Endoscope adjustment system and endoscope adjustment method

Abstract

The invention provides an endoscope adjusting system and an endoscope adjusting method. The adjusting system comprises a key and a controller which are in communication connection. The key is configured to be arranged at a preset part of a control end of the surgical robot so that an operator can input an endoscope control instruction and send the endoscope control instruction input by the operator to the controller, and the endoscope control instruction comprises an endoscope movement instruction and an endoscope parameter adjustment instruction; the controller is configured to be in communication connection with the endoscope and control the endoscope to move correspondingly or adjust corresponding parameters according to the received endoscope control instruction. According to the invention, an operator can directly control the movement of the endoscope and adjust the parameters of the endoscope through the key, so that the endoscope can be controlled according to the will of the operator, the communication cost between medical care is reduced, the adjustment of the endoscope can be realized without large-amplitude movement of the main control arm, and the working efficiency is improved. And the continuity of surgical operation is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an endoscope adjustment system and an endoscope adjustment method. Background Art

[0002] The design concept of surgical robots is to use minimally invasive methods to accurately perform complex surgical operations. The surgical robot includes a master device and a slave device, wherein the master device is operated by the surgeon to generate and transmit necessary signals; the slave device receives signals from the master device to perform actual operations on the patient. Furthermore, the master device is equipped with a master control arm, and the surgeon can control the mechanical arm installed on the slave device and the surgical instruments and endoscopes mounted on the end of the mechanical arm to perform corresponding movements by manipulating the master control arm.

[0003] The control of the endoscope in the surgical robot mainly relies on the main control arm in the master device. It is necessary to identify that the master presses the endoscope operation key or steps on the endoscope foot pedal and then operates the main control arm to control the movement of the endoscope. This method requires the surgeon to use both hands to control the main control arm to control the movement of the endoscope. Usually, after the endoscope movement is controlled, the clutch needs to be re-adjusted to achieve a comfortable operating space due to the large range of operation.

[0004] In addition, in surgical robots, the adjustment of endoscope parameters depends on the nurses operating on the endoscope side. This method will result in that the adjustment of endoscope-related parameters cannot be directly adjusted according to the surgeon's wishes, increasing the communication time between the surgeon and the nurse.

[0005] It should be noted that the information disclosed in the background technology section of the invention is only intended to deepen the understanding of the general background technology of the invention, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0006] The object of the present invention is to provide an endoscope adjustment system and an endoscope adjustment method, so that the operator can directly control the movement of the endoscope and adjust the endoscope parameters through buttons, so that not only can the endoscope be controlled according to the operator's wishes and the communication cost between medical staff be reduced, but also the adjustment of the endoscope can be achieved without the need for a large movement of the main control arm, and there is no need to perform a master-slave clutch to readjust the position of the main control arm, thereby ensuring the continuity of the surgical operation.

[0007] To achieve the above object, the present invention provides an endoscope adjustment system, which is applied to a surgical robot, wherein the surgical robot comprises at least two robotic arms, wherein at least one robotic arm is mounted with an endoscope, and at least one robotic arm is mounted with a surgical instrument, and the endoscope adjustment system comprises a communication-connected button and a controller;

[0008] The button is configured to be arranged at a preset position of the control end of the surgical robot for the operator to input an endoscope control instruction, and send the endoscope control instruction input by the operator to the controller, wherein the endoscope control instruction includes an endoscope movement instruction and an endoscope parameter adjustment instruction;

[0009] The controller is configured to be connected to the endoscope for communication, and to control the endoscope to perform corresponding movements or adjust corresponding parameters according to received endoscope control instructions while the surgical robot performs master-slave operations.

[0010] Optionally, the endoscope movement instruction includes at least one of an endoscope translation movement instruction and an endoscope rotation movement instruction, and the controller is configured to control the endoscope to perform translation movement according to the endoscope translation movement instruction, or to control the endoscope to perform rotation movement according to the endoscope rotation movement instruction.

[0011] Optionally, the endoscope translation motion instruction includes a translation direction and a translation time, and the controller is configured to calculate the first target position of each joint of the robotic arm where the endoscope is located according to the translation direction, the translation time and a pre-acquired translation speed, and control the robotic arm to drive the endoscope to perform translation motion according to the first target position of each joint.

[0012] Optionally, the endoscope rotational motion instruction includes a rotation direction and a rotation time, and the controller is configured to calculate the second target position of each joint of the robotic arm where the endoscope is located according to the rotation direction, the rotation time and a pre-acquired rotation speed, and control the robotic arm to drive the endoscope to perform rotational motion according to the second target position of each joint.

[0013] Optionally, the endoscope parameter adjustment instruction includes at least one of an automatic image zoom instruction, an image brightness adjustment instruction, an image acquisition mode adjustment instruction, an image flip instruction and an automatic defog instruction. The controller is configured to display an endoscope parameter adjustment menu after the operator triggers the endoscope parameter adjustment mode, so that the operator can input the endoscope parameter adjustment instruction through the button.

[0014] Optionally, the endoscope control instruction also includes a screen zoom instruction, and the controller is configured to control the endoscope to move forward or backward according to the screen zoom instruction to zoom the image captured by the endoscope while the surgical robot performs master-slave operations, or the controller is configured to control the endoscope to zoom the image captured by the endoscope at a preset zoom speed according to the screen zoom instruction.

[0015] Optionally, the endoscope control instruction also includes a screen switching instruction, and the controller is configured to switch the currently controlled endoscope according to the screen switching instruction while the surgical robot performs master-slave operations, and use the screen captured by the switched endoscope as the main screen.

[0016] Optionally, the button is configured to be installed on the end joint of the main control arm of the surgical robot, and the end joint is provided with a plurality of trigger positions corresponding to the button along its axial direction, and the button can move along the axial direction of the end joint to reach the corresponding trigger position.

[0017] To achieve the above object, the present invention further provides an endoscope adjustment method, which is applied to a surgical robot, wherein the surgical robot comprises at least two robotic arms, wherein at least one robotic arm is mounted with an endoscope, and at least one robotic arm is mounted with a surgical instrument, and a button is installed at a preset position of a control end of the surgical robot, and the button is configured for an operator to input a plurality of endoscope control instructions, wherein the endoscope control instructions include endoscope movement instructions and endoscope parameter adjustment instructions, and the endoscope adjustment method comprises:

[0018] receiving endoscope control instructions input by an operator;

[0019] While the surgical robot is performing the master-slave operation, the endoscope is controlled to perform corresponding movements or adjust corresponding parameters according to the endoscope control instruction.

