the operation. Optionally, when the robotic arm control right of the robotic arm that the main console 12 needs to control is on the auxiliary console 13, a robotic arm grabbing signal can be sent to the auxiliary console 13, and the auxiliary console 13 can transfer the robotic arm control right to the main console 12 in response to the received robotic arm grabbing signal.

[0035] The robot arm grabbing instruction can be understood as an instruction issued by the operator of the main console 12 to the main console 12, which is used to instruct the main console 12 to grab the robot arm control right of the auxiliary control robot arm controlled by the auxiliary console 13. Optionally, during the operation, when the operator of the main console 12 needs to control the auxiliary control robot arm whose control right is on the auxiliary console 13, the robot arm grabbing instruction can be issued to grab the control right of the robot arm, thereby completing the control of the auxiliary control robot arm.

[0036] The target medical device can be understood as a special medical device used for a specific surgical operation, which can be installed on the external robotic arm 111 .

[0037] The main control robotic arm can be understood as the robotic arm on the main control console 12 among the external robotic arm 111 and multiple auxiliary robotic arms 112 of the surgical robot 11; the auxiliary control robotic arm can be understood as the robotic arm on the auxiliary control console 13 among the external robotic arm 111 and multiple auxiliary robotic arms 112 of the surgical robot 11; the main control console 12 can only control the main control robotic arm. To control the auxiliary control robotic arm, it is necessary to obtain the control of the auxiliary control robotic arm from the auxiliary control console 13.

[0038] The first quantity situation can be understood as the number of main control robotic arms controlled by the main control console 12 and the number of auxiliary control robotic arms controlled by the auxiliary control console 13. Optionally, the first quantity situation can be that the number of main control robotic arms is greater than the number of auxiliary control robotic arms, the number of main control robotic arms is equal to the number of auxiliary control robotic arms, and the number of main control robotic arms is less than the number of auxiliary control robotic arms.

[0039] The first control situation can be understood as the control situation of the master robot arm by the master left master hand 124 and the master right master hand 125. Optionally, the master left master hand 124 and the master right master hand 125 can control one master robot arm respectively, or only the master left master hand 124 can control one master robot arm, or only the master right master hand 125 can control one master robot arm, etc.

[0040] The first main target master hand can be understood as the master hand that needs to switch the control object between the main left master hand 124 and the main right master hand 125. It can be determined according to the robot arm grabbing instruction, the first quantity situation and the first control situation. After receiving the robot arm grabbing instruction, different first target master hands can be determined according to different quantity situations and control situations.

[0041] The first target manipulator arm can be understood as the auxiliary control manipulator arm that the main control console 12 needs to control. It can be determined according to the manipulator grabbing instruction, the first quantity situation and the first control situation, and different first target manipulator arms can be determined under different manipulator grabbing instructions, the first quantity situation and the first control situation.

[0042] The robot arm grabbing signal can be understood as a signal sent to the auxiliary control console 13 to indicate the auxiliary control robot arm to be grabbed.

[0043] The control situation determination module 121 responds to the robot arm grabbing instruction, and when the target medical device is not installed on the external robot arm 111, determines the first quantity situation of the main control robot arm and the auxiliary control robot arm, and the first control situation of the main left master hand 124 and the main right master hand 125 on each main control robot arm. Afterwards, the robot arm grabbing signal sending module 122 determines the first main target master hand and the first target robot arm based on the robot arm grabbing instruction, the first quantity situation and the first control situation, and sends a robot arm grabbing signal corresponding to the first target robot arm to the auxiliary control console 13. Further, the auxiliary control console 13 responds to the received robot arm grabbing signal, determines the first target robot arm from each auxiliary control robot arm, and transfers the robot arm control right of the first target robot arm to the main control console 12. Finally, after the robot arm control right of the first target robot arm is transferred to the main control console 12, the robot arm switching module 123 switches the control object of the first main target master hand to the first target robot arm, and completes the grabbing of the auxiliary control robot arm.

[0044] The technical solution of the embodiment of the present invention includes: a surgical robot, a main control console and an auxiliary control console, wherein the main control console includes a control situation determination module, a robot arm grabbing signal sending module, a robot arm switching module, a main left master hand and a main right master hand, and the surgical robot includes an external robot arm and multiple auxiliary robot arms; wherein the control situation determination module is used to respond to the robot arm grabbing instruction, and when the target medical device is not installed on the external robot arm, determine the first quantity situation of the main control robot arm and the auxiliary control robot arm, and the first control situation of the main left master hand and the main right master hand on each main control robot arm respectively, wherein the main control robot arm is the robot arm whose robot arm control right is on the main control console among the external robot arm and the multiple auxiliary robot arms, and the auxiliary control robot arm is the robot arm whose robot arm control right is on the auxiliary control console among the external robot arm and the multiple auxiliary robot arms, so as to facilitate the subsequent determination of the first main target master hand and the first target robot arm through the first quantity situation and the first control situation; the robot arm grabbing signal sending module is used to determine the first main target master hand and the first target robot arm based on the robot arm grabbing instruction , a first quantity situation and a first control situation, determining a first main target master hand from the main left master hand and the main right master hand, and determining a first target robotic arm from each auxiliary control robotic arm, and sending a robotic arm grabbing signal corresponding to the first target robotic arm to the auxiliary control console, and can determine different first main target master hands and first target robotic arms in different situations based on the robotic arm grabbing instruction, and send a robotic arm grabbing signal to achieve the grabbing of the first target robotic arm; the auxiliary control console is used to respond to the received robotic arm grabbing signal, determine the first target robotic arm from each auxiliary control robotic arm, and transfer the robotic arm control right of the first target robotic arm to the main control console, complete the real-time transfer of the robotic arm control right from the auxiliary control console to the main control console, so as to provide control authority for the subsequent main control console to control the first target robotic arm; a robotic arm switching module is used to switch the control object of the first main target master hand to the first target robotic arm after the robotic arm control right of the first target robotic arm is transferred to the main control console, so as to achieve rapid switching of the control object by the main control console. The above technical scheme, through the robotic arm grabbing instruction, the first quantity situation and the first control situation, can determine the first main target main hand to be grabbed by the robotic arm in the main control console and the first target robotic arm to be grabbed in the auxiliary control console under different situations. After an external robotic arm is added to the surgical robot, the main control console can flexibly control each robotic arm when the dual control consoles jointly control the surgical robot.

[0045] An optional technical solution, a robot arm grabbing signal sending module, includes: a first robot arm grabbing signal sending sub-module, which is used to determine the first main target master hand from the main left master hand and the main right master hand based on the robot arm grabbing instruction, and determine the first target robot arm from each auxiliary control robot arm when a first quantity situation indicates that the number of main control robot arms is greater than the number of auxiliary control robot arms, and the first control situation indicates that the main left master hand and the main right master hand respectively control a main control robot arm, and send a robot arm grabbing signal corresponding to the first target robot arm to the auxiliary control console.

