Endoscope adjustment system and endoscope adjustment method

Abstract

The present application provides an endoscope adjusting system and method, which comprises a button and a controller connected in communication; the button is arranged at a preset position of a control end of a surgical robot for an operator to input endoscope control instructions and send the endoscope control instructions input by the operator to the controller, the endoscope control instructions comprising endoscope movement instructions and endoscope parameter adjustment instructions; the controller is arranged in communication with the endoscope and controls the endoscope to move or adjust corresponding parameters according to the received endoscope control instructions. The present application enables the operator to control the movement of the endoscope and adjust the parameters of the endoscope directly through the button, so that the endoscope can be controlled according to the operator's will, the communication cost between doctors and nurses is reduced, and the adjustment of the endoscope can be realized without a large movement of the main control arm, ensuring the continuity of the operation.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to an endoscope adjustment system and an endoscope adjustment method. Background Technology

[0002] Surgical robots are designed to perform complex surgical procedures with minimal invasiveness and precision. A surgical robot consists of a master device and slave devices. 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 the actual procedures on the patient. Furthermore, the master device is equipped with a master control arm, which the surgeon can manipulate to control the robotic arm mounted on the slave device, as well as the surgical instruments and endoscopes attached to the end of the robotic arm.

[0003] In surgical robots, endoscope control primarily relies on the main control arm in the master unit. The endoscope's movement is controlled by operating the main control arm after the endoscope operation button is pressed or the foot pedal is depressed. This method requires the surgeon to simultaneously operate the main control arm with both hands to control the endoscope's movement. Furthermore, after controlling the endoscope's movement, due to the significant range of motion, it is usually necessary to readjust the main control arm's position using the clutch to achieve a comfortable operating space.

[0004] Furthermore, in surgical robots, the adjustment of endoscopic parameters relies on the nurse operating from the endoscope side. This means that the adjustment of endoscopic 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 section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide an endoscope adjustment system and method, which allows the operator to directly control the movement of the endoscope and adjust the endoscope parameters by pressing buttons. This not only allows the operator to control the endoscope according to their wishes, reducing communication costs between medical staff, but also enables endoscope adjustment without large movements of the main control arm, thus eliminating the need to readjust the position of the main control arm by disengaging the master and slave clutches, ensuring the continuity of the surgical procedure.

[0007] To achieve the above objectives, the present invention provides an endoscope adjustment system for use in a surgical robot. The surgical robot includes at least two robotic arms, wherein at least one robotic arm carries an endoscope and at least one robotic arm carries surgical instruments. The endoscope adjustment system includes buttons and a controller that are connected in communication.

[0008] The button is configured to be located at a preset position on the control end of the surgical robot, so that the operator can input endoscope control commands and send the endoscope control commands input by the operator to the controller. The endoscope control commands include endoscope movement commands and endoscope parameter adjustment commands.

[0009] The controller is configured to communicate with the endoscope and, while the surgical robot is performing master-slave operations, controls the endoscope to perform corresponding movements or adjust corresponding parameters according to the received endoscope control commands.

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

[0011] Optionally, the endoscope translation movement command includes translation direction and translation time. The controller is configured to calculate the first target position of each joint of the robotic arm where the endoscope is located based on the translation direction, the translation time and the pre-acquired translation speed, and control the robotic arm to drive the endoscope to perform translation movement based on the first target position of each joint.

[0012] Optionally, the endoscope rotation movement command 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 based on the rotation direction, the rotation time, and a pre-acquired rotation speed, and control the robotic arm to drive the endoscope to rotate based on the second target position of each joint.

[0013] Optionally, the endoscope parameter adjustment commands include at least one of the following: automatic zoom command, image brightness adjustment command, image acquisition mode adjustment command, image flip command, and automatic defogging command. 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 endoscope parameter adjustment commands through the buttons.

[0014] Optionally, the endoscope control command further includes a screen zoom command. The controller is configured to control the endoscope to move forward or backward according to the screen zoom command while the surgical robot is performing master-slave operation, so as to zoom the screen captured by the endoscope. Alternatively, the controller is configured to control the endoscope to zoom the screen captured by the endoscope at a preset zoom speed according to the screen zoom command.

[0015] Optionally, the endoscope control command further includes a screen switching command. The controller is configured to switch the currently controlled endoscope according to the screen switching command while the surgical robot is performing master-slave operation, 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. The end joint has multiple trigger positions along its axial direction that correspond to the button. The button can move along the axial direction of the end joint to reach the corresponding trigger position.

[0017] To achieve the above objectives, the present invention also provides an endoscope adjustment method applied to a surgical robot. The surgical robot includes at least two robotic arms, at least one of which carries an endoscope, and at least one robotic arm carries surgical instruments. A button is installed at a preset location on the control end of the surgical robot. The button is configured to allow the operator to input various endoscope control commands, including endoscope movement commands and endoscope parameter adjustment commands. The endoscope adjustment method includes:

[0018] Receive endoscope control commands input by the operator;

[0019] While the surgical robot performs master-slave operations, it controls the endoscope to make corresponding movements or adjust corresponding parameters according to the endoscope control commands.

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

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

[0022] While the surgical robot performs master-slave operations, the endoscope is controlled to zoom in and out at a preset zoom speed according to the image zoom command.