[0020] Optionally, the endoscope control instruction further includes a screen zoom instruction, and the endoscope adjustment method further includes:

[0021] While the surgical robot is performing the master-slave operation, the endoscope is controlled to move forward or backward according to the image zoom instruction to zoom the image captured by the endoscope; or

[0022] While the surgical robot performs the master-slave operation, the endoscope is controlled to zoom the image captured by the endoscope at a preset zoom speed according to the image zoom instruction.

[0023] Compared with the prior art, the endoscope adjustment system and endoscope adjustment method provided by the present invention have the following beneficial effects:

[0024] The endoscope adjustment system provided by the present invention includes a communication-connected button and a controller; the button is configured to be set at a preset position of the control end of the surgical robot for the operator to input the endoscope control command, and send the endoscope control command input by the operator to the controller, the endoscope control command includes an endoscope movement command and an endoscope parameter adjustment command; the controller is configured to communicate with the endoscope, and when the surgical robot performs the master-slave operation, according to the received endoscope control command, control the endoscope to perform corresponding movement or adjust the corresponding parameters. Thus, the endoscope adjustment system provided by the present invention can enable the operator to directly control the movement of the endoscope and adjust the endoscope parameters through the button while the surgical robot performs the master-slave operation, so that the endoscope can be controlled according to the operator's wishes, the communication cost between medical staff can be reduced, and the operation is simpler, and the adjustment of the endoscope can be achieved without the need for a large movement of the master control arm, and then the position of the master control arm can be readjusted without the need for the master-slave clutch, thereby ensuring the continuity of the surgical operation. In addition, by adopting the endoscope adjustment system provided by the present invention, the movement of the endoscope can be directly controlled during the operation, which is more direct and has higher control accuracy than the method of manually operating the main control arm to control the movement of the endoscope. In addition, the endoscope adjustment system provided by the present invention can not only adjust the position and posture of the endoscope but also adjust the parameters of the endoscope, so that the adjustment of the endoscope can better meet the real-time needs of the operator and has a wider range of applicable scenarios.

[0025] Since the endoscope adjustment method provided by the present invention and the endoscope adjustment system provided by the present invention belong to the same inventive concept, the endoscope adjustment method provided by the present invention at least has all the beneficial effects of the endoscope adjustment system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the endoscope adjustment system provided by the present invention in the above text. Therefore, the beneficial effects of the endoscope adjustment method provided by the present invention will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of an application scenario of a surgical robot provided by one embodiment of the present invention;

[0027] Figure 2 A schematic diagram of an application scenario of a master-end device provided in one embodiment of the present invention;

[0028] Figure 3 A schematic diagram of an application scenario of a slave device provided in one embodiment of the present invention;

[0029] Figure 4 A schematic structural diagram of a master control arm provided in one embodiment of the present invention;

[0030] Figure 5 A schematic diagram of the block structure of an endoscope adjustment system provided in one embodiment of the present invention;

[0031] Figure 6 A schematic diagram of the key installation position provided in one embodiment of the present invention;

[0032] Figure 7 A schematic diagram of key triggering provided by an embodiment of the present invention;

[0033] Figure 8 A schematic diagram of a specific workflow of an endoscope adjustment system provided in one embodiment of the present invention;

[0034] Fig. 9 A schematic diagram of a flow chart of an endoscope adjustment system provided in one embodiment of the present invention controlling an endoscope to perform translational motion;

[0035] Fig.10 A schematic diagram of a flow chart of an endoscope adjustment system provided in one embodiment of the present invention controlling an endoscope to perform rotational motion;

[0036] Fig.11 A schematic diagram of a joint control process provided by one embodiment of the present invention;

[0037] Fig.12 A schematic diagram of the picture zooming principle provided by an embodiment of the present invention;

[0038] Fig.13 A schematic diagram of a picture-in-picture display provided by an embodiment of the present invention;

[0039] Fig.14 A schematic diagram of an endoscope parameter adjustment menu display provided by an embodiment of the present invention;

[0040] Fig.15 A schematic flow chart of an endoscope adjustment method provided in one embodiment of the present invention;

[0041] Fig.16 A schematic diagram of the block structure of an electronic device provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0042] The endoscope adjustment system, method, main terminal device, surgical robot and electronic device proposed in the present invention are further described in detail below in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose provided by the present invention. In order to make the purposes, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Any structural modification, change in proportional relationship or adjustment of size, under the same or similar conditions as the effects that can be produced by the present invention and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present invention.

[0043] The core idea of ​​the present invention is to provide an endoscope adjustment system, method, master-end device, surgical robot and electronic device, so that the operator can directly control the movement of the endoscope and adjust the endoscope parameters through buttons, so that not only can the endoscope be controlled according to the operator's wishes and the communication cost between medical staff can be reduced, but also the adjustment of the endoscope can be achieved without the need for a large movement of the main control arm, and there is no need to perform a master-slave clutch to readjust the position of the main control arm, thereby ensuring the continuity of the surgical operation.

[0044] It should be noted that, as can be understood by those skilled in the art, for the slave device, the "end" referred to in this article refers to the end close to the lesion; for the master device, the "end" referred to in this article refers to the end close to the operator. It should also be noted that, as can be understood by those skilled in the art, the electronic device provided by the present invention can be applied to the endoscope adjustment system and the master device provided by the present invention, the endoscope adjustment system provided by the present invention can be applied to the master device provided by the present invention, and the electronic device can be a hardware device with various operating systems.

[0045] For ease of understanding, before introducing the endoscope adjustment system, method, host device, surgical robot and electronic device provided by the present invention, the application scenario of the surgical robot is briefly described. Figures 1 to 3 ,in, Figure 1 A schematic diagram of an application scenario of a surgical robot provided by one embodiment of the present invention; Figure 2 A schematic diagram of an application scenario of a master-end device provided in one embodiment of the present invention; Figure 3 Schematic diagram of application scenario of a slave device provided by an embodiment of the present invention. Figures 1 to 3As shown, the surgical robot includes a master device 100 (i.e., the control end of the surgical robot) and a slave device 200, and the master device 100 is provided with a master control arm 110. The slave device 200 has at least one robotic arm 210, and surgical instruments 220 and endoscopes 230 can be mounted on the robotic arms 210, respectively. The operator (e.g., surgeon) remotely operates the master control arm 110 on the master device 100 to perform minimally invasive surgical treatment on the patient on the bed. Among them, the master control arm 110 and the robotic arm 210 and the surgical instruments 220 and endoscopes 230 mounted on the robotic arm 210 form a master-slave control relationship. Specifically, the robotic arm 210, the surgical instruments 220 and the endoscope 230 move according to the movement of the master control arm 110 during the operation, that is, according to the operation of the operator's hand. Furthermore, the main control arm 110 also receives information about the force exerted by human tissues and organs on the surgical instrument 220 and feeds it back to the operator's hand, so that the operator can experience the surgical operation more intuitively.