[0046] Among them, when the first quantity situation indicates that the number of master control robotic arms is greater than the number of auxiliary control robotic arms, and the first control situation indicates that the main left master hand and the main right master hand each control a master control robotic arm, the first main target master hand can be determined from the main left master hand and the main right master hand based on the robotic arm grabbing instruction, and the first target robotic arm can be determined from each auxiliary control robotic arm. Optionally, there can be multiple robotic arm grabbing instructions, and different robotic arm grabbing instructions correspond to different first main target master hands. Figure 2 As shown, when a robot arm grabbing instruction sent by the side kick pedal is received, the right master hand (i.e., the main right master hand) of the main control console can be determined as the first main target master hand, and the auxiliary control robot arm controlled by the right master hand in the auxiliary control console can be determined as the first target robot arm. Further, a robot arm grabbing signal corresponding to the first target robot arm can be sent to the auxiliary control console through the first robot arm grabbing signal sending submodule to complete the grabbing of the robot arm control right of the first target robot arm.

[0047] The above technical solution can determine the corresponding first main target main hand and first target robotic arm through the robotic arm grabbing instruction, and send the corresponding robotic arm grabbing signal.

[0048] Another optional technical solution is that the robot arm grabbing signal sending module is also used to determine a preset number of second target robot arms from each auxiliary control robot arm based on the robot arm grabbing instruction when the first quantity situation indicates that the number of main control robot arms is less than the number of auxiliary control robot arms, and send a robot arm grabbing signal corresponding to the preset number of second target robot arms to the auxiliary control console.

[0049] Among them, when the first number situation represents that the number of main control robotic arms is less than the number of auxiliary control robotic arms, in order to ensure the master identity of the main control console, a robotic arm grabbing instruction can be sent to the main control console. Based on the robotic arm grabbing instruction, the main control console determines a preset number of second target robotic arms from each auxiliary control robotic arm through the robotic arm grabbing signal sending module. Optionally, the preset number can be set based on the actual situation, as long as it is ensured that after the main control console obtains the preset number of second target robotic arms, the number of main control robotic arms is greater than or equal to the number of auxiliary control robotic arms. After that, the robotic arm grabbing signal sending module sends a robotic arm grabbing signal corresponding to the preset number of second target robotic arms to the auxiliary control console to complete the grabbing of the preset number of second target robotic arms. Optionally, a corresponding robotic arm grabbing instruction sending button can be set, such as a take all button. When the number of main control robotic arms is less than the number of auxiliary control robotic arms, the surgical operator clicks the take all button to send the robotic arm grabbing instruction to trigger the grabbing of the preset number of second target robotic arms.

[0050] The above technical solution can restore the master control status of the main control console when the number of master control robotic arms is less than the number of auxiliary control robotic arms.

[0051] Figure 3 It is a structural block diagram of another robotic arm control system provided by an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the robotic arm grabbing signal sending module includes: a first target robotic arm determination submodule, which is used to determine the first main target master hand from the main left master hand and the main right master hand, and determine the first target robotic arm from each auxiliary control robotic arm based on the robotic arm grabbing instruction and the first control situation when the first quantity situation represents that the number of main control robotic arms is equal to the number of auxiliary control robotic arms; a second robotic arm grabbing signal sending submodule, which is used to send a robotic arm grabbing signal corresponding to the first target robotic arm to the auxiliary control station. Among them, the explanations of the terms that are the same or corresponding to the above-mentioned embodiments are not repeated here.

[0052] For details, see Figure 3 The robot control system of this embodiment includes: a surgical robot 21, a main control console 22 and an auxiliary control console 23, wherein the main control console 22 includes a control situation determination module 221, a robot arm grabbing signal sending module 222, a robot arm switching module 223, a main left master hand 224 and a main right master hand 225, the surgical robot 21 includes an external robot arm 211 and a plurality of auxiliary robot arms 212, the robot arm grabbing signal sending module 222 includes a first target robot arm determination submodule 2221 and a second robot arm grabbing signal sending submodule 2222; wherein,

[0053] The control situation determination module 221 is used to determine, in response to the robot arm grabbing instruction, a first quantity situation of the main control robot arm and the auxiliary control robot arm, and a first control situation of each main control robot arm respectively by the main left master hand 224 and the main right master hand 225 when the target medical device is not installed on the external robot arm 211, wherein the main control robot arm is the robot arm on the main control console 22 among the external robot arm 211 and the multiple auxiliary robot arms 212, and the auxiliary control robot arm is the robot arm on the auxiliary control console 23 among the external robot arm 211 and the multiple auxiliary robot arms 212;

[0054] The first target manipulator arm determination submodule 2221 is used to determine the first main target master hand from the main left master hand 224 and the main right master hand 225, and determine the first target manipulator arm from each auxiliary control manipulator arm based on the manipulator arm grabbing instruction and the first control situation when the first quantity situation represents that the number of main control manipulator arms is equal to the number of auxiliary control manipulator arms;

[0055] The second robotic arm grabbing signal sending submodule 2222 is used to send a robotic arm grabbing signal corresponding to the first target robotic arm to the auxiliary control console 23 .

[0056] The auxiliary control console 23 is used to determine a first target robotic arm from the auxiliary control robotic arms in response to the received robotic arm grabbing signal, and transfer the robotic arm control right of the first target robotic arm to the main control console 22;

[0057] The robot arm switching module 223 is used to switch the control object of the first main target master hand to the first target robot arm after the robot arm control right of the first target robot arm is transferred to the main control console 22.

[0058] Among them, when the first quantity situation represents that the number of main control mechanical arms is equal to the number of auxiliary control mechanical arms, the first target mechanical arm determination submodule 2221 needs to further determine the first main target master hand and the first target mechanical arm through the mechanical arm grabbing instruction and the first control situation. Optionally, when the number of main control mechanical arms is equal to the number of auxiliary control mechanical arms, since the number of main control mechanical arms is at least two, the main left master hand 224 and the main right master hand 225 can control one main control mechanical arm respectively, or only one master hand of the main left master hand 224 and the main right master hand 225 can control one main control mechanical arm. In different situations, based on the mechanical arm grabbing instruction, the first main target master hand and the first target mechanical arm determined are different. Afterwards, the mechanical arm grabbing signal sending submodule 2222 sends the mechanical arm grabbing signal corresponding to the first target mechanical arm to the auxiliary control console 23.

[0059] The above technical scheme can determine the first main target master hand and the first target robotic arm according to different robotic arm grabbing instructions and the first control situation when the first quantity situation represents that the number of main control robotic arms is equal to the number of auxiliary control robotic arms.

