Control method for surgical robot system, corresponding computer-readable storage medium, program product, control device, and surgical robot system

Abstract

The invention relates to a control method of a surgical robot system, a corresponding computer readable storage medium, a computer program product, a control device and the surgical robot system. The surgical robot system comprises a tracking system and a mechanical arm (1), a first tracer (11) is arranged on the mechanical arm, and the control method comprises the following steps: a docking instruction receiving step: receiving an instruction for docking the mechanical arm with an operable device; in the butt joint position obtaining step, the butt joint position of the joint part, to be in butt joint with the mechanical arm, of the operable device is obtained through the tracking system; obtaining the position of the mechanical arm; and a mechanical arm movement indication step: indicating the mechanical arm to move from the current position to a position suitable for being butted with the joint part. According to the scheme, an operable device can be conveniently switched between a doctor holding operation and a mechanical arm holding operation, and accurate butt joint, positioning and navigation of the operable device can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment technology, and specifically to a surgical robot system, and more particularly to a control method for docking, navigating and positioning an operable device and a robotic arm in a surgical robot system and a corresponding surgical robot system. Background Art

[0002] As an important breakthrough in medical technology, surgical robots have developed rapidly in recent years, and their application scope has been continuously expanded, bringing revolutionary changes to minimally invasive surgery. Surgical robots can be divided into three types according to the control method: "supervisory control" robots operate independently after the surgeon completes the preoperative planning. The surgeon does not directly participate in the operation, but is responsible for supervision throughout the process; "remote surgery" robots are remotely controlled in real time by the surgeon; "shared control" robots are controlled in real time by the surgeon and the robot at the same time.

[0003] As an exemplary surgical robot, spinal surgery robots are currently mainly used to assist in pedicle screw implantation, significantly improving the accuracy of screw implantation and reducing radiation exposure for patients and operators. In the future, the development of technologies such as tactile feedback and automatic collision avoidance will further expand the scope of use of spinal surgery robots, and are expected to complete precise operations such as decompression and correction, providing safety guarantees for the implementation of complex spinal surgeries. Currently, all spinal surgery robots used in clinical practice are of the "shared control" type.

[0004] In the "tele-surgery" type of robot, because the doctor controls it remotely in real time, each active instrument must be installed on the robotic arm actuator in advance to ensure the efficiency of the remote control operation (refer to the dedicated active instruments of the "Da Vinci" surgical robot system). The "shared control" type of robot is different from the "tele-surgery" type of robot. The "shared control" type of spinal surgery robot adopts "shared control" for the operation of operable devices (such as endoscopes and ring saws). As the name implies, the driving force of the operable device may come from the spinal surgery robot or other independent systems, and the operation of the operable device may be completed jointly by the doctor and the spinal surgery robot (for example: the doctor controls the cutting switch, and the robot system is responsible for holding and controlling the movement).

[0005] In fact, the robotic system should focus on assisting doctors to complete tasks that cannot be completed or completed independently by "doctor's hands", rather than wasting any system resources to replace doctors in performing operations that do not require clinical technical difficulty (for example, placing instruments such as endoscopes or ring saws into instrument channels such as sleeves). For example, "placing active instruments (i.e. instruments driven by a power source that can be driven to move in a motorized manner) into corresponding instrument channels" is often done by "doctor's arms" and "eyes". For humans, this is a very simple hand-eye coordination task, but for robotic systems, it is a function that can only be achieved by combining complex robotic arm control with navigation and positioning. It is often more efficient for doctors to do it directly. In other words, the active instruments of "shared control" surgical robots can be placed by doctors at or near the planned operating position (for example, placing a spinal endoscope in the working channel of spinal endoscopic surgery), or even after operating the instrument until the robotic arm needs to take over, docking with the robotic arm and being driven by the robotic arm is often a realistic solution with higher clinical work efficiency.

[0006] Furthermore, in the past spinal surgeries, an optical hard endoscope was usually used. This optical hard endoscope is provided with an optical lens at its end, and an image sensing device (such as a CCD or CMOS sensor) is usually provided at the rear end of the hard endoscope, which converts the optical signal captured by the optical lens into an electrical signal. The image sensing device is then connected to a special image processing device via a cable, and the image processing device is connected to the host of the surgical robot system to transmit the processed image or video. In this process, the signal processing and transmission take a long time, resulting in image transmission delays, limiting the efficiency and accuracy of real-time imaging and real-time navigation of the endoscope, and the equipment used is relatively complex and the data transmission path is long. In addition, the optical hard endoscope used in traditional spinal surgery has an optical lens and an additional image sensing device, which makes the entire endoscope very heavy, inconvenient for doctors to operate, and has a high cost.

[0007] Moreover, in traditional spinal endoscopic surgery, the camera and working channel of the endoscope are integrated into the same endoscope insertion tube. The doctor needs to frequently rotate the endoscope axially in order to observe in all directions and operate the endoscopic decompression tool to decompress the pressure object through the working channel when the endoscope lens is facing the pressure object. This operation requires the doctor to coordinate both hands and operate together. Since the human arm has a total of 7 degrees of freedom. In order to complete the axial rotation action, the doctor's arm joints have moved and / or rotated. In other words, in order to hold the endoscope to complete the axial rotation of 180°, 7 degrees of freedom of arm movement are required to complete the action.

[0008] Therefore, in theory, it is impossible for a 6-axis serial robotic arm to replace the doctor's arm to hold and operate the spinal endoscope to perform all the required movements, especially its rotation, and achieve the same effect as the spinal endoscopy doctor holding and operating it.

[0009] From a more intuitive perspective, such as Figure 1 As shown, the robot arm 1 is connected to and holds the endoscope. If the endoscope is to be rotated around the axis through the movement of the robot arm, the robot arm and its trolley need to rotate 180 degrees with the endoscope as the axis. This large-scale movement is almost impossible in actual surgery, especially when the robot arm trolley cannot be moved in real time beside the operating table and the robot arm has a tracer that needs to be within the field of view of the tracking system. Summary of the invention

[0010] The object of the present invention is to solve at least one of the above problems and defects in the prior art as well as other technical problems.