[0046] Please continue to refer to Figure 2 ,like Figure 2 As shown, the master end device 100 includes two master control arms 110 and a display device 120. The two master control arms 110 are connected by their end joints 117 (see Figure 4 ) detects the operator's hand motion information as the motion control input of the entire system. The display device 120 is connected to the endoscope 230 mounted on the mechanical arm 210 of the slave device 200 for communication, and can receive and display the image captured by the endoscope 230. The operator controls the mechanical arm 210, the surgical instrument 220 and the endoscope 230 to move through the main control arm 110 according to the image displayed by the display device 120 on the master device 100. The endoscope 230 and the surgical instrument 220 can enter the lesion location through the wound or natural opening on the patient's body.

[0047] Please continue to refer to Figure 1 ,like Figure 1 As shown, the surgical robot further includes an image trolley 300 and a tool trolley 400. Specifically, the patient's in vivo scene image collected by the endoscope 230 (specifically including information such as human tissues and organs, surgical instruments 220, blood vessels, and body fluids) can be transmitted to the image trolley 300 for display. The tool trolley 400 is used to store the surgical instruments 220.

[0048] Furthermore, if Figure 1 As shown, the surgical robot also includes auxiliary components such as a ventilator and an anesthesia machine 500 for use in surgery. It should be noted that those skilled in the art can select and configure these auxiliary components according to actual needs, and no further description will be given here.

[0049] Please continue to refer to Figure 3 ,like Figure 3 As shown, the endoscope 230 can be loaded on a robot arm 210 of the slave device, and the robot arm 210 has multiple degrees of freedom for controlling the movement of the endoscope 230. In addition, the slave device also has other robot arms 210 for controlling the movement of the surgical instrument 220.

[0050] Please continue to refer to Figure 4 , which is a schematic diagram of the structure of a master control arm provided by an embodiment of the present invention. Figure 4 As shown, the master control arm 110 includes a first joint 111, a second joint 112, a third joint 113, a fourth joint 114, a fifth joint 115, a sixth joint 116 and a terminal joint 117 which are connected in sequence, wherein the first joint 111, the second joint 112 and the third joint 113 are position joints, the fourth joint 114 is a redundant follow-up joint, and the fifth joint 115, the sixth joint 116 and the terminal joint 117 are posture joints. The first joint 111, the second joint 112 and the third joint 113 and other position joints reflect the position change of the terminal of the master control arm 110, and the axes of the fifth joint 115, the sixth joint 116 and the terminal joint 117 intersect at one point, which is the position Cartesian end point. The movement of the fifth joint 115, the sixth joint 116 and the terminal joint 117 will not affect the change of the terminal position of the master control arm 110 (i.e., the position Cartesian end point), but will only affect the change of the terminal posture of the master control arm 110.

[0051] Please continue to refer to Figure 5 , which is a schematic diagram of the block structure of an endoscope adjustment system provided by one embodiment of the present invention. Figure 5 As shown, the endoscope adjustment system provided by the present invention includes a communication-connected button 610 and a controller 620; the button 610 is configured to be set at a preset position of the control end of the surgical robot (i.e., the main end device 100) for the operator to input endoscope control instructions, and send the endoscope control instructions input by the operator to the controller 620, and the endoscope control instructions include endoscope movement instructions and endoscope parameter adjustment instructions; the controller 620 is configured to be communication-connected with the endoscope 230, and while the surgical robot performs master-slave operations, the controller 620 controls the endoscope 230 to perform corresponding movements or adjust corresponding parameters according to the received endoscope control instructions.

[0052] Thus, the endoscope adjustment system provided by the present invention can enable the operator to directly control the movement of the endoscope 230 and adjust the parameters of the endoscope 230 through the button 610 while the surgical robot performs the master-slave operation, so that the endoscope 230 can be controlled according to the operator's wishes, the communication cost between medical staff can be reduced, and the operation is simpler, and the adjustment of the endoscope 230 can be achieved without a large movement of the master control arm 110, and there is no need to perform a master-slave clutch to readjust the position of the master control arm 110, thereby ensuring the continuity of the surgical operation. In addition, by adopting the endoscope adjustment system provided by the present invention, the movement of the endoscope 230 can be directly controlled during the operation, which is more direct and has higher control accuracy than the method of manually operating the master control arm 110 to control the movement of the endoscope 230. In addition, the endoscope adjustment system provided by the present invention can not only adjust the posture of the endoscope 230 but also adjust the parameters of the endoscope 230, so that the adjustment of the endoscope 230 can better meet the real-time needs of the operator and has a wider range of applicable scenarios.

[0053] It should be noted that, as can be understood by those skilled in the art, the endoscope adjustment system provided by the present invention can be used as a redundant control of the endoscope 230, and the operator can still control the movement of the endoscope 230 by simultaneously controlling the main control arm 110 with both hands. Specifically, the relevant content about how the operator controls the movement of the endoscope 230 by simultaneously controlling the main control arm 110 with both hands can refer to the relevant technologies known to those skilled in the art, and will not be repeated here.

[0054] It should also be noted that, as can be understood by those skilled in the art, when the endoscope control instruction input by the operator is an endoscope movement instruction, the controller 620 can control the endoscope 230 to perform corresponding movement according to the endoscope movement instruction; when the endoscope control instruction input by the operator is an endoscope parameter adjustment instruction, the controller 620 can control the endoscope 230 to adjust the corresponding parameters according to the endoscope parameter adjustment instruction. In addition, it should be noted that, as can be understood by those skilled in the art, the controller 620 can be set in the master device 100, or in the slave device 200. Of course, the controller 620 can also be set separately, and can be set specifically according to actual conditions, and the present invention does not limit this.