[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 this invention includes a button and a controller connected via communication. The button is configured to be located at a preset position on the control end of a surgical robot, allowing the operator to input endoscope control commands. The button then sends the operator-input endoscope control commands to the controller, which includes endoscope movement commands and endoscope parameter adjustment commands. The controller is configured to communicate with the endoscope and, while the surgical robot is performing master-slave operations, controls the endoscope to perform corresponding movements or adjust corresponding parameters based on the received endoscope control commands. Therefore, the endoscope adjustment system provided by this invention allows the operator to directly control the movement of the endoscope and adjust its parameters via buttons while the surgical robot is performing master-slave operations. This not only allows for control of the endoscope according to the operator's wishes, reducing communication costs between medical staff and simplifying operation, but also enables endoscope adjustment without significant movement of the master control arm, thus eliminating the need for master-slave disengagement and readjustment of the master control arm's position, ensuring the continuity of the surgical procedure. Furthermore, by employing the endoscope adjustment system provided by this invention, the movement of the endoscope can be directly controlled during surgery. Compared to manually operating the main control arm to control the movement of the endoscope, this method is more direct and offers higher control precision. In addition, the endoscope adjustment system provided by this invention can not only adjust the position and orientation of the endoscope but also adjust its parameters, thereby making the endoscope adjustment more tailored to the operator's real-time needs and applicable to a wider range of scenarios.

[0025] Since the endoscope adjustment method provided by this invention and the endoscope adjustment system provided by this invention belong to the same inventive concept, the endoscope adjustment method provided by this invention has at least all the beneficial effects of the endoscope adjustment system provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the endoscope adjustment system provided by this invention above. Therefore, the beneficial effects of the endoscope adjustment method provided by this invention will not be elaborated here. Attached Figure Description

[0026] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram illustrating an application scenario of the master device provided in one embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram illustrating an application scenario of a slave device according to an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the main control arm provided in one embodiment of the present invention;

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

[0031] Figure 6 This is a schematic diagram of the button installation position according to one embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of button triggering provided in one embodiment of the present invention;

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

[0034] Figure 9 This is a schematic diagram illustrating the process of controlling the translational movement of an endoscope using an endoscope adjustment system according to an embodiment of the present invention.

[0035] Figure 10 This is a schematic diagram illustrating the process of controlling the rotational movement of an endoscope using an endoscope adjustment system according to an embodiment of the present invention.

[0036] Figure 11 This is a schematic diagram of a joint control process provided in one embodiment of the present invention;

[0037] Figure 12 A schematic diagram illustrating the screen scaling principle provided in one embodiment of the present invention;

[0038] Figure 13 This is a schematic diagram of a picture-in-picture display provided according to an embodiment of the present invention;

[0039] Figure 14 This is a schematic diagram of an endoscope parameter adjustment menu provided according to an embodiment of the present invention;

[0040] Figure 15 A flowchart illustrating an endoscope adjustment method according to an embodiment of the present invention;

[0041] Figure 16 This is a block diagram of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0042] The endoscopic adjustment system, method, master device, surgical robot, and electronic device proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clarify the purpose provided by this invention. Please refer to the drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this invention. Any modifications to the structure, changes in proportions, or adjustments to the size, provided that the effects and purposes achieved by this invention are the same or similar, should still fall within the scope of the technical content disclosed in this invention.

[0043] The core idea of ​​this invention is to provide an endoscope adjustment system, method, master device, surgical robot, and electronic device, which allows the operator to directly control the movement of the endoscope and adjust the endoscope parameters through buttons. This not only allows the operator to control the endoscope according to their wishes, reducing communication costs between medical staff, but also enables endoscope adjustment without large movements of the master control arm, thus eliminating the need to readjust the position of the master control arm by disengaging the master and slave clutches, ensuring the continuity of the surgical operation.

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

[0045] To facilitate understanding, before introducing the endoscopic adjustment system, method, master device, surgical robot, and electronic device provided by this invention, a brief description of the application scenarios of the surgical robot will be given first. Please refer to... Figures 1 to 3 ,in, Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention; Figure 2 This is a schematic diagram illustrating an application scenario of the master device provided in one embodiment of the present invention; Figure 3 This is a schematic diagram illustrating an application scenario of a slave device provided in one embodiment of the present invention. For example... 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. The master device 100 is equipped with a master control arm 110. The slave device 200 has at least one robotic arm 210, on which surgical instruments 220 and an endoscope 230 can be mounted. The operator (e.g., a surgeon) remotely operates the robot via the master control arm 110 on the master device 100 to perform minimally invasive surgical treatment on the patient in the bed. The master control arm 110, the robotic arm 210, and the surgical instruments 220 and endoscope 230 mounted on the robotic arm 210 form a master-slave control relationship. Specifically, the robotic arm 210, surgical instruments 220, and endoscope 230 move according to the movement of the master control arm 110 during the operation, that is, according to the operator's hand movements. Furthermore, the main control arm 110 also receives force information from human tissues and organs on the surgical instruments 220 and feeds it back to the operator's hand, so that the operator can more intuitively feel the surgical operation.