[0060] An optional technical solution, a first target robotic arm determination submodule, includes: a first main target master hand determination unit, which is used to determine the first main target master hand from the main left master hand and the main right master hand based on the robotic arm grabbing instruction, and determine the first target robotic arm from each auxiliary control robotic arm when the first quantity situation represents that the number of main control robotic arms is equal to the number of auxiliary control robotic arms, and the first control situation represents that the main left master hand and the main right master hand respectively control one main control robotic arm.

[0061] Among them, when the first quantity situation indicates that the number of master control robotic arms is equal to the number of auxiliary control robotic arms, and the first control situation indicates that the main left master hand and the main right master hand respectively control one master control robotic arm, the first main target master hand determination unit can determine the first main target master hand and the first target robotic arm corresponding to the robotic arm grabbing instruction based on the received robotic arm grabbing instruction. Optionally, there can be multiple robotic arm grabbing instructions. When the first quantity situation and the first control situation are the same, different robotic arm grabbing instructions determine different first main target master hands and first target robotic arms. Figure 4 As shown, when the number of main control robotic arms is equal to the number of auxiliary control robotic arms, and the first control situation represents that the main left master hand and the main right master hand respectively control one main control robotic arm, when a robotic arm grabbing command issued through a side kick pedal is received, the left master hand (i.e., the main left master hand) of the main control console can be determined as the first main target master hand, and the auxiliary control robotic arm controlled by the left master hand in the auxiliary control console can be determined as the first target robotic arm; when a robotic arm grabbing command issued through a grabbing pedal is received, the right master hand (i.e., the main right master hand) of the main control console can be determined as the first main target master hand, and the auxiliary control robotic arm controlled by the right master hand in the auxiliary control console can be determined as the first target robotic arm.

[0062] The above technical solution can realize the determination of the first main target master hand and the first target robotic arm when the number of robotic arms is equal to the number of auxiliary control robotic arms and the main left master hand and the main right master hand control one main control robotic arm respectively.

[0063] Another optional technical solution, a first target robotic arm determination submodule, includes: a lens holding position determination unit, used to determine the lens holding position of the lens holding arm on which the target endoscope is installed in the external robotic arm and the multiple auxiliary robotic arms when the first quantity situation represents that the number of main control robotic arms is equal to the number of auxiliary control robotic arms, and the first control situation represents that one of the main left master hand and the main right master hand controls the main control robotic arm; a second main target master hand determination unit, used to determine the first main target master hand to be switched from the main left master hand and the main right master hand based on the robotic arm grabbing instruction and the lens holding position, and determine the first target robotic arm from each auxiliary control robotic arm.

[0064] Among them, when the first quantity situation represents that the number of main control manipulator arms is equal to the number of auxiliary control manipulator arms, and the first control situation represents that one of the main left master hand and the main right master hand controls the main control manipulator arm, due to the different holding positions of the mirror holding arm on which the target endoscope is installed, the main control console can control different main hands of the main control manipulator arm. Therefore, it is necessary to first determine the mirror holding position through the mirror holding position determination unit. Then, through the second main target master hand determination unit, based on the manipulator arm grabbing instruction and the mirror holding position, determine the first main target master hand and the first target manipulator arm.

[0065] The above technical means can determine the first main target main hand and the first target mechanical arm according to different situations according to different mirror holding positions.

[0066] On this basis, an optional second main target master hand determination unit is specifically used to:

[0067] When the mirror holding position indicates that one side of the mirror holding arm is not adjacent to the external robotic arm and any auxiliary robotic arm, based on the robotic arm grabbing instruction, the master hand that controls the main control robotic arm among the main left master hand and the main right master hand is determined as the first main target master hand, and the first target robotic arm is determined from each auxiliary control robotic arm.

[0068] Among them, when the mirror holding position indicates that one side of the mirror holding arm is not adjacent to the external robotic arm and any auxiliary robotic arm, the main left master hand and the main right master hand of the main control console can only be located on one side of the mirror holding position. At this time, only the main hand that controls the main control robotic arm among the main left master hand and the main right master hand can grab the auxiliary control robotic arm, and it can be directly determined as the first main target master hand, and the auxiliary control robotic arm controlled by the master hand corresponding to the first main target master hand in the auxiliary control console can be determined as the first target robotic arm. Figure 5As shown, when the mirror holding arm c is on the far left, one side of the mirror holding arm c is not adjacent to the external robotic arm and any auxiliary robotic arm. At this time, only the main right master hand of the main console can grab the auxiliary control robotic arm. When the robotic arm grabbing command issued by the grabbing pedal is received, the right master hand of the main console (i.e., the main right master hand) can be determined as the first main target master hand, and the auxiliary control robotic arm controlled by the right master hand in the auxiliary console can be determined as the first target robotic arm.

[0069] The above technical solution can determine the first main target main hand and the first target robotic arm when one side of the mirror holding arm is not adjacent to the external robotic arm and any auxiliary robotic arm.

[0070] On this basis, another optional second main target master hand determination unit is specifically used to:

[0071] When the mirror holding position indicates that both sides of the mirror holding arm are adjacent to the external robotic arm or any auxiliary robotic arm, based on the robotic arm grabbing instruction, the first main target master hand is determined from the main left master hand and the main right master hand, and the first target robotic arm is determined from each auxiliary control robotic arm.

[0072] In the case where both sides of the mirror holding arm are adjacent to the external robotic arm or any auxiliary robotic arm, both the main left hand and the main right hand can grab the auxiliary robotic arm. Based on the robotic arm grabbing instruction, the first main target hand and the first target robotic arm can be determined. Figure 6 As shown, when the mirror holding arm c is not located at the outermost side, the main left master hand and the main right master hand of the main console can both grab the auxiliary control robotic arm. When a robotic arm grabbing instruction issued through the grabbing pedal is received, the right master hand (i.e., the main right master hand) of the main console can be determined as the first main target master hand, and the auxiliary control robotic arm controlled by the right master hand in the auxiliary console can be determined as the first target robotic arm; when a robotic arm grabbing instruction issued through the side kick pedal is received, the left master hand (i.e., the main left master hand) of the main console can be determined as the first main target master hand, and the auxiliary control robotic arm controlled by the left master hand in the auxiliary console can be determined as the first target robotic arm.

[0073] The above technical solution can determine the first main target main hand and the first target robotic arm when both sides of the mirror holding arm are adjacent to the external robotic arm or any auxiliary robotic arm.

[0074] Figure 7It is a structural block diagram of another robot control system provided by an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the first control situation determination module is also used to respond to the robot arm switching instruction, and when the target medical device is not installed on the external robot arm, determine the second quantity of the main control robot arm and the auxiliary control robot arm, and the second control situation of the main left master hand and the main right master hand on each main control robot arm respectively; the robot arm switching module is also used to determine the second main target master hand from the main left master hand and the main right master hand based on the robot arm switching instruction when the second quantity situation represents that the number of main control robots is greater than the number of auxiliary control robots, and the first control situation represents that the main left master hand and the main right master hand control one main control robot arm respectively, and determine the third target robot arm from each main control robot arm, and switch the control object of the second main target master hand to the third target robot arm. Among them, the explanation of the terms that are the same or corresponding to the above-mentioned embodiments will not be repeated here.