[0055] In some exemplary embodiments, the button 610 is configured to be installed on the main control arm 110 of the surgical robot, that is, the preset position is located on the main control arm 110. Therefore, by setting the button 610 on the main control arm 110, the operator can control the endoscope 230 without leaving the head or hand from the main control arm 110, thereby further improving the continuity of the surgical operation. It should be noted that, as can be understood by those skilled in the art, the preset position can also be other positions of the surgical robot that are convenient for operation, for example, the preset position can be set at the armrest of the main terminal device 100, the display device 120 or other positions, and can be set according to actual conditions, and the present invention is not limited to this.

[0056] Please continue to refer to Figure 6 , which is a schematic diagram of the installation position of the button 610 provided in one embodiment of the present invention. Figure 6 As shown, in some exemplary embodiments, the button 610 is configured to be installed on the end joint 117 of the main control arm 110, that is, the preset position is the end joint 117 of the main control arm 110. Therefore, by setting the button 610 on the end joint 117 of the main control arm 110, the operator can further control the endoscope 230 without leaving the end joint 117, which not only makes the operation more convenient, but also further improves the continuity of the surgical operation.

[0057] In some exemplary embodiments, the preset part (e.g., the end joint 117 of the master control arm 110) is provided with a plurality of trigger positions corresponding to the button 610 along its axial direction, and the button 610 can move along the axial direction of the preset part (e.g., the end joint 117 of the master control arm 110) to reach the corresponding trigger position. Thus, by providing a plurality of trigger positions at the preset part, the button 610 can have a multi-stage trigger mode (i.e., the button 610 is a multi-stage trigger structure), so that the operator can input different endoscope control instructions by moving the button 610 to different trigger positions, thereby making the operation more convenient. It should be noted that, as can be understood by those skilled in the art, a button 610 can be provided on each of the two master control arms 110 on the master device 100, and the buttons 610 on the two master control arms 110 can be operated separately.

[0058] Please continue to refer to Figure 7 , which is a schematic diagram of triggering a button 610 provided in one embodiment of the present invention. Figure 7As shown, the initial position of the button 610 is located at point C, and the button 610 can slide forward and backward to be triggered at point A or at point B. Further, whether the button 610 is triggered can be determined by the on-off of the circuit. For example, when the button 610 slides toward point A, when the button 610 does not reach point A, the circuit is not turned on, and when the button 610 reaches point A, the circuit is turned on, and at this time it can be determined that the button 610 is triggered at point A; when the button 610 slides toward point B, when the button 610 does not reach point B, the circuit is not turned on, and when the button 610 reaches point B, the circuit is turned on, and at this time it can be determined that the button 610 is triggered at point B.

[0059] It should be noted that, as can be understood by those skilled in the art, in some other embodiments, the button 610 can also be a single-stage trigger structure or a distance sensing structure. When the button 610 is a single-stage trigger structure, different combinations of triggering modes (such as the number of triggers within a preset time, a single trigger time, and the button 610 being triggered in combination with at least one of voice control, a foot switch, an arm switching switch, and an eye movement monitoring device) can be used for the operator to input different endoscope control instructions. When the button 610 is a distance sensing structure, different endoscope control instructions can be input by the operator according to the different moving distances of the button 610.

[0060] In some exemplary embodiments, the endoscope movement instruction includes at least one of an endoscope translation movement instruction and an endoscope rotation movement instruction, and the controller 620 is configured to control the endoscope 230 to perform translation movement according to the endoscope translation movement instruction, or to control the endoscope 230 to perform rotation movement according to the endoscope rotation movement instruction. Thus, by controlling the endoscope 230 to perform translation movement according to the endoscope translation movement instruction input by the operator, the endoscope 230 can be moved to the target position required for observation by the operator; by controlling the endoscope 230 to perform rotation movement according to the endoscope rotation movement instruction input by the operator, the endoscope 230 can be rotated to the target angle required for observation by the operator.

[0061] It should be noted that, as can be understood by those skilled in the art, the translational movement of the endoscope 230 refers to the translational movement of the endoscope 230 along the X direction or the Y direction in the Cartesian space, and the rotational movement of the endoscope 230 refers to the rotation of the endoscope 230 with its focus as the center in the Cartesian space. It should also be noted that, as can be understood by those skilled in the art, after entering the translational movement trigger mode of the endoscope 230, the operator can select whether the endoscope 230 performs the X-direction translational movement or the Y-direction translational movement through interaction (such as voice interaction).

[0062] Please continue to refer to Figure 8, which is a schematic diagram of a specific workflow of an endoscope adjustment system provided by an embodiment of the present invention. Take the button 610 having two levels of triggering at point A and point B as an example. Figure 8 As shown, when the buttons 610 on the left and right hands (i.e., the left and right main control arms 110) trigger one point at the same time (i.e., the buttons 610 on the left and right hands are triggered at point A or at point B at the same time), it indicates that the operator inputs an endoscope translation movement instruction, and the endoscope 230 translation movement trigger mode is entered. At this time, the operator can select whether the endoscope 230 performs X-direction translation movement or Y-direction translation movement through interaction (e.g., voice interaction), and then the controller 620 can control the endoscope 230 to perform translation movement in the corresponding direction. When the buttons 610 on the left and right hands (i.e., the left and right main control arms 110) trigger different points at the same time (i.e., the button 610 on one of the main control arms 110 is triggered at point A, and the button 610 on the other main control arm 110 is triggered at point B), it indicates that the operator inputs an endoscope rotation movement instruction, and the endoscope 230 rotation movement trigger mode is entered, and the controller 620 can control the endoscope 230 to perform rotation movement.

[0063] In some exemplary embodiments, the endoscope translation motion instruction includes a translation direction and a translation time, and the controller 620 is configured to calculate the first target positions of each joint of the robotic arm 210 where the endoscope 230 is located according to the translation direction, the translation time, and a pre-acquired translation speed, and control the robotic arm 210 to drive the endoscope 230 to perform translation motion according to the first target positions of each of the joints.

[0064] Specifically, the translation direction (i.e., the positive direction or negative direction of the X direction / Y direction) can be determined according to the specific trigger position of the button 610, and the translation time can be determined according to the specific trigger time of the button 610. Assume that the translation speed of the endoscope 230 along the X direction is set to V X , the translation speed along the Y direction is V Y , takes a positive value when moving in the positive direction, and takes a negative value when moving in the reverse direction. When the endoscope 230 performs translational motion along the X direction, the motion speed of the endoscope 230 in the Cartesian space is expressed as follows:

[0065]

[0066] When the endoscope 230 performs translational motion along the Y direction, the motion speed of the endoscope 230 in the Cartesian space is expressed as follows:

[0067]

[0068] After solving the Jacobian inverse matrix according to differential kinematics, the following joint velocity instructions can be obtained

[0069]

[0070] Among them, J -1 Represents the Jacobian inverse matrix. It should be noted that the specific content of how to solve the Jacobian inverse matrix according to differential kinematics can refer to the relevant technology known to those skilled in the art, and will not be repeated here. It should also be noted that, as those skilled in the art can understand, Includes speed information of each joint of the robotic arm 210 where the endoscope 230 is located.