[0046] Please continue to refer to this. Figure 2 ,like Figure 2 As shown, the main device 100 includes two main control arms 110 and a display device 120. The two main control arms 110 are connected by their end joints 117 (see...). Figure 4 The system detects the operator's hand movements, which serve as the motion control input for the entire system. The display device 120 is communicatively connected to the endoscope 230 mounted on the robotic arm 210 of the slave device 200, and can receive and display images acquired by the endoscope 230. Based on the images displayed on the display device 120 on the master device 100, the operator controls the robotic arm 210, surgical instruments 220, and endoscope 230 via the master control arm 110. The endoscope 230 and surgical instruments 220 can respectively enter the lesion location through wounds or natural openings in the patient's body.

[0047] Please continue to refer to this. Figure 1 ,like Figure 1 As shown, the surgical robot also includes an image cart 300 and a tool cart 400. Specifically, images of the patient's internal environment acquired through the endoscope 230 (including information on human tissues and organs, surgical instruments 220, blood vessels, and body fluids) can be transmitted to the image cart 300 for display. The tool cart 400 is used to store the surgical instruments 220.

[0048] Furthermore, such as Figure 1 As shown, the surgical robot also includes auxiliary components such as a ventilator and anesthesia machine 500 for use during surgery. It should be noted that those skilled in the art can select and configure these auxiliary components according to actual needs, and will not be described in detail here.

[0049] Please continue to refer to this. Figure 3 ,like Figure 3 As shown, the endoscope 230 can be mounted on a robotic arm 210 of the slave device, which has multiple degrees of freedom for controlling the movement of the endoscope 230. Additionally, the slave device also has other robotic arms 210 for controlling the movement of surgical instruments 220.

[0050] Please continue to refer to this. Figure 4 This is a schematic diagram of the main control arm provided in one embodiment of the present invention. Figure 4 As shown, the main 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 an end joint 117 connected in sequence. The first joint 111, the second joint 112, and the third joint 113 are position joints; the fourth joint 114 is a redundant following joint; and the fifth joint 115, the sixth joint 116, and the end joint 117 are attitude joints. The position joints 111, 112, and 113 reflect changes in the position of the end of the main control arm 110. The axes of the fifth joint 115, the sixth joint 116, and the end joint 117 intersect at a single point, which is the Cartesian end point of the position joint. The movement of the fifth joint 115, the sixth joint 116, and the end joint 117 does not affect the change in the end position of the main control arm 110 (i.e., the position of the Cartesian end point), but only affects the change in the end attitude of the main control arm 110.

[0051] Please continue to refer to this. Figure 5 This is a block diagram of an endoscope adjustment system provided in one embodiment of the present invention. Figure 5 As shown, the endoscope adjustment system provided by the present invention includes a button 610 and a controller 620 connected in communication. The button 610 is configured to be located at a preset position on the control end (i.e., the master device 100) of the surgical robot, so as to allow the operator to input endoscope control commands and send the endoscope control commands input by the operator to the controller 620. The endoscope control commands include endoscope movement commands and endoscope parameter adjustment commands. The controller 620 is configured to be connected in communication with the endoscope 230, and while the surgical robot is performing master-slave operation, it controls the endoscope 230 to perform corresponding movements or adjust corresponding parameters according to the received endoscope control commands.

[0052] Therefore, the endoscope adjustment system provided by this invention allows the operator to directly control the movement of the endoscope 230 and adjust its parameters via button 610 while the surgical robot performs master-slave operations. This not only allows the operator to control the endoscope 230 according to their wishes, reducing communication costs between medical staff and simplifying operation, but also enables endoscope 230 adjustment without significant movement of the main control arm 110, thus eliminating the need for master-slave disengagement and readjustment of the main control arm 110's position, ensuring the continuity of surgical operations. Furthermore, by using the endoscope adjustment system provided by this invention, the movement of the endoscope 230 can be directly controlled during surgery, which is more direct and offers higher control precision compared to manual control of the endoscope 230 via the main control arm 110. In addition, the endoscope adjustment system provided by this invention can adjust not only the position and orientation of the endoscope 230 but also its parameters, making the adjustment of the endoscope 230 more aligned with the operator's real-time needs and applicable to a wider range of scenarios.

[0053] It should be noted that, as those skilled in the art will understand, the endoscope adjustment system provided by this invention can serve as redundant control for the endoscope 230, allowing the operator to still control the movement of the endoscope 230 by simultaneously manipulating the main control arm 110 with both hands. Specifically, details regarding how the operator can control the movement of the endoscope 230 by simultaneously manipulating the main control arm 110 with both hands can be found in relevant technologies known to those skilled in the art, and will not be elaborated upon here.

[0054] It should also be noted that, as those skilled in the art will understand, when the endoscope control command input by the operator is an endoscope movement command, the controller 620 can control the endoscope 230 to perform corresponding movements according to the endoscope movement command; when the endoscope control command input by the operator is an endoscope parameter adjustment command, the controller 620 can control the endoscope 230 to adjust the corresponding parameters according to the endoscope parameter adjustment command. Furthermore, it should be noted that, as those skilled in the art will understand, the controller 620 can be located in the master device 100 or in the slave device 200. Of course, the controller 620 can also be set up independently, depending on the actual situation; this invention does not limit this.