[0011] According to a first aspect of the present invention, a control method for a surgical robot system is provided, the surgical robot system comprising a tracking system and a robotic arm, the robotic arm being provided with a first tracer, wherein the method comprises the following steps:

[0012] Docking instruction receiving step: receiving an instruction to dock the robot arm with the operable device;

[0013] A docking position acquisition step: acquiring the docking position of the joint portion of the operable device that is about to dock with the robot arm by means of the tracking system;

[0014] Robotic arm position acquisition steps: obtain the current position of the robotic arm;

[0015] Robotic arm movement instruction step: according to the docking position, instruct the robotic arm to move from the current position to a position suitable for docking with the joint part.

[0016] The operable devices in this solution are a general term, representing various devices that need to be operated during surgery, such as a hard endoscope, a ring saw for foraminal shaping, etc. Moreover, it should be noted that "a position suitable for docking with the joint part" includes both precise movement to the docking position so that the joint part of the robot arm and the joint part of the electronic hard endoscope can be directly engaged, and movement to the vicinity of the docking position (a position that allows the operator to manually drive the electronic hard endoscope to dock its joint part with the joint part of the robot arm). This will be further explained in the specific implementation method.

[0017] In the above scheme, the tracking system is used to guide the robot arm to move toward a position suitable for docking with the joint part of the operable device, so as to achieve accurate docking of the operable device and the robot arm, and the process is automatically controlled by the system host. The doctor only needs to issue a docking instruction, for example, through the control device described below, which is convenient for the doctor to operate, so that the robot arm can quickly take over the operable device at any time when needed, and the doctor's hands are released to conveniently perform more complex operations, such as completing more complex decompression operations in spinal endoscopic surgery, thereby achieving a substantial improvement in the efficiency of endoscopic surgery. Moreover, the scheme can conveniently switch between the doctor's hand-held operation and the robot arm's grip operation without affecting the continuity of the doctor's surgical operation, so that, for example, the endoscope can be held by the doctor to the vicinity of the planned operation position (for example, placed in the working channel of the endoscopic surgery), or even after the operation requires the robot arm to take over, the endoscope is docked with the robot arm and driven by the robot arm, thereby achieving a more efficient and realistic solution. In addition, the scheme can use the existing optical tracking system of the surgical robot system to achieve accurate docking of the operable device with the robot arm at any random position.

[0018] According to one example, the operable device is an endoscope, and in the docking position acquisition step, the docking position of the endoscope is acquired with the help of a second tracer disposed on the endoscope. In this solution, the doctor can manually operate the endoscope and quickly take it over by the robotic arm when necessary, thereby achieving higher surgical efficiency, and the second tracer is disposed on the endoscope, which can conveniently and quickly acquire the docking position with the help of a tracking system.

[0019] According to an example, the endoscope is an electronic hard endoscope, the surgical robot system further includes a control device and the electronic hard endoscope, the electronic hard endoscope includes a first shell and a cylinder that can rotate around its own axis relative to the first shell under the drive of a first power source, wherein the first shell is provided with the engaging portion, wherein after the electronic hard endoscope is docked with the robot arm, the method further includes at least one of the following hard endoscope movement indication steps:

[0020] In response to the input from the first operating member of the control device, the mechanical arm is controlled to move so as to drive the entire electronic hard mirror to move along the axial direction of the tube;

[0021] In response to the input from the joystick of the control device, the mechanical arm is controlled to move so as to drive the entire electronic hard mirror to perform a tilt movement; and

[0022] In response to the input from the second operating member of the control device, the first power source is controlled to operate to control the barrel of the electronic hard mirror to rotate around its own axis.

[0023] In this example, the operator can conveniently operate the mirror through the control device. Moreover, since the insertion tube (or mirror rod) of the mirror can be driven and rotated independently relative to the housing of the mirror, the automatic rotation of the mirror barrel can be realized to realize any desired orientation when the housing of the mirror is held by the mechanical arm, so that the problem that the existing robot (such as a 6-axis mechanical arm) has insufficient degrees of freedom and is difficult to operate the electronic hard mirror as arbitrarily as a doctor, especially to realize the rotation of the electronic hard mirror around its axis, can be solved. Through this scheme, on the one hand, the rotation of the insertion tube of the electronic hard mirror can be driven, and on the other hand, the electronic hard mirror can also complete the forward and backward linear motion along the axis of the tube of the hard mirror and / or the tilting motion with the intervertebral foramen as the fulcrum under the drive of the mechanical arm. Therefore, these movements of the electronic hard mirror can be completed on the basis of the overall posture change of the mechanical arm (the rotation amplitude of each joint is small), and the same terminal visual range and coverage area as the doctor's handheld operation can be achieved. This can also avoid the mechanical arm from occupying space, avoid interference with operators or other equipment, and can largely avoid the tracer on the mechanical arm from moving out of the field of view of the tracking system to affect the navigation and positioning process.

[0024] It should be noted that the electronic hard endoscope herein refers in particular to an endoscope whose insertion tube (e.g., a tube made of metal or a relatively high hardness material) is not bendable (in contrast to a bendable soft endoscope). Usually, the tip of the insertion tube of the electronic hard endoscope enters the tissue structure or bone structure of the patient to observe it and / or operate it with surgical instruments, and the proximal end of the electronic hard endoscope (the end close to the operator, i.e., the end opposite to the tip of the insertion tube of the electronic hard endoscope) is located outside the patient's body for manual or motorized operation.

[0025] In this article, the "electronic" in "electronic hard mirror" refers to the imaging module located at the end of the mirror barrel (or mirror rod) including an electronic image sensor (such as CCD or CMOS), which can directly convert the captured optical image into an electronic signal. Moreover, those skilled in the art can understand that "imaging module" is a broad concept, which can have functions such as video recording, video acquisition and image acquisition, and the "image" obtained by the "imaging module" is also a broad concept, which can include video, dynamic continuous images and static images.

[0026] According to one example, after the electronic hard mirror is docked with the robotic arm, the method further includes the following steps:

[0027] Endoscope position acquisition step: acquiring the position of the field of view of the imaging module located at the end of the barrel of the electronic hard endoscope;

[0028] Endoscope orientation display step: displaying a virtual model of the endoscope and / or its field of view in the orientation on the navigation image or on the display unit of the control device.