[0071] Finally, the joint velocity is integrated to obtain the joint position command θ j1 :

[0072]

[0073] Among them, t 1 It should be noted that, as can be understood by those skilled in the art, θ j1 Including the first target position of each joint of the robotic arm 210 where the endoscope 230 is located.

[0074] Thus, the joint position command θ is obtained j1 After that, the controller 620 can control the joint position to achieve the translational movement of the endoscope 230.

[0075] Please continue to refer to Fig. 9 , which is a schematic diagram of a flow chart of an endoscope adjustment system provided in one embodiment of the present invention controlling the translational movement of the endoscope 230. For example, the button 610 has two levels of triggering at points A and B. Fig. 9 As shown, when the buttons 610 on the left and right hands (i.e., the left and right main control arms 110) are triggered at point A at the same time, it indicates that the translation direction is the positive direction, and the holding time (triggering time) of the button 610 at point A is the translation time; when the buttons 610 on the left and right hands (i.e., the left and right main control arms 110) are triggered at point B at the same time, it indicates that the translation direction is the negative direction, and the holding time (triggering time) of the button 610 at point B is the translation time. It should be noted that, as can be understood by those skilled in the art, in some other embodiments, the following settings can also be made: when the buttons 610 on the left and right hands (i.e., the left and right main control arms 110) are triggered at point A at the same time, it indicates that the translation direction is the negative direction, and when the buttons 610 on the left and right hands (i.e., the left and right main control arms 110) are triggered at point B at the same time, it indicates that the translation direction is the positive direction.

[0076] In some exemplary embodiments, the endoscope rotational motion instruction includes a rotation direction and a rotation time, and the controller 620 is configured to calculate the second target positions of each joint of the robotic arm 210 where the endoscope 230 is located according to the rotation direction, the rotation time, and a pre-acquired rotation speed, and control the robotic arm 210 to drive the endoscope 230 to perform rotational motion according to the second target positions of each of the joints.

[0077] Specifically, the rotation direction (i.e., clockwise rotation or counterclockwise rotation) can be determined according to the specific trigger position of the button 610 on the left and right hands (i.e., the left and right main control arms 110), and the rotation time can be determined according to the specific trigger time of the button 610. Assume that the rotation speed of the endoscope 230 is set to V roll , takes a positive value when rotating clockwise and a negative value when rotating counterclockwise. Then the rotation speed of the endoscope 230 in Cartesian space is It is expressed as follows:

[0078]

[0079] After solving the Jacobian inverse matrix according to differential kinematics, the following joint velocity instructions can be obtained

[0080]

[0081] Among them, J -1 Represents the Jacobian inverse matrix. It should be noted that the specific content of how to solve the Jacobian inverse matrix according to differential kinematics can refer to the relevant technology known to those skilled in the art, and will not be repeated here. It should also be noted that, as those skilled in the art can understand, Includes speed information of each joint of the robotic arm 210 where the endoscope 230 is located.

[0082] Finally, the joint velocity is integrated to obtain the joint position command θ j2 :

[0083]

[0084] Among them, t 2 It should be noted that, as can be understood by those skilled in the art, θ j2 Including the second target position of each joint of the robotic arm 210 where the endoscope 230 is located.

[0085] Thus, the joint position command θ is obtained j2 After that, the controller 620 can control the joint position to achieve the rotational movement of the endoscope 230.

[0086] Please continue to refer to Fig.10 , which is a schematic diagram of a flow chart of an endoscope adjustment system provided in one embodiment of the present invention controlling the endoscope 230 to perform a rotational motion. For example, the button 610 has two levels of triggering at points A and B. Fig.10 As shown, when the button 610 on the left hand (i.e., the left master control arm 110) is triggered at point A and the button 610 on the right hand (i.e., the right master control arm 110) is triggered at point B, it indicates that the rotation direction is clockwise, and the holding time of the button 610 at the trigger position is the rotation time; when the button 610 on the left hand (i.e., the left master control arm 110) is triggered at point B and the button 610 on the right hand (i.e., the right master control arm 110) is triggered at point A, it indicates that the rotation direction is counterclockwise, and the holding time of the button 610 at the trigger position is the rotation time. It should be noted that, as can be understood by those skilled in the art, in some other embodiments, the following settings may be made: when the button 610 on the left hand (i.e., the left master control arm 110) is triggered at point A and the button 610 on the right hand (i.e., the right master control arm 110) is triggered at point B, it indicates that the rotation direction is counterclockwise; when the button 610 on the left hand (i.e., the left master control arm 110) is triggered at point B and the button 610 on the right hand (i.e., the right master control arm 110) is triggered at point A, it indicates that the rotation direction is clockwise.

[0087] In some exemplary embodiments, each joint of the robot arm 210 uses a PID controller to perform joint position control in response to the joint position instruction (i.e., the first target position or the second target position of the joint) issued by the controller 620. Fig.11 , which is a schematic diagram of a joint control process provided by an embodiment of the present invention. Fig.11 As shown, the command position (refPos) is subtracted from the feedback position (FdbPos) and given to each module of the PID controller (proportional Kp, integral Ki, differential Kd) to generate a control signal for driving the joint motor, thereby driving the joint to reach the specified position (the first target position or the second target position).

[0088] In some exemplary embodiments, the endoscope control instruction further includes a picture zoom instruction, and the controller 620 is configured to control the endoscope 230 to move forward or backward according to the picture zoom instruction to zoom the picture collected by the endoscope 230 while the surgical robot performs the master-slave operation, or the controller 620 is configured to control the endoscope 230 to zoom the picture collected by the endoscope 230 at a preset zoom speed according to the picture zoom instruction. Thus, by zooming the picture collected by the endoscope 230 according to the picture zoom instruction input by the operator, the field of view of the endoscope 230 can be enlarged or reduced, thereby providing the operator with more observation fields and making it easier for the operator to perform surgical operations.