[0055] In some exemplary embodiments, the button 610 is configured to be mounted on the main control arm 110 of the surgical robot, i.e., the preset position is located on the main control arm 110. Therefore, by placing the button 610 on the main control arm 110, the operator can control the endoscope 230 without removing their head or hands from the main control arm 110, thereby further improving the continuity of the surgical procedure. It should be noted that, as those skilled in the art will understand, the preset position can also be any other easily operable location on the surgical robot, such as the armrest of the main device 100, the display device 120, or other locations. The specific setting can be determined according to actual circumstances, and this invention does not limit this.

[0056] Please continue to refer to this. Figure 6 This 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 mounted on the distal joint 117 of the main control arm 110, that is, the preset location is the distal joint 117 of the main control arm 110. Therefore, by placing the button 610 on the distal joint 117 of the main control arm 110, the operator can further control the endoscope 230 without removing their hand from the distal joint 117, thereby not only facilitating operation but also further improving the continuity of surgical procedures.

[0057] In some exemplary embodiments, the preset portion (e.g., the distal joint 117 of the main control arm 110) is provided with multiple trigger positions corresponding to the button 610 along its axial direction. The button 610 can move along the axial direction of the preset portion (e.g., the distal joint 117 of the main control arm 110) to reach the corresponding trigger position. Therefore, by providing multiple trigger positions at the preset portion, the button 610 can have a multi-level triggering mode (i.e., the button 610 has a multi-level triggering structure), which facilitates the operator to input different endoscope control commands by moving the button 610 to different trigger positions, thus making operation more convenient. It should be noted that, as those skilled in the art will understand, each of the two main control arms 110 on the main device 100 can be provided with a button 610, and the buttons 610 on the two main control arms 110 can be operated independently.

[0058] Please continue to refer to this. Figure 7 This is a schematic diagram of button 610 triggering according to an embodiment of the present invention. Figure 7As shown, the initial position of button 610 is at point C. Button 610 can slide back and forth to be triggered at point A or point B. Furthermore, the activation of button 610 can be determined by the continuity of the circuit. For example, when button 610 slides towards point A, the circuit is not connected until it reaches point A, indicating that button 610 is triggered at point A. Similarly, when button 610 slides towards point B, the circuit is not connected until it reaches point B, indicating that button 610 is triggered at point B.

[0059] It should be noted that, as those skilled in the art will understand, in other embodiments, the button 610 may also be a single-level trigger structure or a distance-sensing structure. When the button 610 is a single-level trigger structure, different triggering methods can be combined (e.g., triggering times within a preset time, single triggering time, or the button 610 being combined with at least one of voice control, foot switch, arm switching switch, and eye-tracking monitoring device) to allow the operator to input different endoscope control commands. When the button 610 is a distance-sensing structure, different endoscope control commands can be input by the operator based on the different movement distances of the button 610.

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

[0061] It should be noted that, as those skilled in the art will understand, the translational movement of the endoscope 230 refers to the translational movement of the endoscope 230 along the X or Y direction in Cartesian space, and the rotational movement of the endoscope 230 refers to the rotation of the endoscope 230 around its focal point in Cartesian space. It should also be noted that, as those skilled in the art will understand, after entering the translational movement trigger mode of the endoscope 230, the operator can select whether the endoscope 230 performs X-axis or Y-axis translational movement through interaction (e.g., voice interaction).

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

[0063] In some exemplary embodiments, the endoscope translation movement command includes a translation direction and a translation time, and the controller 620 is configured to calculate the first target position of each joint of the robotic arm 210 where the endoscope 230 is located based on 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 movement based on the first target position of each joint.

[0064] Specifically, the translation direction (i.e., whether it's the positive or negative X / Y direction) can be determined based on the specific trigger position of button 610, and the translation time can be determined based on the specific trigger time of button 610. Let's assume the translation speed of the endoscope 230 along the X direction is set to V. X The translational velocity along the Y direction is V. Y Positive values ​​are taken for movement in the positive direction and negative values ​​are taken for movement in the opposite direction. When the endoscope 230 translates along the X-axis, the velocity of the endoscope 230 in Cartesian space is expressed as follows:

[0065]

[0066] When the endoscope 230 translates along the Y direction, the velocity of the endoscope 230 in Cartesian space is expressed as follows:

[0067]

[0068] After solving for the Jacobian inverse matrix using differential kinematics, the following joint velocity commands can be obtained.

[0069]

[0070] Among them, J -1 This represents the Jacobian inverse matrix. It should be noted that the specific details of how to solve for the Jacobian inverse matrix using differential kinematics can be found in relevant techniques known to those skilled in the art, and will not be elaborated upon here. It should also be noted that, as those skilled in the art will understand, This includes the speed information of each joint of the robotic arm 210, where the endoscope 230 is located.

[0071] Finally, integrating the joint velocity yields the joint position command θ. j1 :

[0072]

[0073] Where t1 represents the translation time. It should be noted that, as those skilled in the art will understand, θ j1 The first target position of each joint of the robotic arm 210, including the endoscope 230.

[0074] Thus, the joint position command θ is obtained. j1 Then, the controller 620 can control the joint position, thereby realizing the translational movement of the endoscope 230.