[0075] For details, see Figure 7 The robot control system of this embodiment includes: a surgical robot 31, a main control console 32 and an auxiliary control console 33, wherein the main control console 32 includes a control situation determination module 321, a robot grabbing signal sending module 322, a robot switching module 323, a main left master hand 324 and a main right master hand 325, and the surgical robot 31 includes an external robot arm 311 and multiple auxiliary robot arms 312; wherein,

[0076] The control situation determination module 321 is used to determine, in response to the robot arm grabbing instruction, a first quantity situation of the main control robot arm and the auxiliary control robot arm, and a first control situation of each main control robot arm by the main left master hand 324 and the main right master hand 325 respectively, when the target medical device is not installed on the external robot arm 311, wherein the main control robot arm is the robot arm on the main control console 32 among the external robot arm 311 and the multiple auxiliary robot arms 312, and the auxiliary control robot arm is the robot arm on the auxiliary control console 33 among the external robot arm 311 and the multiple auxiliary robot arms 312;

[0077] The robot arm grabbing signal sending module 322 is used to determine the first main target master hand from the main left master hand 324 and the main right master hand 325, and determine the first target robot arm from each auxiliary control robot arm based on the robot arm grabbing instruction, the first quantity situation and the first control situation, and send a robot arm grabbing signal corresponding to the first target robot arm to the auxiliary control station 33;

[0078] The auxiliary control console 33 is used to determine a first target robotic arm from the auxiliary control robotic arms in response to the received robotic arm grabbing signal, and transfer the robotic arm control right of the first target robotic arm to the main control console 32;

[0079] A robot arm switching module 323 is used to switch the control object of the first main target master hand to the first target robot arm after the robot arm control right of the first target robot arm is transferred to the main control console 32;

[0080] The control situation determination module 321 is further used to respond to the robot arm switching instruction, when the target medical device is not installed on the external robot arm 311, determine the second number of the main control robot arm and the auxiliary control robot arm, and the second control situation of the main left master hand 324 and the main right master hand 325 on each main control robot arm;

[0081] The robot arm switching module 323 is also used to determine the second main target master hand from the main left master hand 324 and the main right master hand 325 based on the robot arm switching instruction, and determine the third target robot arm from each master robot arm, and switch the control object of the second main target master hand to the third target robot arm when the second quantity situation indicates that the number of main control robot arms is greater than the number of auxiliary control robot arms, and the first control situation indicates that the main left master hand 324 and the main right master hand 325 respectively control one main control robot arm.

[0082] The second quantity situation can be understood as the number of master control robotic arms controlled by the main control console 32 and the number of auxiliary control robotic arms controlled by the auxiliary control console 33. The second control situation can be understood as the control situation of the master left master hand 324 and the master right master hand 325 on the master control robotic arms.

[0083] The robot arm switching instruction can be understood as an instruction to switch the control object of the main left master hand 324 and / or the main right master hand 325 in the main console.

[0084] The control situation determination module 321 also responds to the robot arm switching instruction, and determines a second quantity situation and a second control situation when the target medical device is not installed on the external robot arm 311. When the second quantity situation indicates that the number of master control robot arms is greater than the number of auxiliary control robot arms, and the first control situation indicates that the main left master hand 324 and the main right master hand 325 each control a master control robot arm, the robot arm switching module 323, based on the robot arm switching instruction, determines the second main target master hand from the main left master hand 324 and the main right master hand 325, and determines the third target robot arm from each master control robot arm, and switches the control object of the second main target master hand to the third target robot arm. Figure 2As shown, when the number of master control robotic arms is greater than the number of auxiliary control robotic arms, and the first control situation represents that the main left master hand 324 and the main right master hand 325 control one master control robotic arm respectively, the main control console 32 responds to the robotic arm switching instruction issued by the grab pedal, determines the right master hand of the main control console 32 (i.e., the main right master hand 325) as the second target master hand, determines arm No. x as the third target robotic arm, and switches the control object of the second target master hand from robotic arm No. 3 to robotic arm No. x.

[0085] The above technical solution can realize the switching of the control object of the second target master hand when the number of master control robotic arms is greater than the number of auxiliary control robotic arms and the first control situation represents that the main left master hand and the main right master hand control one master control robotic arm respectively.

[0086] An optional technical solution, a robotic arm switching module, also includes: a lens holding position determination submodule, which is used to determine the lens holding position of the lens holding arm on which the target endoscope is installed in the external robotic arm and the multiple auxiliary robotic arms when the second quantity condition represents that the number of main control robotic arms is equal to the number of auxiliary control robotic arms, and the second control condition represents that one of the main left master hand and the main right master hand controls the main control robotic arm; a robotic arm switching submodule, which is used to determine the second main target master hand from the main left master hand and the main right master hand based on the robotic arm switching instruction and the lens holding position, and determine the third target robotic arm from the main control robotic arm, and switch the control object of the second main target master hand to the third target robotic arm.

[0087] Among them, when the second quantity situation represents that the number of main control robotic arms is equal to the number of auxiliary control robotic arms, and the second control situation represents that one of the main left master hand and the main right master hand controls the main control robotic arm, different mirror holding positions will also cause the second main target master hand and the third target robotic arm to be determined to be different. The mirror holding position determination submodule can be used to determine the mirror holding position of the mirror holding arm on which the target endoscope is installed among the external robotic arm and the multiple auxiliary robotic arms; then, the second main target master hand and the third target robotic arm are determined based on the robotic arm switching instruction and the mirror holding position through the robotic arm switching submodule, and the control object of the second main target master hand is switched to the third target robotic arm.

[0088] The above technical solution can determine the second main target main hand and the third target robotic arm by determining the mirror holding position, and switch the robotic arms.

[0089] On this basis, an optional robot arm switching submodule is specifically used for:

[0090] When the mirror holding position indicates that one side of the mirror holding arm is not adjacent to the external robotic arm and any auxiliary robotic arm, based on the robotic arm switching instruction, the master hand among the main left master hand and the main right master hand that controls the main control robotic arm is determined as the second main target master hand, and the third target robotic arm is determined from the main control robotic arm, and the control object of the second main target master hand is switched to the third target robotic arm.

[0091] Among them, when the mirror holding position indicates that one side of the mirror holding arm is not adjacent to the external mechanical arm and any auxiliary mechanical arm, such as Figure 5 As shown, at this time, the mirror holding arm c is on the far left, and the master hand that controls the main control robotic arm among the main left master hand and the main right master hand is the main right master hand. Based on the robotic arm switching instruction sent by the side kick pedal, the main right master hand can be determined as the second main target master hand, and the robotic arm No. 4 in the main control robotic arm that is closest to the second main target master hand can be determined as the third target robotic arm, and the control object of the second main target master hand is switched to the third target robotic arm.