[0089] Specifically, Figure 8 As shown, when the button 610 on the left hand (i.e., the left master control arm 110) is triggered, it indicates that the operator inputs a picture zoom instruction, and then enters the picture zoom trigger mode, at which time the controller 620 can zoom the picture collected by the endoscope 230. Further, taking the button 610 having two-level triggering modes at point A and point B as an example, when the button 610 on the left hand (i.e., the left master control arm 110) is triggered at point A, it indicates that the operator inputs a picture zoom instruction; when the button 610 on the left hand (i.e., the left master control arm 110) is triggered at point B, it indicates that the operator inputs a picture zoom instruction. It should be noted that, as can be understood by those skilled in the art, in some other embodiments, the following settings can also be made: when the button 610 on the left hand (i.e., the left master control arm 110) is triggered at point A, it indicates that the operator inputs a picture zoom instruction; when the button 610 on the left hand (i.e., the left master control arm 110) is triggered at point B, it indicates that the operator inputs a picture zoom instruction.

[0090] Please continue to refer to Fig.12 , which is a schematic diagram of the screen zooming principle provided by an embodiment of the present invention. Fig.12 As shown, in some embodiments, when the controller 620 recognizes that the operator inputs a screen zoom-out instruction, the controller 620 controls the endoscope 230 to move backward, and the screen captured by the endoscope 230 will be reduced; when the controller 620 recognizes that the operator inputs a screen zoom-in instruction, the controller 620 controls the endoscope 230 to move forward, and the screen captured by the endoscope 230 will be enlarged. It should be noted that, as can be understood by those skilled in the art, the endoscope 230 can be moved forward or backward by controlling the telescopic joint on the mechanical arm 210 where the endoscope 230 is located to perform telescopic movement.

[0091] Further, the specific content of how the endoscope 230 zooms the image it collects at a preset zoom speed can refer to the relevant technology known to those skilled in the art, and will not be repeated here. It should be noted that, as those skilled in the art can understand, when the endoscope 230 zooms the image it collects at a preset zoom speed, the endoscope 230 will not move.

[0092] In some exemplary embodiments, the endoscope control instruction also includes a screen switching instruction, and the controller 620 is configured to switch the currently controlled endoscope 230 according to the screen switching instruction while the surgical robot performs the master-slave operation, and use the screen captured by the switched endoscope 230 as the main screen. Thus, through the screen switching instruction input by the operator, not only the switching control of the endoscope 230 can be realized, but also the switching of the main screen can be realized, so that it is more convenient for the operator to perform the surgical operation.

[0093] Specifically, please refer to Fig.13 , which is a schematic diagram of a picture-in-picture display provided by an embodiment of the present invention. Fig.13 As shown, when two endoscopes 230 are loaded on the slave device 200, a picture-in-picture image will be displayed, and the current control status will be displayed, where image A is the image captured by endoscope A, and image B is the image captured by endoscope B. Fig.13 Screen A in the figure is the main screen, indicating that the endoscope currently being controlled is endoscope A.

[0094] Further, take the example that the button 610 has two levels of triggering at point A and point B. Figure 8 and Fig.13 As shown, when the button 610 on the left hand (i.e., the left main control arm 110) is triggered at point A, the main screen will switch from screen A to screen B, and the endoscope currently controlled will switch from endoscope A to endoscope B; if the button 610 on the left hand (i.e., the left main control arm 110) is triggered at point A again, the main screen will switch from screen B to screen A, and the endoscope currently controlled will also switch from endoscope B to endoscope A.

[0095] In some exemplary embodiments, the endoscope parameter adjustment instruction includes at least one of an automatic zoom instruction, an image brightness adjustment instruction, an image acquisition mode adjustment instruction, an image flip instruction, and an automatic defog instruction, and the controller 620 is configured to display an endoscope parameter adjustment menu after the operator triggers the endoscope parameter adjustment mode, so that the operator can input the endoscope parameter adjustment instruction through the button 610. Therefore, by displaying the endoscope parameter adjustment menu when the operator triggers the endoscope parameter adjustment mode, it is easier for the operator to select the parameters to be adjusted through the button 610, thereby making the operation more convenient. It should be noted that, as can be understood by those skilled in the art, the specific contents of how the controller 620 controls the endoscope 230 to adjust the focal length of the captured image according to the automatic zoom instruction of the image, how to control the endoscope 230 to adjust the brightness of the captured image according to the image brightness adjustment instruction, how to control the endoscope 230 to adjust its image capture mode (for example, fluorescence mode) according to the image capture mode adjustment instruction, how to control the endoscope 230 to flip the captured image according to the image flip instruction, and how to control the endoscope 230 to perform automatic defog according to the automatic defog instruction can be referred to the relevant technologies known to those skilled in the art, and will not be elaborated here.

[0096] Specifically, take the button 610 having two levels of triggering at point A and point B as an example. Figure 8 As shown, when the button 610 on the left hand (i.e., the left main control arm 110) is triggered at point B, the endoscope parameter adjustment mode will be triggered, and the following will be displayed: Fig.14 (which is a schematic diagram of the display of the endoscope parameter adjustment menu provided by one embodiment of the present invention) shows an endoscope parameter adjustment menu. If the button 610 is triggered at point B and stays at point B for a certain period of time (for example, 3 seconds), the automatic defog function in the endoscope parameter adjustment menu will be confirmed, that is, the operator inputs the automatic defog instruction at this time; if it quickly returns to the initial position, no confirmation will be made. When it is triggered at point B again, the option will be moved to the next menu function, such as the automatic zoom function. If it stays at point B for a certain period of time (for example, 3 seconds), the automatic zoom function in the endoscope parameter adjustment menu will be confirmed, that is, the operator inputs the automatic zoom instruction at this time. If it quickly returns to the initial position, no confirmation will be made. By analogy, the operator can select various functions in the endoscope parameter adjustment menu through the button 610, which will not be repeated here.

[0097] Based on the same inventive concept, the present invention also provides an endoscope adjustment method, which is applied to a surgical robot, wherein the surgical robot includes at least two robotic arms 210, wherein at least one robotic arm 210 is mounted with an endoscope 230, and at least one robotic arm 210 is mounted with a surgical instrument 220, and a button 610 is installed at a preset position of the control end (i.e., the main end device 100) of the surgical robot, and the button 610 is configured for the operator to input a variety of endoscope control instructions, and the endoscope control instructions include endoscope movement instructions and endoscope parameter adjustment instructions. Please refer to Fig.15 , which is a flow chart of an endoscope adjustment method provided by one embodiment of the present invention. Fig.15 As shown, the endoscope adjustment method provided by the present invention comprises the following steps:

[0098] Step S100: receiving an endoscope control instruction input by an operator.