[0075] Please continue to refer to this. Figure 9 This is a schematic diagram illustrating the process of controlling the translational movement of the endoscope 230 using an endoscope adjustment system according to an embodiment of the present invention. Taking the button 610 having two trigger levels at points A and B as an example, as... Figure 9 As shown, when the buttons 610 on both hands (i.e., the two main control arms 110) are simultaneously triggered at point A, it indicates that the translation direction is positive, and the holding time (trigger time) of button 610 at point A is the translation time. When the buttons 610 on both hands (i.e., the two main control arms 110) are simultaneously triggered at point B, it indicates that the translation direction is negative, and the holding time (trigger time) of button 610 at point B is the translation time. It should be noted that, as those skilled in the art will understand, in some other embodiments, the following settings can also be made: when the buttons 610 on both hands (i.e., the two main control arms 110) are simultaneously triggered at point A, it indicates that the translation direction is negative; when the buttons 610 on both hands (i.e., the two main control arms 110) are simultaneously triggered at point B, it indicates that the translation direction is positive.

[0076] In some exemplary embodiments, the endoscope rotation movement command includes a rotation direction and a rotation time. The controller 620 is configured to calculate the second target position of each joint of the robotic arm 210 where the endoscope 230 is located based on the rotation direction, the rotation time and the pre-acquired rotation speed, and control the robotic arm 210 to drive the endoscope 230 to rotate based on the second target position of each joint.

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

[0078]

[0079] After solving for the Jacobian inverse matrix using differential kinematics, the following joint velocity commands can be obtained.

[0080]

[0081] Among them, J -1 This represents the Jacobian inverse matrix. It should be noted that the specific details of how to solve for the Jacobian inverse matrix using differential kinematics can be found in relevant techniques known to those skilled in the art, and will not be elaborated upon here. It should also be noted that, as those skilled in the art will understand, This includes the speed information of each joint of the robotic arm 210, where the endoscope 230 is located.

[0082] Finally, integrating the joint velocity yields the joint position command θ. j2 :

[0083]

[0084] Where t2 represents the rotation time. It should be noted that, as those skilled in the art will understand, θ j2 The second target position includes the joints of the robotic arm 210 where the endoscope 230 is located.

[0085] Thus, the joint position command θ is obtained. j2 Then, the controller 620 can control the joint position, thereby realizing the rotational movement of the endoscope 230.

[0086] Please continue to refer to this. Figure 10 This is a schematic diagram illustrating the process of controlling the rotation of the endoscope 230 using an endoscope adjustment system according to an embodiment of the present invention. Taking the button 610 having two trigger levels (point A and point B) as an example, ... Figure 10 As shown, when button 610 on the left hand (i.e., the left main control arm 110) is triggered at point A and button 610 on the right hand (i.e., the right main control arm 110) is triggered at point B, it indicates that the rotation direction is clockwise, and the holding time of button 610 in the triggered position is the rotation time; when button 610 on the left hand (i.e., the left main control arm 110) is triggered at point B and button 610 on the right hand (i.e., the right main control arm 110) is triggered at point A, it indicates that the rotation direction is counterclockwise, and the holding time of button 610 in the triggered position is the rotation time. It should be noted that, as those skilled in the art will understand, in some other embodiments, the following settings may also be made: when the button 610 on the left hand (i.e., the left main control arm 110) is triggered at point A and the button 610 on the right hand (i.e., the right main 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 main control arm 110) is triggered at point B and the button 610 on the right hand (i.e., the right main control arm 110) is triggered at point A, it indicates that the rotation direction is clockwise.

[0087] In some exemplary embodiments, the joints of the robotic arm 210 are controlled by PID controllers in response to joint position commands (i.e., a first target position or a second target position) issued by the controller 620. Please refer to... Figure 11 This is a schematic diagram of the joint control process provided in one embodiment of the present invention. Figure 11 As shown, the command position (refPos) is subtracted from the feedback position (FdbPos) and then sent to each module of the PID controller (proportional Kp, integral Ki, derivative Kd) to generate control signals to drive the joint motor, thereby driving the joint to reach the specified position (first target position or second target position).

[0088] In some exemplary embodiments, the endoscope control commands also include image zoom commands. The controller 620 is configured to, while the surgical robot is performing master-slave operations, control the endoscope 230 to move forward or backward according to the image zoom commands to zoom the image captured by the endoscope 230. Alternatively, the controller 620 is configured to control the endoscope 230 to zoom the image captured by the endoscope 230 at a preset zoom speed according to the image zoom commands. Thus, by zooming the image captured by the endoscope 230 according to the image zoom commands input by the operator, the field of view of the endoscope 230 can be magnified or reduced, thereby providing the operator with a wider field of view and facilitating surgical operations.

[0089] Specifically, such as Figure 8 As shown, when button 610 on the left hand (i.e., the left main control arm 110) is triggered, it indicates that the operator has input a screen zoom command, thus entering the screen zoom trigger mode. At this time, the controller 620 can zoom the image captured by the endoscope 230. Further, taking the two-level triggering mode of button 610 at points A and B as an example, when button 610 on the left hand (i.e., the left main control arm 110) is triggered at point A, it indicates that the operator has input a screen zoom command; when button 610 on the left hand (i.e., the left main control arm 110) is triggered at point B, it indicates that the operator has input a screen zoom command. It should be noted that, as those skilled in the art will understand, in some other embodiments, the following settings can also be made: when button 610 on the left hand (i.e., the left main control arm 110) is triggered at point A, it indicates that the operator has input a screen zoom command; when button 610 on the left hand (i.e., the left main control arm 110) is triggered at point B, it indicates that the operator has input a screen zoom command.