[0092] The above technical solution can realize the switching of the robotic arm when one side of the mirror holding arm is not adjacent to the external robotic arm and any auxiliary robotic arm.

[0093] Another optional, robotic arm switching submodule is specifically used for:

[0094] When the mirror holding position indicates that both sides of the mirror holding arm are adjacent to the external robotic arm or any auxiliary robotic arm, based on the robotic arm grabbing instruction, the master hand among the main left master hand and the main right master hand that does not control the main control robotic arm is determined as the second main target master hand, and the third target robotic arm is determined from the main control robotic arm, and the control object of the second main target master hand is switched to the third target robotic arm.

[0095] Wherein, when the mirror holding position indicates that both sides of the mirror holding arm are adjacent to the external mechanical arm or any auxiliary mechanical arm, such as Figure 6 As shown, at this time, the mirror holding arm c is the No. 3 robot arm. Based on the robot arm grabbing command, the master hand that does not control the master control robot arm, that is, the master left master hand, can be determined as the second main target master hand from the master left master hand and the master right master hand. At this time, the robot arm switching command can be sent after the side kick pedal is triggered twice in succession, and the No. 2 robot arm corresponding to the second main target master hand in the master control robot arm can be determined as the third target robot arm, and the control object of the second main target master hand can be switched to the third target robot arm. Or as Figure 8As shown, at this time, the mirror holding arm c is the No. 4 robot arm. Based on the robot arm grabbing instruction, the master hand that does not control the main control robot arm among the main left master hand and the main right master hand, that is, the main left master hand, can be determined as the second main target master hand. At this time, the robot arm switching instruction sent after the side kick pedal is triggered twice in a row can be used to determine the No. 3 robot arm corresponding to the second main target master hand in the main control robot arm as the third target robot arm, and switch the control object of the second main target master hand to the third target robot arm.

[0096] The above technical solution can realize the switching of the robotic arms when both sides of the mirror holding arm are adjacent to the external robotic arm or any auxiliary robotic arm.

[0097] Fig. 9 It is a structural block diagram of another kind of manipulator control system provided by an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the control situation determination module is also used to determine the existence of the auxiliary control manipulator arm in each auxiliary manipulator arm when the target medical device is installed on the external manipulator arm after responding to the manipulator grabbing instruction; the manipulator grabbing signal sending module is also used to determine the third main target master hand from the main left master hand and the main right master hand based on the manipulator grabbing instruction when the existence situation indicates the existence of the auxiliary control manipulator arm, and determine the fourth target manipulator arm from each auxiliary control manipulator arm, and send a manipulator grabbing signal corresponding to the fourth target manipulator arm to the auxiliary control console; the auxiliary control console is also used to determine the fourth target manipulator arm from each auxiliary control manipulator arm in response to the received manipulator grabbing signal, and transfer the manipulator control right of the fourth target manipulator arm to the main control console; the manipulator switching module is also used to switch the control object of the third main target master hand to the fourth target manipulator arm after the manipulator control right of the fourth target manipulator arm is transferred to the main control console. The explanations of the terms that are the same as or corresponding to the above embodiments are not repeated here.

[0098] For details, see Fig. 9 The robot control system of this embodiment includes: a surgical robot 41, a main control console 42 and an auxiliary control console 43, wherein the main control console 42 includes a control situation determination module 421, a robot grabbing signal sending module 422, a robot switching module 423, a main left master hand 424 and a main right master hand 425, and the surgical robot 41 includes an external robot arm 411 and multiple auxiliary robot arms 412; wherein,

[0099] The control situation determination module 421 is used to determine, in response to the robot arm grabbing instruction, a first quantity situation of the main control robot arm and the auxiliary control robot arm, and a first control situation of each main control robot arm respectively by the main left master hand 424 and the main right master hand 425 when the target medical device is not installed on the external robot arm 411, wherein the main control robot arm is the robot arm on the main control console 42 among the external robot arm 411 and the multiple auxiliary robot arms 412, and the auxiliary control robot arm is the robot arm on the auxiliary control console 43 among the external robot arm 411 and the multiple auxiliary robot arms 412;

[0100] A robot arm grabbing signal sending module 422 is used to determine a first main target master hand from the main left master hand 424 and the main right master hand 425, and determine a first target robot arm from each auxiliary control robot arm based on the robot arm grabbing instruction, the first quantity situation and the first control situation, and send a robot arm grabbing signal corresponding to the first target robot arm to the auxiliary control station 43;

[0101] The auxiliary control console 43 is used to determine a first target robotic arm from the auxiliary control robotic arms in response to the received robotic arm grabbing signal, and transfer the robotic arm control right of the first target robotic arm to the main control console 42;

[0102] A robot arm switching module 423 is used to switch the control object of the first main target master hand to the first target robot arm after the robot arm control right of the first target robot arm is transferred to the main control console 42;

[0103] The control situation determination module 421 is also used to determine the existence of the auxiliary control robotic arm in each auxiliary robotic arm 412 when the target medical device is installed on the external robotic arm 411 after responding to the robotic arm grabbing instruction;

[0104] The robot arm grabbing signal sending module 422 is also used to determine the third main target master hand from the main left master hand 424 and the main right master hand 425 based on the robot arm grabbing instruction, and determine the fourth target robot arm from each auxiliary control robot arm, and send a robot arm grabbing signal corresponding to the fourth target robot arm to the auxiliary control station 43;

[0105] The auxiliary control console 43 is further used to determine a fourth target robotic arm from the auxiliary control robotic arms in response to the received robotic arm grabbing signal, and transfer the robotic arm control right of the fourth target robotic arm to the main control console 42;

[0106] The robot arm switching module 423 is further used to switch the control object of the third main target master hand to the fourth target robot arm after the robot arm control right of the fourth target robot arm is transferred to the main control console 42.

[0107] The existence situation can be understood as the existence of the auxiliary control robotic arm when the target medical device is installed on the external robotic arm 411 . In other words, the robotic arm control right of the auxiliary robotic arm 412 is located on the auxiliary control console 43 .

[0108] The third main target master hand can be understood as the master hand determined by the robot arm grabbing signal sending module from the main left master hand 424 and the main right master hand 425 based on the robot arm grabbing instruction and existence status when the target medical device is installed on the external robot arm 411.