[0099] Step S200: While the surgical robot is performing the master-slave operation, the endoscope 230 is controlled to perform corresponding movements or adjust corresponding parameters according to the endoscope control instruction.

[0100] Therefore, the endoscope adjustment method provided by the present invention can enable the operator to directly control the movement of the endoscope 230 and adjust the parameters of the endoscope 230 through the button 610 while the surgical robot performs the master-slave operation, so that the endoscope 230 can be controlled according to the operator's wishes, the communication cost between medical staff can be reduced, and the operation is simpler, and the adjustment of the endoscope 230 can be achieved without a large movement of the master control arm 110, and there is no need to perform a master-slave clutch to readjust the position of the master control arm 110, thereby ensuring the continuity of the surgical operation. In addition, by adopting the endoscope adjustment method provided by the present invention, the movement of the endoscope 230 can be directly controlled during the operation, which is more direct and has higher control accuracy than the method of manually operating the master control arm 110 to control the movement of the endoscope 230. In addition, the endoscope adjustment method provided by the present invention can not only adjust the posture of the endoscope 230 but also adjust the parameters of the endoscope 230, so that the adjustment of the endoscope 230 can better meet the real-time needs of the operator and has a wider range of applicable scenarios.

[0101] In some exemplary embodiments, the endoscope motion instruction includes at least one of an endoscope translation motion instruction and an endoscope rotation motion instruction.

[0102] Correspondingly, controlling the endoscope 230 to perform corresponding movement according to the endoscope control instruction includes:

[0103] The endoscope 230 is controlled to perform translational movement according to the endoscope translational movement instruction, or the endoscope 230 is controlled to perform rotational movement according to the endoscope rotational movement instruction.

[0104] In some exemplary embodiments, the endoscope translation motion instruction includes a translation direction and a translation time.

[0105] Correspondingly, controlling the endoscope 230 to perform translational motion according to the endoscope translational motion instruction includes:

[0106] Calculate the first target position of each joint of the robotic arm 210 where the endoscope 230 is located according to the translation direction, the translation time, and the pre-acquired translation speed;

[0107] According to the first target position of each of the joints, the robot arm 210 is controlled to drive the endoscope 230 to perform translational movement.

[0108] In some exemplary embodiments, the endoscope rotational motion instruction includes a rotation direction and a rotation time.

[0109] Correspondingly, controlling the endoscope 230 to perform rotational movement according to the endoscope rotational movement instruction includes:

[0110] Calculate the second target position of each joint of the robotic arm 210 where the endoscope 230 is located according to the rotation direction, the rotation time, and the pre-acquired rotation speed;

[0111] According to the second target position of each of the joints, the robot arm 210 is controlled to drive the endoscope 230 to perform rotational motion.

[0112] In some exemplary embodiments, the endoscope parameter adjustment instruction includes at least one of an automatic image zoom instruction, an image brightness adjustment instruction, an image acquisition mode adjustment instruction, an image flip instruction, and an automatic defog instruction.

[0113] Correspondingly, the endoscope adjustment method provided by the present invention also includes:

[0114] After the operator triggers the endoscope parameter adjustment mode, an endoscope parameter adjustment menu is displayed for the operator to input an endoscope parameter adjustment instruction through the button 610 .

[0115] In some exemplary embodiments, the endoscope control instructions further include screen zooming instructions.

[0116] Correspondingly, the endoscope adjustment method provided by the present invention also includes:

[0117] While the surgical robot performs the master-slave operation, the endoscope 230 is controlled to move forward or backward according to the image zoom instruction to zoom the image captured by the endoscope 230; or

[0118] While the surgical robot performs the master-slave operation, the endoscope 230 is controlled to zoom the image captured by the endoscope 230 at a preset zoom speed according to the image zoom instruction.

[0119] In some exemplary embodiments, the endoscope control instruction further includes a screen switching instruction.

[0120] Correspondingly, the endoscope adjustment method provided by the present invention also includes:

[0121] While the surgical robot is performing the master-slave operation, the currently controlled endoscope 230 is switched according to the screen switching instruction, and the screen captured by the switched endoscope 230 is used as the main screen.

[0122] Based on the same inventive concept, the present invention also provides a main-end device 100, and the main-end device 100 includes the endoscope adjustment system described above. Since the main-end device 100 provided by the present invention includes the endoscope adjustment system provided by the present invention, the main-end device 100 provided by the present invention at least has the beneficial effects of the endoscope adjustment system provided by the present invention. For details, please refer to the above description of the beneficial effects of the endoscope adjustment system provided by the present invention, so the beneficial effects of the main-end device 100 provided by the present invention will not be repeated here. It should be noted that, as can be understood by those skilled in the art, more content about the main-end device 100 provided by the present invention can refer to the above description of the main-end device 100, and will not be repeated here.

[0123] In order to realize the above-mentioned idea, the present invention also provides a surgical robot, which includes the main end device 100 described above. Since the surgical robot provided by the present invention includes the main end device 100 provided by the present invention, and the main end device 100 provided by the present invention includes the endoscope adjustment system provided by the present invention, the surgical robot provided by the present invention also has at least the beneficial effects of the endoscope adjustment system provided by the present invention. For details, please refer to the relevant description of the beneficial effects of the endoscope adjustment system provided by the present invention above, so the beneficial effects of the surgical robot provided by the present invention will not be repeated here. It should be noted that, as can be understood by those skilled in the art, more content about the surgical robot provided by the present invention can refer to the relevant description of the surgical robot above, which will not be repeated here.

[0124] Based on the same inventive concept, the present invention also provides an electronic device, please refer to Fig.16 , which is a schematic diagram of a block structure of an electronic device provided by an embodiment of the present invention. Fig.16 As shown, the electronic device includes a processor 710 and a memory 730, and a computer program is stored on the memory 730. When the computer program is executed by the processor 710, the endoscope adjustment method described above is implemented. Since the electronic device provided by the present invention and the endoscope adjustment method provided by the present invention belong to the same inventive concept, the electronic device provided by the present invention at least has all the advantages of the endoscope adjustment method provided by the present invention. Specifically, the relevant description of the beneficial effects of the endoscope adjustment method provided by the present invention can be referred to above, so the beneficial effects of the electronic device provided by the present invention will not be described here.