[0090] Please continue to refer to this. Figure 12 This is a schematic diagram illustrating the screen scaling principle provided by one embodiment of the present invention. For example... Figure 12 As shown, in some embodiments, when the controller 620 recognizes that the operator inputs a command to zoom out, the controller 620 controls the endoscope 230 to retract, at which time the image captured by the endoscope 230 will be zoomed out; when the controller 620 recognizes that the operator inputs a command to zoom in, the controller 620 controls the endoscope 230 to move forward, at which time the image captured by the endoscope 230 will be zoomed in. It should be noted that, as those skilled in the art will understand, the forward or backward movement of the endoscope 230 can be achieved by controlling the telescopic joint on the robotic arm 210 where the endoscope 230 is located to perform telescopic movements.

[0091] Furthermore, the specific details regarding how the endoscope 230 zooms in and out of the captured image at a preset zoom speed can be found in relevant technologies known to those skilled in the art, and will not be elaborated upon here. It should be noted that, as those skilled in the art will understand, the endoscope 230 will not move when zooming in and out of the captured image at the preset zoom speed.

[0092] In some exemplary embodiments, the endoscope control commands also include screen switching commands. The controller 620 is configured to switch the currently controlled endoscope 230 according to the screen switching commands while the surgical robot is performing master-slave operations, and to use the image captured by the switched endoscope 230 as the main screen. Thus, by using screen switching commands input by the operator, not only can the endoscope 230 be switched, but the main screen can also be switched, making it easier for the operator to perform surgical procedures.

[0093] For details, please refer to Figure 13 This is a schematic diagram of a picture-in-picture display provided in one embodiment of the present invention. For example... Figure 13 As shown, when two endoscopes 230 are mounted on the slave device 200, a picture-in-picture display will be shown, along with the current control status. Picture A shows the image captured by endoscope A, and picture B shows the image captured by endoscope B. Because... Figure 13 Screen A is the main screen, indicating that the endoscope currently being controlled is endoscope A.

[0094] Furthermore, taking button 610, which has two triggering modes at points A and B, as an example, such as Figure 8 and Figure 13 As shown, when 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 being controlled will switch from endoscope A to endoscope B. If 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 again, and the endoscope currently being controlled will switch from endoscope B to endoscope A.

[0095] In some exemplary embodiments, the endoscope parameter adjustment commands include at least one of the following: automatic zoom command, image brightness adjustment command, image acquisition mode adjustment command, image flip command, and automatic defogging command. The controller 620 is configured to display an endoscope parameter adjustment menu after the operator triggers the endoscope parameter adjustment mode, allowing the operator to input endoscope parameter adjustment commands via the button 610. Therefore, by displaying the endoscope parameter adjustment menu after the operator triggers the endoscope parameter adjustment mode, it is easier for the operator to select the desired parameter via the button 610, thus simplifying the operation. It should be noted that, as those skilled in the art will understand, the specific details of how the controller 620 controls the endoscope 230 to adjust the focal length of the captured image according to the automatic zoom command, how the endoscope 230 controls the brightness of the captured image according to the brightness adjustment command, how the endoscope 230 controls the image acquisition mode (e.g., fluorescence mode) according to the image acquisition mode adjustment command, how the endoscope 230 controls the image acquisition to flip according to the image flip command, and how the endoscope 230 controls the automatic defogging according to the automatic defogging command can be found in relevant technologies known to those skilled in the art, and will not be elaborated here.

[0096] Specifically, taking button 610, which has two triggering modes at points A and B, as an example, such as Figure 8 As shown, when 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 activated, and the following will be displayed: Figure 14 (This is a schematic diagram of the endoscope parameter adjustment menu provided in one embodiment of the present invention.) The endoscope parameter adjustment menu is shown below. If button 610 is triggered at point B and remains at point B for a certain period of time (e.g., 3 seconds), the selection of the automatic defogging function in the endoscope parameter adjustment menu will be confirmed, meaning the operator has entered an automatic defogging command. If the user quickly returns to the initial position, no confirmation is made. When the button is triggered again at point B, the option will move to the next menu function, such as the automatic zoom function. If the user remains at point B for a certain period of time (e.g., 3 seconds), the selection of the automatic zoom function in the endoscope parameter adjustment menu will be confirmed, meaning the operator has entered an automatic zoom command. If the user quickly returns to the initial position, no confirmation is made. Similarly, the operator can select various functions in the endoscope parameter adjustment menu using button 610, which will not be elaborated further here.