[0029] Through the scheme of positioning the endoscope and displaying it on the navigation image in this example, the doctor can observe the navigation image and the virtual model of the endoscope and its field of view, know the position of the endoscope tip and surgical instruments relative to the surrounding structures, and thus quickly determine whether the position of the endoscope needs to be adjusted, and operate accordingly, thereby significantly improving surgical efficiency.

[0030] According to one example, the endoscope is provided with a first joint portion suitable for connecting the second tracer, and the first joint portion is the same joint portion as the joint portion used for docking with the robotic arm. When docking with the robotic arm, the joint portion is in a state where the second tracer has been removed therefrom.

[0031] According to an example, in the endoscope orientation acquisition step, the shell orientation of the first shell is obtained according to the fixed position relationship between the first shell of the electronic hard mirror in the docking state with the mechanical arm and the first tracer, and the relative orientation of the tube relative to the first shell is obtained from the control device, and the orientation of the tube is determined according to the shell orientation and the relative orientation, and then the orientation of the field of view of the imaging module at its end is determined. In this example, the system can realize the positioning / navigation of the endoscope held by the mechanical arm only on the premise that the first tracer is installed. When the mechanical arm tracer is a polyhedral tracer, the positioning / navigation of the endoscope held by it can be realized without dead angles. Moreover, this scheme can make the first tracer on the mechanical arm have a certain distance from the endoscope held by it, avoiding the doctor from blocking the first tracer as an optical tracer when operating other endoscopic surgical tools (such as radio frequency electrodes, soft tissue forceps, bone rongeurs, grinding drills, etc.), ensuring the continuity of the positioning / navigation signal of the endoscope, and avoiding the loss of the navigation signal due to the blocking of the optical tracer.

[0032] According to one example, the endoscope is provided with a first joint portion suitable for connecting a second tracer, and a joint portion for docking with a robotic arm is independent of the first joint portion. That is, the two joint portions are separate, and the endoscope can be connected to the second tracer and the robotic arm at the same time. In the endoscope orientation acquisition step, the shell orientation of the first shell of the electronic hard mirror is obtained according to the second tracer or according to the fixed position relationship between the first shell of the electronic hard mirror in the docking state with the robotic arm and the first tracer, and the relative orientation of the barrel relative to the first shell is obtained from the control device, and the orientation of the barrel is determined according to the shell orientation and the relative orientation, and then the orientation of the field of view of the imaging module at its end is determined.

[0033] According to an example, the method may further include the following steps:

[0034] Target acquisition step: obtaining input of a target orientation for the field of view of the endoscope;

[0035] Pre-display step: displaying a virtual image of the endoscope at the target orientation according to the input;

[0036] Automatic movement execution step: upon receiving a confirmation instruction of a target position, controlling the endoscope to move to the target position.

[0037] According to one example, the operable device is a ring saw, wherein before the docking position acquisition step, it also includes: an image and planning acquisition step: acquiring a preoperative three-dimensional image of the patient including a preoperative plan, wherein the preoperative plan includes a planned approach position of the ring saw; and an image and planning registration step: registering the preoperative three-dimensional image and the preoperative plan under a tracking system; wherein in the docking position acquisition step, the approach position of the registered planned approach position under the tracking system (i.e., in the actual space during the operation) is acquired, and the docking position of the joint part of the ring saw under the tracking system is obtained according to the approach position.

[0038] In this example, after the registration, the preoperative plan including the planned entry position of the ring saw is also registered to the current tracking system according to the registration mapping relationship. After the registration, the planned entry position has a corresponding entry position under the tracking system. The entry position is acquired and the docking position of the joint part of the ring saw under the tracking system can be obtained based on the entry position (because the ring saw has a certain shape and size, and the joint part has a fixed positional relationship relative to the end of the ring saw).

[0039] According to one example, after the ring saw is docked with the robotic arm, the method further includes the following steps:

[0040] The step of obtaining the position of the ring saw is as follows: obtaining the current position of the ring saw in the tracking system;

[0041] Ring saw orientation display step: displaying a virtual model of the ring saw in orientation on the navigation image.

[0042] Similar to the endoscopic approach, this approach uses a tracking system to locate the ring saw and displays a model of the ring saw on the navigation image, allowing the doctor to observe the position of the ring saw relative to the surrounding structures and quickly determine whether the position of the ring saw needs to be adjusted to guide its operation.

[0043] According to one example, the surgical robot system also includes a control device for controlling the movement of a ring saw, the ring saw includes a second shell on which a joint portion is arranged and a rod, the rod being capable of rotating around the axis of the rod and moving axially relative to the second shell under the drive of a second power source; the method also includes a ring saw movement indication step, in which, in response to input from a third operating member of the control device, the second power source is indicated to act to realize the rotation and axial movement of the rod.

[0044] According to one example, in the ring saw orientation acquisition step, the housing orientation of the second housing is obtained according to the fixed position relationship between the ring saw and the first tracer in the docking state with the robot arm, and the relative orientation of the rod relative to the second housing is obtained according to the action of the second power source, and the orientation of the rod and then the orientation of its end are determined according to the housing orientation and the relative orientation. Similar to the endoscope solution, in the solution of this example, the system can realize the positioning / navigation of the ring saw held by the robot arm only under the premise that the robot arm is equipped with the first tracer.

[0045] According to one example, the endoscope is an electronic hard endoscope for the spine. The concept of the present invention is particularly advantageous for spinal surgery, so that when the robotic arm does not yet have the one thousandth Newton pressure perception ability of the human hand, without any loss of efficiency and operational precision, the surgical robot system can replace the operation of the spinal endoscopy doctor's mirror holding hand by using this patent, and the spinal endoscopy doctor can use the liberated mirror holding hand to operate the surgical instrument to complete more complex decompression operations, thereby achieving a substantial improvement in the efficiency of spinal endoscopy. Moreover, in spinal surgery, spinal endoscopy tools with turning ends will be encountered. With the robot system of the present invention, since the electronic hard endoscope is taken over by the robotic arm, and the control device only needs to be operated when controlling the movement of the mirror (i.e., there is no need to hold the handle all the time), the doctor's hands are freed. Therefore, the doctor can operate this complex tool required in spinal surgery, and can control the spinal endoscopy tool with both hands, while changing the direction of the tool end and operating the tool, so as to achieve more efficient and accurate operation. Furthermore, as described in the background technology, the existing spinal endoscope has always used an optical hard endoscope, which is heavy and bulky, inconvenient for doctors to operate, and has a high cost. The electronic hard endoscope of the present invention can overcome these shortcomings and solve the problem that the existing robot is difficult to operate the spinal endoscope around its axis as arbitrarily as a doctor, and can greatly reduce the image transmission delay and improve the real-time transmission of image information when the endoscope is connected to the processor (host).