[0109] After the control situation determination module 421 responds to the robot grabbing instruction, when the target medical device is installed on the external robot arm 411, the external robot arm 411 does not participate in the grabbing and switching of the robot arm between the main control console 42 and the auxiliary control console 43. At this time, the control situation determination module 421 first needs to determine whether the auxiliary control console 43 still has the robot arm control right of the auxiliary robot arm 412. In the case where the auxiliary control robot arm exists, the robot arm grabbing signal sending module 422 determines the third main target master hand based on the robot arm grabbing instruction, and determines the corresponding fourth target robot arm from each auxiliary control robot arm, and sends the robot arm grabbing signal corresponding to the fourth target robot arm to the auxiliary control console 43; then the auxiliary control console 43 determines the fourth target robot arm from each auxiliary control robot arm in response to the received robot arm grabbing signal, and transfers the robot arm control right of the fourth target robot arm to the main control console 42; finally, the robot arm switching module 423 switches the control object of the third main target master hand to the fourth target robot arm after the robot arm control right of the fourth target robot arm is transferred to the main control console 42. Optional, such as Fig.10 As shown, when the robot arm control right of robot arm No. 4 (i.e., the auxiliary control robot arm) is in the auxiliary control console 43, in response to the robot arm grabbing signal sent through the side kick pedal, the main right master hand 425 is used as the third target master hand, robot arm No. 4 is determined as the fourth target robot arm, the robot arm control right of robot arm No. 4 is grabbed to the main control console 42, and the control object of the main right master hand 425 is switched to robot arm No. 4.

[0110] The above technical solution can realize flexible control of the robotic arm by the main console when the target medical device is installed on the external robotic arm.

[0111] An optional technical solution, a robotic arm switching module, is also used to determine a fourth main target master hand from the main left master hand and the main right master hand based on a robotic arm grabbing instruction when a situation exists that indicates the absence of an auxiliary control robotic arm, and to determine a fifth target robotic arm from the main control robotic arm, and to switch the control object of the fourth main target master hand to the fifth target robotic arm.

[0112] Among them, in the case where the existence condition represents the absence of the auxiliary control robot arm, such as Fig.10 As shown, when the arm control right of arm No. 4 (i.e., the auxiliary control arm) is not in the auxiliary control console, the main control console has the arm control right of all auxiliary arms. At this time, in response to the arm grabbing signal sent by the side kick pedal, the main right master hand is used as the fourth target master hand, and arm No. 4 is determined as the fourth target robot arm, and the control object of the main right master hand is directly switched to arm No. 4.

[0113] The above technical solution can realize the switching of the fourth target master hand to the robotic arm in the main control console when the target medical device is installed on the external robotic arm.

[0114] Another optional technical solution, the robot arm switching module, is also used to respond to the external robot arm control instruction, obtain the robot arm control right of the external robot arm, and determine the fifth main target master hand from the main left master hand and the main right master hand, and switch the control object of the fifth main target master hand to the external robot arm.

[0115] Among them, Fig.10 As shown, when the target medical device is installed on the external robotic arm, the main console can activate the external robotic arm by grabbing the pedal, obtain the robotic arm control of the external robotic arm, and switch the control object of the fifth main target master hand determined from the main left master hand and the main right master hand to the external robotic arm.

[0116] The above technical solution can realize the control of the external robotic arm when the target medical device is installed on the external robotic arm.

[0117] In order to better understand the above-mentioned technical solutions as a whole, the following is an exemplary description of the above-mentioned technical solutions in combination with a specific example. In this specific example, the main control console and the auxiliary control console jointly control four auxiliary robotic arms (robotic arm No. 1, robotic arm No. 2, robotic arm No. 3 and robotic arm No. 4) and an external robotic arm (robotic arm No. x) of the surgical robot. The specific steps are as follows:

[0118] Step 1: Check whether the robotic arm in the surgical robot is normal, and check whether the connection between the main console and the auxiliary console is normal.

[0119] Step 2: Detect whether the external robotic arm is installed with the target medical device. If the target medical device is installed, execute step 8. If the target medical device is not installed, execute the following steps 3-7 based on different situations.

[0120] Step 3: When the main console has the control of three main control robotic arms except the arm holding the target endoscope, the main left master hand and the main right master hand control one main control robotic arm respectively, and the auxiliary console controls one robotic arm, as shown in the following example: Figure 2 As shown, when a robot arm grabbing instruction issued by the side kick pedal is received, the main right master hand of the main console is determined as the first main target master hand, and the robot arm No. 4 controlled by the right master hand in the auxiliary console is determined as the first target robot arm. The robot arm grabbing signal corresponding to the first target robot arm is sent to the auxiliary console through the first robot arm grabbing signal sending submodule. In response to the received robot arm grabbing signal, the auxiliary console transfers the robot arm control right of the No. 4 robot arm to the main console, and finally switches the control object of the main right master hand to the No. 4 robot arm through the robot arm switching module. When a robot arm switching instruction issued by the grabbing pedal is received, the main right master hand of the main console is determined as the second main target master hand, and the No. x robot arm in the main console that is not controlled by the main left master hand and the main right master hand is determined as the third target robot arm, and the control object of the main right master hand is switched to the No. x robot arm through the robot arm switching module.

[0121] Step 4: When the main control console has control over two robotic arms except the mirror holding arm, the main left master hand and the main right master hand control one robotic arm respectively, and the auxiliary left master hand and the auxiliary right master hand of the auxiliary control console control one robotic arm respectively. Figure 4 As shown, when a robot arm grabbing instruction issued by the side kick pedal is received, the main left master hand of the main control console is determined as the first main target master hand, and the robot arm No. 1 controlled by the left master hand corresponding to the main left master hand in the auxiliary control console is determined as the first target robot arm, and a robot arm grabbing signal corresponding to the first target robot arm is sent to the auxiliary control console through the first robot arm grabbing signal sending submodule. In response to the received robot arm grabbing signal, the auxiliary control console transfers the robot arm control right of the No. 1 robot arm to the main control console, and finally switches the control object of the main left master hand to the No. 1 robot arm through the robot arm switching module. arm; when a robot arm grabbing instruction issued by a grab pedal is received, the main right master hand of the main control console is determined as the first main target master hand, and the robot arm No. 4 controlled by the right master hand corresponding to the main right master hand in the auxiliary control console is determined as the first target robot arm, and a robot arm grabbing signal corresponding to the first target robot arm is sent to the auxiliary control console through the first robot arm grabbing signal sending submodule. In response to the received robot arm grabbing signal, the auxiliary control console transfers the robot arm control right of the No. 4 robot arm to the main control console, and finally switches the control object of the main right master hand to the No. 4 robot arm through the robot arm switching module.