[0097] Based on the same inventive concept, this invention also provides an endoscope adjustment method applied to a surgical robot. The surgical robot includes at least two robotic arms 210, at least one of which carries an endoscope 230 and at least one of which carries surgical instruments 220. A button 610 is installed at a preset location on the control end (i.e., the main device 100) of the surgical robot. The button 610 is configured to allow the operator to input various endoscope control commands, including endoscope movement commands and endoscope parameter adjustment commands. Please refer to [reference needed]. Figure 15 This is a flowchart illustrating an endoscope adjustment method provided in one embodiment of the present invention. Figure 15 As shown, the endoscope adjustment method provided by the present invention includes the following steps:

[0098] Step S100: Receive the endoscope control command input by the operator.

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

[0100] Therefore, the endoscope adjustment method provided by this invention allows the operator to directly control the movement of the endoscope 230 and adjust its parameters via button 610 while the surgical robot performs master-slave operations. This not only allows the operator to control the endoscope 230 according to their wishes, reducing communication costs between medical staff and simplifying operation, but also eliminates the need for significant movements of the main control arm 110 to adjust the endoscope 230, thus avoiding the need for readjusting the position of the main control arm 110 and ensuring the continuity of surgical operations. Furthermore, by using the endoscope adjustment method provided by this invention, the movement of the endoscope 230 can be directly controlled during surgery, which is more direct and offers higher control precision compared to manually controlling the movement of the endoscope 230 via the main control arm 110. In addition, the endoscope adjustment method provided by this invention can adjust not only the position and orientation of the endoscope 230 but also its parameters, making the adjustment of the endoscope 230 more aligned with the operator's real-time needs and applicable to a wider range of scenarios.

[0101] In some exemplary embodiments, the endoscope movement commands include at least one of endoscope translation movement commands and endoscope rotation movement commands.

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

[0103] The endoscope 230 can be controlled to perform translational movement according to the endoscope translational movement command, or the endoscope 230 can be controlled to perform rotational movement according to the endoscope rotational movement command.

[0104] In some exemplary embodiments, the endoscopic translation movement command includes translation direction and translation time.

[0105] Correspondingly, controlling the endoscope 230 to perform translational movement according to the endoscope translational movement command includes:

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

[0107] Based on the first target position of each joint, the robotic arm 210 is controlled to drive the endoscope 230 to perform translational movement.

[0108] In some exemplary embodiments, the endoscopic rotation command includes the rotation direction and rotation time.

[0109] Correspondingly, controlling the endoscope 230 to rotate according to the endoscope rotation movement command includes:

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

[0111] Based on the second target position of each of the joints, the robotic arm 210 is controlled to drive the endoscope 230 to rotate.

[0112] In some exemplary embodiments, the endoscope parameter adjustment commands include at least one of the following: automatic zoom command, image brightness adjustment command, image acquisition mode adjustment command, image flip command, and automatic defogging command.

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

[0114] After the operator triggers the endoscope parameter adjustment mode, the endoscope parameter adjustment menu is displayed, allowing the operator to input endoscope parameter adjustment commands via the button 610.

[0115] In some exemplary embodiments, the endoscope control commands also include screen zoom commands.

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

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

[0118] While the surgical robot is performing master-slave operations, the endoscope 230 is controlled to zoom in and out at a preset zoom speed according to the image zoom command.

[0119] In some exemplary embodiments, the endoscope control commands also include screen switching commands.

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

[0121] While the surgical robot is performing master-slave operations, the endoscope 230 under control is switched according to the screen switching command, 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 master device 100, which includes the endoscope adjustment system described above. Since the master device 100 provided by the present invention includes the endoscope adjustment system provided by the present invention, the master 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 relevant descriptions of the beneficial effects of the endoscope adjustment system provided by the present invention above; therefore, the beneficial effects of the master device 100 provided by the present invention will not be repeated here. It should be noted that, as those skilled in the art will understand, further details regarding the master device 100 provided by the present invention can be found in the relevant descriptions of the master device 100 above, and will not be repeated here.

[0123] To achieve the above-mentioned ideas, the present invention also provides a surgical robot, which includes the master device 100 described above. Since the surgical robot provided by the present invention includes the master device 100, and the master device 100 includes the endoscope adjustment system, the surgical robot provided by the present invention also possesses at least the beneficial effects of the endoscope adjustment system. For details, please refer to the relevant descriptions of the beneficial effects of the endoscope adjustment system provided by the present invention above; therefore, the beneficial effects of the surgical robot provided by the present invention will not be repeated here. It should be noted that, as those skilled in the art will understand, further details regarding the surgical robot provided by the present invention can be found in the relevant descriptions of the surgical robot above, and will not be repeated here.

[0124] Based on the same inventive concept, the present invention also provides an electronic device, please refer to... Figure 16 This is a block diagram of an electronic device provided in one embodiment of the present invention. Figure 16 As shown, the electronic device includes a processor 710 and a memory 730. The memory 730 stores a computer program, which, when executed by the processor 710, implements the endoscopic adjustment method described above. Since the electronic device and the endoscopic adjustment method provided by this invention belong to the same inventive concept, the electronic device provided by this invention possesses at least all the advantages of the endoscopic adjustment method provided by this invention. Specifically, these advantages can be seen in the relevant descriptions of the beneficial effects of the endoscopic adjustment method provided by this invention above; therefore, the beneficial effects of the electronic device provided by this invention will not be described further here.

[0125] like Figure 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 via the communication bus 740. The communication bus 740 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 740 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface 720 is used for communication between the aforementioned electronic device and other devices.