[0046] According to one example, the instruction in the docking instruction receiving step comes from a fourth operating member (such as a button) of the control device. That is, the operator can easily trigger the docking action through the control device. The instruction for docking the ring saw with the robotic arm can come from the fourth operating member of the control device, or from an interactive button set on the robotic arm, or from a touch button of a display device of the surgical robot system, etc.

[0047] According to another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps in the method in the above example are executed.

[0048] According to yet another aspect of the present invention, a control device is provided. The control device includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the method in the above example is executed when the processor executes the program.

[0049] According to yet another aspect of the present invention, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor, the steps of the method in the above example are implemented.

[0050] According to another aspect of the present invention, a surgical robot system is provided, which includes a tracking device and a processor, wherein the tracking device is suitable for tracking a first tracer arranged on a robotic arm; the processor is suitable for being electrically connected to the tracking device and the robotic arm, and the processor is configured to control the robotic arm to move from its current position to a position suitable for docking with a joint part of the operable device with the aid of the tracking device according to an instruction for docking the robotic arm with an operable device.

[0051] According to one example, the surgical robot system includes a control device electrically connected to the processor and an electronic hard mirror as the operable device, the electronic hard mirror including a first shell and a tube; the first shell is provided with a joint portion suitable for docking with a robotic arm; the tube can rotate around the axis of the tube relative to the first shell, wherein the control device can control the rotation of the tube.

[0052] According to one example, the surgical robot system includes the robotic arm, and the processor is configured to: in response to input from the first operating member of the control device, control the movement of the robotic arm to drive the entire electronic hard mirror to move along the axial direction of the barrel; or

[0053] In response to the input from the joystick of the control device, the movement of the mechanical arm is controlled to drive the entire electronic hard mirror to perform a tilt movement.

[0054] According to one example, the surgical robot system further includes a display device, and the processor is configured to display a virtual model of the electronic hard mirror and / or its field of view on a navigation image of the display device to display its orientation.

[0055] According to one example, the processor is configured to: based on the input of the target orientation of the field of view of the electronic hard mirror, display a virtual model of the electronic hard mirror at the target orientation on the navigation image, and control the electronic hard mirror to move to the target orientation upon receiving a confirmation instruction of the target orientation.

[0056] According to one example, a second joint portion suitable for connecting to the control device is provided on the first shell, and the control device is detachably connected to the electronic hard mirror via the second joint portion. In other words, the control device and the electronic hard mirror are separate. This design, for example, brings the following benefits: it is easy to make the electronic hard mirror into a disposable consumable, which can better meet the sterility requirements and is more convenient and quick to use. After use, the electronic hard mirror can be unplugged and discarded, which can reduce the cost of the electronic hard mirror as a consumable.

[0057] According to one example, the control device includes a third housing, wherein a first power source for driving the barrel of the electronic hard mirror to rotate is disposed in the third housing. This solution disposes the first power source in the control device instead of the electronic hard mirror, which also facilitates the electronic hard mirror to be made into a disposable consumable, thereby reducing its cost as a consumable.

[0058] According to one example, the control device includes a third housing, wherein an electronic unit for image processing electrically connected to the imaging module of the electronic hard mirror is arranged in the third housing, the electronic unit for image processing is configured to output a processed digital image, and the electronic unit for image processing is electrically connected to the processor to transmit the digital image to the processor. The advantages of the solution in the previous example are similar, and this solution can also facilitate the electronic hard mirror to be made into a disposable consumable and reduce its cost.

[0059] According to an example, the operable device is a ring saw, and the processor is configured to receive a preoperative three-dimensional image of the patient including a preoperative plan, wherein the preoperative plan includes a planned approach position of the ring saw.

[0060] According to one example, the ring saw includes a second shell and a rod; the second shell is provided with a third joint portion serving as a joint portion for docking with the robotic arm; the rod can rotate around the axis of the rod and move axially relative to the second shell under the drive of a second power source.

[0061] In this solution, since the ring saw can be held by a robotic arm, the doctor's hand holding the ring saw can be released and the radio frequency electrode can be operated in time to stop bleeding when bleeding is found. This avoids the "red vision" under the microscope caused by the time difference between operating the ring saw and operating the radio frequency electrode to stop bleeding, and solves the problem of difficulty in finding bleeding points and stopping bleeding immediately.

[0062] According to one example, the surgical robot system further includes a robot adapter suitable for connecting to the robot arm, wherein the second power source is arranged in the robot adapter. According to this solution, the surgical robot system of the present invention can also be conveniently adapted to, for example, an existing robot arm in a hospital to operate a ring saw. It is only necessary to install the robot adapter on the existing robot arm, and the surgical robot system can control the second power source in the robot adapter through, for example, a control device to control the movement of the rod of the ring saw to perform the ring saw. Of course, in the case of having a robot adapter, the surgical robot system of the present invention can still include the robot arm.

[0063] According to one example, the surgical robot system further includes the robotic arm, wherein the second power source is disposed in the robotic arm.

[0064] According to one example, a display unit is also provided on the housing of the control device for displaying the current orientation of the field of view of the imaging module at the end of the barrel of the electronic hard mirror.

[0065] According to one example, a tool channel is formed in the barrel of the electronic hard endoscope, and the tool channel is configured to accommodate at least two surgical tools. The electronic hard endoscope with this structure is convenient for the doctor to operate two surgical tools with both hands, which makes the advantage of the present invention of freeing the doctor's hand holding the endoscope be better applied.