[0122] Step 5: The main control console has the control of two robotic arms except the mirror holding arm, one of the main left hand and the main right hand controls the main control robotic arm, the auxiliary control console has the control of two robotic arms, and one side of the mirror holding arm is not adjacent to the external robotic arm and any auxiliary robotic arm. Figure 5As shown, when a robot arm grabbing instruction issued through a grab pedal is received, the main right master hand controlling the main control robot arm in the main control console is determined as the first main target master hand, and the robot arm No. x controlled by the right master hand in the auxiliary control console is determined as the first target robot arm, and a robot arm grabbing signal corresponding to the first target robot arm is sent to the auxiliary control console through the first robot arm grabbing signal sending submodule, and the auxiliary control console transfers the robot arm control right of the robot arm No. x to the main control console in response to the received robot arm grabbing signal, and finally switches the control object of the main right master hand to the robot arm No. x through the robot arm switching module; when a robot arm switching instruction issued through a side kick pedal is received, the main right master hand of the main control console is determined as the second main target master hand, and another main control robot arm No. 4 controlled by the main control console is determined as the third target robot arm, and the control object of the main right master hand is switched to the robot arm No. 4 through the robot arm switching module.

[0123] Step 6: The main control console has the control of two robotic arms except the mirror holding arm, one of the main left hand and the main right hand controls the main control robotic arm, the auxiliary control console has the control of two robotic arms, and both sides of the mirror holding arm are adjacent to the external robotic arm or any auxiliary robotic arm. Figure 6 As shown, when a robot arm grabbing instruction issued through the grab pedal is received, the main right master hand controlling the main control robot arm in the main control console is determined as the first main target master hand, and the robot arm No. x controlled by the right master hand in the auxiliary control console is determined as the first target robot arm, and a robot arm grabbing signal corresponding to the first target robot arm is sent to the auxiliary control console through the first robot arm grabbing signal sending submodule. In response to the received robot arm grabbing signal, the auxiliary control console transfers the robot arm control right of the robot arm No. x to the main control console, and finally switches the control object of the main right master hand to the robot arm No. x through the robot arm switching module; when a robot arm grabbing instruction issued through the side kick pedal is received, the main left master hand is determined as the first main target master hand, and the auxiliary control console The No. 1 robot arm controlled by the left master hand is determined as the first target robot arm, and the robot arm grabbing signal corresponding to the first target robot arm is sent to the auxiliary control console through the first robot arm grabbing signal sending submodule. In response to the received robot arm grabbing signal, the auxiliary control console transfers the robot arm control right of the No. 1 robot arm to the main control console, and finally switches the control object of the main left master hand to the No. 1 robot arm through the robot arm switching module; when the robot arm switching instruction sent by stepping on the side kick pedal twice is received, the main left master hand is determined as the second main target master hand, and the other main control robot arm No. 2 robot arm controlled by the main control console is determined as the third target robot arm, and the control object of the main left master hand is switched to the No. 2 robot arm through the robot arm switching module.

[0124] Step 7: When the number of main-control robotic arms is less than the number of auxiliary-control robotic arms, the main control console responds to the robotic arm grabbing instruction sent through the take all button, determines a preset number of second target robotic arms from each auxiliary-control robotic arm, and sends a robotic arm grabbing signal corresponding to the preset number of second target robotic arms to the auxiliary control console. The auxiliary control console transfers the robotic arm control rights of the preset number of second target robotic arms to the main control console in response to the received robotic arm grabbing signal.

[0125] Step 8: If there is an auxiliary control arm on the auxiliary console, Fig.10 As shown, in response to the robot arm grabbing instruction sent by the side kick pedal, robot arm No. 4 (auxiliary control robot arm) is used as the fourth target robot arm, the main right master hand that is closest to robot arm No. 4 among the main left master hand and the main right master hand is determined as the third main target master hand, and a robot arm grabbing signal corresponding to the fourth target robot arm is sent to the auxiliary control console. In response to the received robot arm grabbing signal, the auxiliary control console transfers the robot arm control right of the fourth target robot arm to the main control console, and then the control object of the main right master hand of the robot arm switching module is switched to robot arm No. 4; in the case that the auxiliary control console does not have an auxiliary control robot arm, as shown in FIG. Fig.10 As shown, in response to the robot arm grabbing command sent by the side kick pedal, the robot arm No. 4 in the main control console that is not controlled by the main left master hand and the main right master hand is used as the fifth target robot arm, and the main right master hand that is closest to the robot arm No. 4 among the main left master hand and the main right master hand is determined as the fourth main target master hand, and then the control object of the main right master hand of the robot arm switching module is switched to the robot arm No. 4; Fig.10 As shown, the main console can also directly respond to the external robotic arm control command sent by grabbing the pedal, obtain the robotic arm control right of the external robotic arm, and determine the fifth main target master hand as the main right master hand closest to the external robotic arm among the main left master hand and the main right master hand, and switch the control object of the main right master hand to the external robotic arm.

[0126] The above specific example realizes that after an external robotic arm is added to the surgical robot, the main console can flexibly control each robotic arm when the dual consoles jointly control the surgical robot.

[0127] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robotic arm control system, characterized in that: include: A surgical robot, a main control console and an auxiliary control console, wherein the main control console includes a control situation determination module, a robot arm grabbing signal sending module, a robot arm switching module, a main left master hand and a main right master hand, and the surgical robot includes an external robot arm and multiple auxiliary robot arms; wherein, The control situation determination module is used to determine, in response to a robot arm grabbing instruction, a first quantity situation of a main control robot arm and an auxiliary control robot arm, and a first control situation of each main control robot arm respectively controlled by the main left master hand and the main right master hand, in the case that the target medical device is not installed on the external robot arm, wherein the main control robot arm is a robot arm whose control right of the robot arm is on the main control console among the external robot arm and the plurality of auxiliary robot arms, and the auxiliary control robot arm is a robot arm whose control right of the robot arm is on the auxiliary control console among the external robot arm and the plurality of auxiliary robot arms; The robot arm grabbing signal sending module is used to determine a first main target master hand from the main left master hand and the main right master hand, and determine a first target robot arm from each of the auxiliary control robot arms based on the robot arm grabbing instruction, the first quantity situation and the first control situation, and send a robot arm grabbing signal corresponding to the first target robot arm to the auxiliary control station; The auxiliary control console is used to determine the first target robotic arm from each of the auxiliary control robotic arms in response to the received robotic arm grabbing signal, and transfer the robotic arm control right of the first target robotic arm to the main control console; The robot arm switching module is used to switch the control object of the first main target master hand to the first target robot arm after the robot arm control right of the first target robot arm is transferred to the main control console.

2. The system according to claim 1, characterized in that The robot arm grabbing signal sending module comprises: The first robotic arm grabbing signal sending submodule is used to determine the first main target master hand from the main left master hand and the main right master hand, and determine the first target robotic arm from each of the auxiliary control robotic arms based on the robotic arm grabbing instruction when the first quantity situation indicates that the number of the main control robotic arms is greater than the number of the auxiliary control robotic arms, and the first control situation indicates that the main left master hand and the main right master hand respectively control one of the main control robotic arms, and send a robotic arm grabbing signal corresponding to the first target robotic arm to the auxiliary control console.