[0125] like Fig.16 As shown, the electronic device also includes a communication interface 720 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The communication bus 740 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 740 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface 720 is used for communication between the above-mentioned electronic device and other devices.

[0126] The processor 710 referred to in the present invention may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 710 is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0127] The memory 730 may be used to store the computer program, and the processor 710 implements various functions of the electronic device by running or executing the computer program stored in the memory 730 and calling the data stored in the memory 730 .

[0128] The memory 730 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0129] In summary, compared with the prior art, the endoscope adjustment system, method, master device 100, surgical robot and electronic device provided by the present invention have the following beneficial effects:

[0130] The present invention allows the operator to directly control the movement of the endoscope 230 and adjust the parameters of the endoscope 230 through the button 610 while the surgical robot performs the master-slave operation, so that the endoscope 230 can be controlled according to the operator's wishes, reducing the communication cost between medical staff and making the operation easier, and the adjustment of the endoscope 230 can be achieved without the need for a large movement of the master control arm 110, and there is no need to perform a master-slave clutch to readjust the position of the master control arm 110, thereby ensuring the continuity of the surgical operation. In addition, the present invention can directly control the movement of the endoscope 230 during the operation, which is more direct and has higher control accuracy than the method of manually operating the master control arm 110 to control the movement of the endoscope 230. In addition, the present invention can not only adjust the position and posture of the endoscope 230 but also adjust the parameters of the endoscope 230, so that the adjustment of the endoscope 230 can better meet the real-time needs of the operator and has a wider range of applicable scenarios.

[0131] It should be noted that the computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages-such as Java, Smalltalk, C++, and also conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network-including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0132] It should be noted that the devices and methods disclosed in the embodiments of this article can also be implemented in other ways. The device implementation described above is only schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of this article. In this regard, each box in the flowchart or block diagram can represent a part of a module, program or code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system for performing a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0133] It should also be noted that the above description is only a description of the preferred embodiment of the present invention, and is not any limitation on the scope of the present invention. Any changes and modifications made by a person skilled in the art in the field of the present invention based on the above disclosure are within the scope of protection of the present invention. Obviously, a person skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An endoscope adjustment system, applied to a surgical robot, characterized in that: The surgical robot comprises at least two robotic arms, at least one of which is equipped with an endoscope, and at least one of which is equipped with a surgical instrument, and the endoscope adjustment system comprises a communication-connected button and a controller; The button is configured to be arranged at a preset position of the control end of the surgical robot for the operator to input an endoscope control instruction, and send the endoscope control instruction input by the operator to the controller, wherein the endoscope control instruction includes an endoscope movement instruction and an endoscope parameter adjustment instruction; The controller is configured to be connected to the endoscope for communication, and to control the endoscope to perform corresponding movements or adjust corresponding parameters according to received endoscope control instructions while the surgical robot performs master-slave operations.

2. The endoscope adjustment system according to claim 1, characterized in that: The endoscope movement instruction includes at least one of an endoscope translation movement instruction and an endoscope rotation movement instruction, and the controller is configured to control the endoscope to perform translation movement according to the endoscope translation movement instruction, or to control the endoscope to perform rotation movement according to the endoscope rotation movement instruction.

3. The endoscope adjustment system according to claim 2, characterized in that: The endoscope translation motion instruction includes a translation direction and a translation time. The controller is configured to calculate the first target position of each joint of the robotic arm where the endoscope is located according to the translation direction, the translation time and a pre-acquired translation speed, and control the robotic arm to drive the endoscope to perform translation motion according to the first target position of each joint.

4. The endoscope adjustment system according to claim 2, characterized in that: The endoscope rotational motion instruction includes a rotation direction and a rotation time. The controller is configured to calculate the second target position of each joint of the robotic arm where the endoscope is located according to the rotation direction, the rotation time and the pre-acquired rotation speed, and control the robotic arm to drive the endoscope to perform rotational motion according to the second target position of each joint.

5. The endoscope adjustment system according to claim 1, characterized in that: The endoscope parameter adjustment instructions include at least one of an automatic image zoom instruction, an image brightness adjustment instruction, an image acquisition mode adjustment instruction, an image flip instruction and an automatic defog instruction. The controller is configured to display an endoscope parameter adjustment menu after the operator triggers the endoscope parameter adjustment mode, so that the operator can input the endoscope parameter adjustment instruction through the buttons.

6. The endoscope adjustment system according to claim 1, characterized in that: The endoscope control instruction also includes a picture zoom instruction. The controller is configured to control the endoscope to move forward or backward according to the picture zoom instruction to zoom the picture captured by the endoscope while the surgical robot performs master-slave operations, or the controller is configured to control the endoscope to zoom the picture captured by the endoscope at a preset zoom speed according to the picture zoom instruction.

7. The endoscope adjustment system according to claim 1, characterized in that: The endoscope control instruction also includes a screen switching instruction. The controller is configured to switch the currently controlled endoscope according to the screen switching instruction while the surgical robot performs master-slave operations, and use the screen captured by the switched endoscope as the main screen.

8. The endoscope adjustment system according to claim 1, characterized in that: The button is configured to be installed on the end joint of the main control arm of the surgical robot. The end joint is provided with a plurality of trigger positions corresponding to the button along its axial direction. The button can move along the axial direction of the end joint to reach the corresponding trigger position.

9. An endoscope adjustment method, applied to a surgical robot, characterized in that: The surgical robot comprises at least two robotic arms, at least one of which is mounted with an endoscope, and at least one of which is mounted with a surgical instrument. A button is installed at a preset position of a control end of the surgical robot, and the button is configured for an operator to input a plurality of endoscope control instructions, wherein the endoscope control instructions include endoscope movement instructions and endoscope parameter adjustment instructions. The endoscope adjustment method comprises: receiving endoscope control instructions input by an operator; While the surgical robot is performing the master-slave operation, the endoscope is controlled to perform corresponding movements or adjust corresponding parameters according to the endoscope control instruction.

10. The endoscope adjustment method according to claim 9, characterized in that: The endoscope control instruction also includes a picture zoom instruction, and the endoscope adjustment method also includes: While the surgical robot is performing the master-slave operation, the endoscope is controlled to move forward or backward according to the image zoom instruction to zoom the image captured by the endoscope; or While the surgical robot performs the master-slave operation, the endoscope is controlled to zoom the image captured by the endoscope at a preset zoom speed according to the image zoom instruction.

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