[0066] According to one example, the control device is provided with at least one of the following: a first operating member for controlling the axial movement of the electronic hard mirror along the barrel, a second operating member for controlling the rotation of the barrel of the electronic hard mirror around its own axis, a joystick for controlling the tilt movement of the electronic hard mirror, and an execution control member for controlling the execution of the operating action of the control device.

[0067] According to an example, the control device includes a third operating member for controlling the second power source in the robot arm to move so as to drive the rod of the ring saw to move.

[0068] According to one example, the control device also includes a circuit board arranged in its housing, the circuit board is electrically connected to a first power source for driving the barrel of the electronic hard mirror to rotate, and is electrically connected to a processor, and the circuit board is also electrically connected to at least one of the following: a first operating member, a second operating member, a joystick, an execution control member, a third operating member and a display unit.

[0069] According to one example, the end of the barrel of the electronic hard mirror is an inclined end surface, wherein the imaging module of the electronic hard mirror is arranged in the inclined end surface and is arranged in a manner offset relative to the axis of the barrel. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The present invention is described in detail below by way of exemplary embodiments with reference to the accompanying drawings.

[0071] Figure 1 The schematic diagram of the principle of a surgical robot system for electronic endoscopic spinal surgery according to the first embodiment of the present invention is exemplarily shown, and the operable device in this example is an electronic endoscopic surgery.

[0072] Figure 2 It is shown as an example Figure 1 Schematic diagram of the internal structure of the electronic hard mirror, control device and robotic arm when assembled together.

[0073] Figure 3 The structural schematic diagram of the electronic hard mirror of the present invention is exemplarily shown.

[0074] Figure 3A It is shown as an example Figure 3 The end of the tube of the electronic hard mirror ( Figure 3 Schematic diagram of the internal structure of the part in the middle circle A).

[0075] Figure 4 The structural schematic diagram of the control device according to the present invention is exemplarily shown.

[0076] Figure 5 The schematic diagram exemplarily shows the principle of the state where the electronic hard mirror, the control device and the second tracer are assembled together.

[0077] Figure 6 The schematic diagram of the principle of a robot system for electronic endoscopic spine surgery according to the second embodiment of the present invention is exemplarily shown. In this example, the operable device docked to the robot arm is a ring saw.

[0078] Figure 7 It is shown as an example Figure 6 Schematic diagram of the internal structure of the ring saw, electronic hard mirror, control device and robotic arm when assembled together.

[0079] Figure 8 The principle diagram of the tilting motion and linear motion of the electronic hard mirror driven by the mechanical arm according to the present invention is schematically shown.

[0080] Fig. 9 A flow chart schematically shows a method for operating an electronic hard endoscope in a surgical robot system according to a first embodiment of the present invention.

[0081] Fig.10 A flow chart schematically shows a method of operating a trephine in a surgical robot system according to a second embodiment of the present invention.

[0082] Fig.11The navigation image is shown by way of example, on which the spatial positional relationship of the endoscope and its field of view angle relative to the patient's physiological structure is displayed.

[0083] It should be noted that the drawings are only schematic. They only show those parts or steps required to illustrate the present invention, while other parts or steps may be omitted or only briefly mentioned. In addition to the parts or steps shown in the drawings, the present invention may also include other parts or steps. DETAILED DESCRIPTION

[0084] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall concept of the present invention and should not be construed as limiting the present invention.

[0085] As a specific embodiment, the following describes the control method of the present invention for the operable device in the surgical robot system (in this article, two specific embodiments in which the operable device is an electronic hard endoscope and a ring saw are provided, but it can be understood that the operable device is not limited to these two) and the composition of the surgical robot system, and also describes the structure of the electronic hard endoscope, the structure of the control device, the structure of the ring saw, etc. in the surgical robot system. In the following detailed description, many specific details and steps are explained in a very specific and detailed manner to provide a comprehensive understanding of each embodiment. However, it should be understood that one or more other embodiments can also be implemented without these specific details and steps. It should be noted that although the electronic hard endoscope of the spine is used as an example in the embodiment, and the endoscope of the present invention is preferably an electronic hard endoscope (such as a spinal endoscope, an arthroscope, a nasal endoscope, a ventriculoscope, a laparoscope, etc.), the endoscope of the present invention is not limited to this.

[0086] Combine the following Figure 1-5 8-9 are used to describe the first embodiment of the surgical robot system and the control method of the operable device in the surgical robot system of the present invention, in which the spinal electronic hard endoscope is connected to the robot arm as an operable device and operated. Fig. 9 A flow chart of a method for operating the electronic hard endoscope is shown. In order to describe the method more clearly, the composition and structure of the surgical robot system in which the method is located are first described.

[0087] Figure 1 FIG. 2 shows a schematic diagram of the principle of a surgical robot system according to a first embodiment of the present invention. Figure 1As shown, the surgical robot system includes a tracking system and a robotic arm 1 connected to a trolley. The tracking system includes a tracking device 200 to achieve positioning and navigation during the operation. The surgical robot system also includes a display device 5 and a processor 6 (host). The processor 6 is electrically connected to the tracking device 200 and the robotic arm 1. The tracking device 200 can be an optical tracking device (such as an NDI navigator), and a first tracer 11 (which can be an optical tracer accordingly) is arranged on the robotic arm 1, through which the orientation information of the robotic arm 1 can be obtained. The robot system also includes a control device 3 electrically connected to the processor 6, and an operable device (in this embodiment, an endoscope 4 which is an electronic hard mirror). As shown Figure 3 As shown, the electronic hard mirror includes a first shell 43. The first shell 43 is provided with a first joint portion 42 (which can be detachably connected to the robot arm 1) Figure 3 The electronic hard mirror also includes a component that can rotate relative to the first shell 43, that is, a cylinder 44 (see Figure 3 and Figure 3A ). The barrel 44 is used to extend into the patient's tissue structure and bone structure during the surgical operation. In this embodiment, the control device 3 can control the movement of the robotic arm 1 and the rotation of the barrel 44 relative to the first shell 43. Since the control device can control the movement of the robotic arm to drive the entire electronic hard endoscope, for example, to achieve the axial movement and tilting movement of the electronic hard endoscope along the insertion barrel, and can also achieve the rotation of the insertion barrel of the electronic hard endoscope itself which is difficult to achieve by the robotic arm, all operations of the electronic hard endoscope as an operable device can be achieved, thereby freeing the doctor's hands that are needed to operate the electronic hard endoscope, and enabling a large number of operations that can be performed by the doctor's hands.