3. The system according to claim 1, characterized in that The robot arm grabbing signal sending module comprises: A first target manipulator arm determination submodule is used to determine a first main target master hand from the main left master hand and the main right master hand, and to determine a first target manipulator arm from each of the auxiliary control manipulator arms based on the manipulator arm grabbing instruction and the first control situation when the first quantity situation indicates that the number of the main control manipulator arms is equal to the number of the auxiliary control manipulator arms; The second robotic arm grabbing signal sending submodule is used to send a robotic arm grabbing signal corresponding to the first target robotic arm to the auxiliary control console.

4. The system according to claim 3, characterized in that The first target mechanical arm determination submodule includes: The first main target master hand determination unit is used to determine the first main target master hand from the main left master hand and the main right master hand, and determine the first target robot arm from each of the auxiliary control robot arms based on the robot arm grabbing instruction when the first quantity situation indicates that the number of the main control robotic arms is equal to the number of the auxiliary control robotic arms, and the first control situation indicates that the main left master hand and the main right master hand respectively control one main control robotic arm.

5. The system according to claim 3, characterized in that The first target mechanical arm determination submodule includes: a lens holding position determining unit, configured to determine the lens holding position of a lens holding arm on which a target endoscope is mounted among the external robotic arm and the plurality of auxiliary robotic arms, when the first quantity condition indicates that the number of the main control robotic arms is equal to the number of the auxiliary control robotic arms, and the first control condition indicates that one of the main left master hand and the main right master hand controls the main control robotic arm; The second main target master hand determination unit is used to determine the first main target master hand to be switched from the main left master hand and the main right master hand based on the robot arm grabbing instruction and the mirror holding position, and to determine the first target robot arm from each of the auxiliary control robot arms.

6. The system according to claim 5, characterized in that The second main target main hand determination unit is specifically used to: When the mirror holding position indicates that one side of the mirror holding arm is not adjacent to the external robotic arm and any of the auxiliary robotic arms, based on the robotic arm grabbing instruction, the master hand among the main left master hand and the main right master hand that controls the main control robotic arm is determined as the first main target master hand, and the first target robotic arm is determined from each of the auxiliary control robotic arms.

7. The system according to claim 5, characterized in that The second main target main hand determination unit is specifically used to: When the mirror holding position indicates that both sides of the mirror holding arm are adjacent to the external robotic arm or any of the auxiliary robotic arms, based on the robotic arm grabbing instruction, the first main target master hand is determined from the main left master hand and the main right master hand, and the first target robotic arm is determined from each of the auxiliary control robotic arms.

8. The system according to claim 1, characterized in that The robot arm grabbing signal sending module is also used to determine a preset number of second target robot arms from each of the auxiliary control robot arms based on the robot arm grabbing instruction when the first number situation indicates that the number of the main control robot arms is less than the number of the auxiliary control robot arms, and send a robot arm grabbing signal corresponding to the preset number of the second target robot arms to the auxiliary control console.

9. The system according to claim 1, characterized in that The control situation determination module is further used to determine, in response to the robot arm switching instruction, a second quantity situation of the main control robot arm and the auxiliary control robot arm, and a second control situation of the main left master hand and the main right master hand over each of the main control robot arms when the target medical device is not installed on the external robot arm; The robotic arm switching module is also used to determine the second main target master hand from the main left master hand and the main right master hand, and determine the third target robotic arm from each of the master control robotic arms based on the robotic arm switching instruction when the second quantity situation indicates that the number of the main control robotic arms is greater than the number of the auxiliary control robotic arms, and the first control situation indicates that the main left master hand and the main right master hand each control one of the main control robotic arms. The control object of the second main target master hand is switched to the third target robotic arm.

10. The system according to claim 9, characterized in that The robot arm switching module further includes: a lens holding position determination submodule, for determining the lens holding position of the lens holding arm on which the target endoscope is mounted among the external robotic arm and the plurality of auxiliary robotic arms, when the second quantity condition indicates that the number of the main control robotic arms is equal to the number of the auxiliary control robotic arms, and the second control condition indicates that one of the main left master hand and the main right master hand controls the main control robotic arm; The robot arm switching submodule is used to determine the second main target master hand from the main left master hand and the main right master hand based on the robot arm switching instruction and the mirror holding position, and determine the third target robot arm from the main control robot arm, and switch the control object of the second main target master hand to the third target robot arm.

11. The system according to claim 10, characterized in that The robot arm switching submodule is specifically used for: When the mirror holding position indicates that one side of the mirror holding arm is not adjacent to the external robotic arm and any of the auxiliary robotic arms, based on the robotic arm switching instruction, the master hand among the main left master hand and the main right master hand that controls the main control robotic arm is determined as the second main target master hand, and the third target robotic arm is determined from the main control robotic arm, and the control object of the second main target master hand is switched to the third target robotic arm.

12. The system according to claim 10, characterized in that The robot arm switching submodule is specifically used for: When the mirror holding position indicates that both sides of the mirror holding arm are adjacent to the external robotic arm or any of the auxiliary robotic arms, based on the robotic arm grabbing instruction, the master hand among the main left master hand and the main right master hand that does not control the main control robotic arm is determined as the second main target master hand, and the third target robotic arm is determined from the main control robotic arm, and the control object of the second main target master hand is switched to the third target robotic arm.

13. The system according to claim 1, characterized in that The control situation determination module is further used to determine the existence of the auxiliary control robotic arm in each of the auxiliary robotic arms when the target medical device is installed on the external robotic arm after responding to the robotic arm grabbing instruction; The robot arm grabbing signal sending module is further used to determine a third main target master hand from the main left master hand and the main right master hand based on the robot arm grabbing instruction when the existence condition indicates the existence of the auxiliary control robot arm, and determine a fourth target robot arm from each of the auxiliary control robot arms, and send a robot arm grabbing signal corresponding to the fourth target robot arm to the auxiliary control station; The auxiliary control console is further used to determine a fourth target robotic arm from each of the auxiliary control robotic arms in response to the received robotic arm grabbing signal, and transfer the robotic arm control right of the fourth target robotic arm to the main control console; The robot arm switching module is further used to switch the control object of the third main target master hand to the fourth target robot arm after the robot arm control right of the fourth target robot arm is transferred to the main control console.

14. The system according to claim 13, characterized in that The robotic arm switching module is also used to determine a fourth main target master hand from the main left master hand and the main right master hand based on the robotic arm grabbing instruction when the existence situation indicates that the auxiliary control robotic arm does not exist, and determine a fifth target robotic arm from the main control robotic arm, and switch the control object of the fourth main target master hand to the fifth target robotic arm.

15. The system according to claim 13, characterized in that The robotic arm switching module is also used to respond to the external robotic arm control instruction, obtain the robotic arm control right of the external robotic arm, and determine the fifth main target master hand from the main left master hand and the main right master hand, and switch the control object of the fifth main target master hand to the external robotic arm.

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