[0126] The processor 710 referred to in this invention can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 710 is the control center of the electronic device, connecting various parts of the electronic device through various interfaces and lines.

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

[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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

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

[0130] This invention allows the operator to directly control the movement of the endoscope 230 and adjust its parameters via button 610 while the surgical robot performs master-slave operations. This not only allows for operator-defined control of the endoscope 230, reducing communication costs between medical staff and simplifying operation, but also eliminates the need for significant movements of the main control arm 110 to adjust its position, ensuring the continuity of the surgical procedure. Furthermore, this invention enables direct intraoperative control of the endoscope 230's movement, which is more direct and precise than manual control via the main control arm 110. Additionally, this invention allows for adjustment of both the endoscope 230's position and parameters, making adjustments more tailored to the operator's real-time needs and broadening its applicability.

[0131] It should be noted that computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0132] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0133] It should also be noted that the above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.

Claims

1. An endoscope adjustment system for use in a surgical robot, characterized in that, The surgical robot includes at least two robotic arms, at least one of which is equipped with an endoscope and at least one of which is equipped with surgical instruments. The endoscope adjustment system includes buttons and a controller that are connected in communication. The button is configured to be located at a preset position on the control end of the surgical robot, so that the operator can input endoscope control commands and send the endoscope control commands input by the operator to the controller. The endoscope control commands include endoscope movement commands and endoscope parameter adjustment commands. The controller is configured to communicate with the endoscope and, while the surgical robot is performing master-slave operations, control the endoscope to perform corresponding movements or adjust corresponding parameters according to the received endoscope control commands; The endoscope movement command includes at least one of an endoscope translation movement command and an endoscope rotation movement command. The endoscope translation movement command includes a translation direction and a translation time, and the endoscope rotation movement command includes a rotation direction and a rotation time. The controller is configured to control the endoscope to perform translation movement according to the endoscope translation movement command, or to control the endoscope to perform rotation movement according to the endoscope rotation movement command.

2. The endoscope adjustment system according to claim 1, characterized in that, The controller is configured to calculate the first target position of each joint of the robotic arm where the endoscope is located based on the translation direction, the translation time, and the pre-acquired translation speed, and to control the robotic arm to drive the endoscope to perform translational movement based on the first target position of each joint.

3. The endoscope adjustment system according to claim 1, characterized in that, The controller is configured to calculate the second target position of each joint of the robotic arm where the endoscope is located based on the rotation direction, the rotation time, and the pre-acquired rotation speed, and control the robotic arm to drive the endoscope to rotate based on the second target position of each joint.

4. The endoscope adjustment system according to claim 1, characterized in that, The endoscope parameter adjustment commands include at least one of the following: automatic zoom command, image brightness adjustment command, image acquisition mode adjustment command, image flip command, and automatic defogging command. 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 endoscope parameter adjustment commands through the buttons.

5. The endoscope adjustment system according to claim 1, characterized in that, The endoscope control commands also include image scaling commands. The controller is configured to control the endoscope to move forward or backward according to the image scaling commands while the surgical robot is performing master-slave operations, so as to scale the image captured by the endoscope. Alternatively, the controller is configured to control the endoscope to scale the image captured by the endoscope at a preset zoom speed according to the image scaling commands.

6. The endoscope adjustment system according to claim 1, characterized in that, The endoscope control commands also include screen switching commands. The controller is configured to switch the currently controlled endoscope according to the screen switching commands while the surgical robot is performing master-slave operations, and use the screen captured by the switched endoscope as the main screen.

7. 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 has multiple trigger positions along its axial direction that correspond to the button. The button can move along the axial direction of the end joint to reach the corresponding trigger position.

8. An electronic device used in a surgical robot, characterized in that, The surgical robot includes at least two robotic arms, at least one of which carries an endoscope and at least one of which carries surgical instruments. A button is installed at a preset location on the control end of the surgical robot. The button is configured to allow the operator to input various endoscope control commands, including endoscope movement commands and endoscope parameter adjustment commands. The electronic device includes a processor and a memory. The memory stores a computer program, which, when executed by the processor, performs the following steps: Receive endoscope control commands input by the operator; While the surgical robot performs master-slave operations, it controls the endoscope to perform corresponding movements or adjust corresponding parameters according to the endoscope control commands. The endoscope motion command includes at least one of an endoscope translation motion command and an endoscope rotation motion command. The endoscope translation motion command includes a translation direction and a translation time, and the endoscope rotation motion command includes a rotation direction and a rotation time. The step of controlling the endoscope to perform corresponding movements according to the endoscope control command includes: The endoscope can be controlled to perform translational movement according to the endoscope translational movement command, or the endoscope can be controlled to perform rotational movement according to the endoscope rotational movement command.

9. The electronic device according to claim 8, characterized in that, The endoscope control commands also include screen zoom commands, and when the computer program is executed by the processor, it further performs the following steps: While the surgical robot performs master-slave operations, the endoscope is controlled to move forward or backward according to the image scaling command in order to scale the image captured by the endoscope. or While the surgical robot performs master-slave operations, the endoscope is controlled to zoom in and out at a preset zoom speed according to the image zoom command.

Images