[0088] As a specific example, Figure 3 and 3A As shown, a tool channel 441 is formed in the barrel 44 of the electronic hard endoscope, and the surgical instrument is inserted into the tool channel 441 and approaches the part to be treated of the patient. Figure 3A The tool channel of the present invention is configured to accommodate two surgical instruments, such as a radiofrequency electrode and a soft tissue forceps / rongeur. It is understood that although one tool channel is shown in the figure, two channels may be formed in the barrel 44, and two surgical instruments are inserted into one of the channels respectively. Figure 3A As shown, an imaging module 46 is disposed at the end of the barrel 44. The imaging module 46 may include a CCD or CMOS sensor for converting optical signals into electrical signals. Figure 3 and Figure 3AAs shown, the end of the barrel 44 has an inclined end face, and the imaging module 46 is arranged in the inclined end face and arranged in the inclined end face in a manner offset relative to the central axis of the barrel. As described above, the barrel 44 is configured to be able to rotate around the central axis of the barrel 44 relative to the first shell 43. Since the imaging module 46 is arranged on the inclined end face and in a manner offset relative to the central axis of the barrel, a larger field of view of the mirror can be obtained by rotating the barrel 44. In the prior art, the doctor will rotate the hard mirror (the entire hard mirror is rotated at this time) according to the part to be observed during the operation to make it face the desired field of view, and it is difficult to achieve this rotation action when the mechanical arm holds the hard mirror, as described in the background art. In the present invention, since the barrel (or mirror rod) of the mirror can be driven and rotated independently relative to the first shell 43 of the mirror, the free rotation of the mirror barrel can be realized in a maneuverable manner to achieve any desired direction when the first shell 41 of the mirror is held by the mechanical arm, so that the problem that the existing robot cannot operate the hard mirror as arbitrarily as the doctor can be solved. At the same time, the electronic hard mirror of the present invention can, driven by the mechanical arm, complete the forward and backward linear motion along the axis of the hard mirror barrel and / or the tilting motion roughly with the intervertebral foramen 300 as the fulcrum (see Figure 8 ), these movements of the hard mirror can be completed on the basis of little change in the overall posture of the robotic arm (small rotation range of each joint), which can avoid the space occupied by the robotic arm and avoid interference with operators or other equipment, and secondly, can largely avoid the first tracer on the robotic arm from moving out of the tracking system 200 (see Figure 1 )’s field of view and thus affects navigation.

[0089] like Figure 3 and Figure 3A It can be seen that a lighting device 442 such as an LED can be provided at the end of the tube 44 to provide the required light source illumination for the operation area. A water inlet 431 can also be provided on the first housing 43 to introduce water with a suitable pressure into the tube 44 and spray it from the end opening to the operation part. A water outlet 432 can also be provided to provide negative pressure to suck out water.

[0090] like Figure 3As shown, the electronic hard mirror also includes a transmission mechanism 40 for driving the cylinder 44 to rotate, and the figure shows an exemplary transmission mechanism in the form of two bevel gears in the first shell 43. It can be understood by those skilled in the art that other transmission mechanisms can also be provided as needed. Preferably, the first power source (such as a motor) for driving the transmission mechanism 40 and then driving the cylinder 44 to rotate is not provided in the electronic hard mirror. For example, the power source can be provided in the control device 3 described below. Preferably, the electronic unit 32 for image processing electrically connected to the imaging module 46 of the electronic hard mirror may also not be provided in the electronic hard mirror (this will be described in detail below). Either of these two preferred schemes has the following advantages: that is, it is convenient for the electronic hard mirror to be made into a disposable consumable, which can better meet the sterility requirements and is more convenient and quick to use. Since the disposable electronic hard mirror does not include a power source and an electronic unit for image processing, the cost of the electronic hard mirror as a consumable is greatly reduced.

[0091] like Figure 2 , 4 As shown, the control device 3 includes a third housing 30. A first power source 31 (e.g., a linear motor) for driving the barrel 2 of the electronic hard mirror to rotate is disposed in the third housing 30. The control device 3 also includes a circuit board 37 disposed in the third housing 30, the circuit board 37 being electrically connected to the first power source 31 for driving the barrel 44 of the electronic hard mirror to rotate, and being electrically connected to the processor 6 of the surgical robot system, so that the processor 6 of the surgical robot system can also send instructions to the circuit board 37 to control the first power source 31 and then control the rotation of the barrel 44. The first power source 31 is disposed in the control device 3, so that the electronic hard mirror can be operated by the doctor by hand (the doctor holds the control device 3 to indirectly hold the electronic hard mirror, in which case the rotation of the barrel 44 can still be driven by operating the control device 3); at the same time, the electronic hard mirror can be connected to the robot arm and held by it, which provides a greater degree of freedom of choice for the doctor's operation in actual applications. Moreover, preferably, the control device 3 is detachably connected to the electronic hard mirror via the second joint 45. In other words, the control device 3 and the electronic hard mirror are separate.

[0092] Next, the structure of the control device 3 is described. As mentioned above, the first power source 31 (preferably a DC motor) is arranged in the third shell 30 of the control device, and the output shaft of the power source 31 can extend out of the third shell 30. The third shell 30 is also provided with an electronic unit (IPU) 32 for image processing that is electrically connected to the imaging module 46 of the electronic hard mirror. The electronic unit for image processing (which can be a circuit board) can include functional modules such as exposure adjustment, image gain noise reduction, analog-to-digital conversion and signal amplification. The electronic unit 32 for image processing processes the electrical signal received from the electronic image sensor of the imaging module 46, directly generates a processed high-quality digital image or video, and can transmit the digital image or video to the processor 6 via a signal line. Figure 4 As shown, the electronic unit (IPU) 32 for image processing is electrically connected to the image signal line interface 38. Figure 2 and Figure 3 As shown, a second joint portion 45 connected to the control device 3 is also provided on the first housing 43 of the electronic hard mirror. The second joint portion 45 includes both a drive interface 451 engaged with the output shaft of the first power source 31 and an image interface 452 connected to the image signal line interface 38. The image interface 452 is electrically connected to the electronic unit 32 for image processing through the image signal line interface 38 on the one hand, and is electrically connected to the electronic imaging sensor of the imaging module 46, such as a CCD module or a CMOS module, on the other hand, so as to transmit the electrical signal received from the electronic image sensor of the imaging module 46 to the electronic unit 32 for image processing. Although the above describes that the first power source 31 and the electronic unit 32 for image processing are arranged in the third housing 30 of the control device 3, and describes its various advantages, as another solution, both or one of the two can also be arranged in the electronic hard mirror.

[0093] like Figure 1 , 2 As shown, the robot arm 1 is in a state of docking with the electronic hard endoscope. However, the docking is detachable. Therefore, the electronic hard endoscope can be held by the doctor through the control device 3 or by the robot arm 1. In some scenarios, the doctor can hold the electronic hard endoscope, and the robot arm will take over the electronic hard endoscope when necessary, so as to free the doctor's hand holding the endoscope to complete complex tool operations.

[0094] The control device 3 is also configured to control the movement of the mechanical arm 1 so as to drive the electronic hard mirror to move as a whole when the mechanical arm 1 is docked with the electronic hard mirror. Figure 4As shown, the control device 3 may be provided with an operating member group 35, which may include a first operating member (e.g., two buttons) for controlling the electronic hard mirror to move forward and backward along the axial direction of the tube 44, a second operating member (e.g., two buttons for controlling the tube 44 of the electronic hard mirror to rotate around its own axis) and a third operating member (see the second embodiment to be described below) for controlling the second power source 12 in the mechanical arm 1 to drive the rod 23 of the ring saw 2 to move. Although the third operating member is not required in the first embodiment, those skilled in the art can understand that the third operating member can be provided on the control device 3 so that the control device can be used for both the electronic hard mirror and the ring saw, or the function definition of the two buttons of the second operating member can be changed by a switch key, and the movement of the rod 23 of the ring saw 2 can be controlled by the switch key), and a fourth operating member (e.g., two buttons, one button is used to trigger the docking of the mechanical arm 1 with the electronic hard mirror, and the other button is used to trigger the docking of the mechanical arm 1 with the ring saw, or a combination of a switch key and a trigger key is provided) for issuing an instruction to dock the mechanical arm 1 with the operable device. The control device 3 may also be provided with a rocker 34 for controlling the tilting movement or shaking of the electronic hard mirror. The control device 3 may also be provided with an execution control member 33, which may be in the form of an execution key, for controlling the execution of instructions of the rocker 34 and / or each operating member in the operating member group 35. The execution control member 33 may be in a mode of controlling the movement of the electronic hard mirror according to the target orientation input by the doctor, and the doctor may operate the execution control member 33 to start the operation of the operating member group 35 and the rocker 34; or it may be in an "instant execution mode", that is, when the execution control member 33, i.e., the execution key, has been pressed, the system immediately executes the operation of the operating member group 35 and the rocker 34.

[0095] A display unit 36 ​​may also be provided on the third housing 30 of the control device 4, for displaying the current orientation of the field of view of the imaging module at the end of the barrel 44 of the electronic hard mirror, including but not limited to. Since the rotation of the barrel 44 is driven by the first power source 31, such as a linear motor, the amount and direction of its rotation can be recorded, so that the system can know the rotation of the barrel 44 relative to the initial reference position, and then obtain the orientation of the field of view of the imaging module of the barrel and display it through the display unit 36. The circuit board 37 in the control device 3 is electrically connected to the processor 6 of the robot system as described above, and is electrically connected to the rocker 34, the operating component group 35, the execution control component 33 and the display unit 36 ​​of the control device 3.

[0096] Including the above-mentioned components such as Figure 1The robot system shown has at least the following advantages: (1) The required movement of the electronic hard endoscope can be completed on the basis of the overall posture change of the robot arm (the rotation range of each joint is small), while the robot arm can avoid occupying space, avoiding interference with operators or other equipment, and can largely avoid the tracer on the robot arm moving out of the field of view of the tracking system and affecting the navigation process. (2) It allows the doctor to free up the mirror holding hand to operate the endoscopic tool, making the decompression operation more efficient, and making it possible for the doctor to use both hands to operate more complex tools or operate two tools at the same time. (3) The rotation of the barrel of the electronic hard endoscope is driven by the power source in the control device. Therefore, no matter how the barrel rotates, the position of the control device does not move, ensuring that the control device as a controller is always facing the doctor, making it more convenient for the doctor to operate and interact with the system, especially compared with the way that the handle part rotates with the barrel in traditional optical hard endoscopes. (4) The robot arm replaces the human hand to hold the electronic hard endoscope, with accurate positioning, and no manual fatigue. It can be held for a long time, moved unlimited times and moved precisely.

[0097] Refer to the following Fig. 9 The control method of the operable device (in this embodiment, an electronic hard mirror) in the surgical robot system is described. The method comprises the following steps:

[0098] Docking instruction receiving step: receiving an instruction to dock the manipulator 1 with an operable device. In this embodiment, the instruction may come from, for example, a fourth operating member (e.g., a button) in the operating member group 35 of the control device 3. During surgery, an operator, such as a doctor, first installs a tracer on the bony structure of the patient's spine, and installs a second tracer 41 on the first joint portion 42 of the electronic hard mirror. Then, the second joint portion 45 of the electronic hard mirror is docked with the control device 3. The operator holds the control device 3 or the electronic hard mirror and inserts the barrel 44 of the electronic hard mirror into the working sleeve and adjusts it to an ideal position. The operator may also manually operate the electronic hard mirror or the surgical instrument inserted into the working channel of the mirror as needed. When the manipulator is required to take over the electronic hard mirror so as to free the doctor's mirror-holding hand to complete complex tool operations, the operator may press a button in the fourth operating member on the control device for docking the manipulator 1 with the electronic hard mirror, so that the system may receive the docking instruction. After receiving the docking instruction, the following docking position acquisition step is performed.

[0099] Docking position acquisition step: acquiring the docking position of the electronic hard mirror that will dock with the robot arm 1 (in this embodiment, the first docking position 42) under the tracking system. Figure 5As shown, there is a second tracer 41 on the electronic hard mirror, so the system can determine the position of the second tracer 41 under the tracking system (for example, using the tracer fixed on the patient's bone structure as a reference point). Since the position of the second tracer 41 and the first joint part 42 (that is, the joint part to which the robot arm needs to move) is fixed, that is, there is a rigid positional relationship between the two, the position of the docking joint part can be determined, that is, the robot arm needs to move to the docking position to achieve docking.

[0100] Robotic arm position acquisition step: Acquire the current position of the robotic arm 1. This can be acquired through the tracking system and the first tracer 11 on the robotic arm 1. Figure 1 , 2 As shown, the robot 1 is provided with a first tracer 11, so the tracking system can determine the position of the first tracer 11 in space. Accordingly, since the position of the robot joint part on the robot 1 for docking with the joint part of the electronic hard mirror is fixed relative to the first tracer 11, that is, there is a pre-calibrated fixed position relationship between the two, so the current position of the robot joint part of the robot 1 can be known through the position of the first tracer 11 in space. Alternatively, other methods can be used to obtain the current position of the robot. For example, since the movement of the robot is controlled by the host, the host can know its current position.

[0101] Robotic arm movement instruction step: according to the docking position instruction, the robot 1 moves from the current position to a position suitable for docking with the joint part, so that the robot 1 can be docked with the operable device at the joint part. It should be noted that "a position suitable for docking with the joint part" includes, for example, accurately moving to the docking position according to the first method so that the joint part of the robot 1 and the joint part of the electronic hard mirror can be directly engaged, and also includes moving to the vicinity of the docking position according to the second method (a position that allows the operator to manually drive the electronic hard mirror to dock its joint part with the joint part of the robot 1). According to the first method, in this step, the trajectory that the robot needs to move will be calculated based on the docking position to be moved to obtained in the docking position acquisition step and the current position of the joint part of the robot arm, and an instruction will be issued to instruct the robot arm to move, so that the robot arm stops at a position where the joint part of the robot arm just docks with the first joint part 42 of the electronic hard mirror. Since in this embodiment, the first joint portion 42 of the electronic hard mirror is configured to be used for connecting the second tracer 41 and also for docking with the robotic arm, in order to achieve docking with the robotic arm, the operator can remove the second tracer 41 after the robotic arm moves, leaving the first joint portion 42 free for docking with the robotic arm 1. For the first method, after docking, theoretically, the field of view of the electronic hard mirror does not change, and the doctor can immediately free the mirror-holding hand to start the operation. For the second method, after docking, the system can move the electronic hard mirror to the previous operation position under the guidance of the tracking system and the navigation image, and then continue its operation.

[0102] After the operator docks the robotic arm 1 with the electronic hard endoscope, the robotic arm 1 takes over the electronic hard endoscope. The operator only needs to operate the control device 3 when the electronic hard endoscope needs to move, so the doctor can free up both hands to perform complex operations. For example, (1) the doctor uses both hands to hold a spinal endoscope tool (such as a radiofrequency electrode and soft tissue forceps / bone rongeurs) and inserts it into the tool channel 441 of the electronic hard endoscope for operation. (2) The doctor uses both hands to simultaneously operate a spinal endoscope tool (such as a spinal endoscope tool that can be turned) and inserts it into the tool channel 441 for operation.

[0103] After the above docking, the doctor can move the position of the electronic hard endoscope as needed. Therefore, the control method also includes at least one of the following endoscope movement indication steps: in response to the input from the first operating member of the control device 3, control the movement of the mechanical arm 1 to drive the entire electronic hard endoscope to move along the axial direction of the tube; in response to the input from the rocker 34 of the control device 3, control the movement of the mechanical arm 1 to drive the entire electronic hard endoscope to tilt; and in response to the input from the second operating member of the control device 3, control the first power source 31 to act to control the rotation effect of the tube 44 of the electronic hard endoscope around its own axis.

[0104] Moreover, after the above docking, the positioning and navigation of the endoscope can also be realized under the tracking system. That is, the method can also include the following steps:

[0105] Endoscope position acquisition step: obtain the position of the field of view of the imaging module located at the end of the barrel 44 of the electronic hard mirror in the tracking system. In this embodiment, the first joint portion 42 for installing the endoscope tracer, i.e., the second tracer 41, is the same joint portion as the joint portion for docking with the robotic arm, so the second tracer 41 is removed during docking. However, the first tracer 11 on the robotic arm 1 can still be used to obtain the position of the electronic hard mirror under the tracking system. This is because the positional relationship between the robotic arm 1 and the electronic hard mirror in the docked state is a rigid and fixed positional relationship, and the sizes of the two are determined. In other words, the positional relationship between the first shell 43 docked to the robotic arm 1 and the first tracer 11 is fixed and can be pre-calibrated. Therefore, knowing the position of the first tracer 11 under the tracking system can know the shell position of the first shell 43 under the tracking system. At the same time, since the barrel 44 is rotatable relative to the first shell 43 and the rotation is driven solely by the first power source 31 in the control device, the rotation amount and rotation direction of the barrel 44 relative to the first shell 33 can be obtained from the circuit board 37 of the control device 3, so that the current relative position of the barrel 44 relative to the first shell 43 can be known, and the orientation of the barrel 44 can be determined by combining the shell orientation and the relative orientation, and then the orientation of the field of view of the imaging module at its end in the tracking system can be determined (the positional relationship between the field of view of the imaging module installed at the end of the barrel 44 and the inclined end surface of the end of the barrel 44 is fixed).

[0106] Those skilled in the art can understand that, for the alternative solution in which the first joint portion of the second tracer 41 is independent of the joint portion for docking with the robotic arm (i.e., the two are different joint portions), since the second tracer 41 does not need to be removed from the electronic hard mirror, the electronic hard mirror can still be navigated and positioned by the second tracer 41 after docking with the robotic arm. In this case, the shell orientation of the first shell 43 is obtained according to the second tracer 41 (or the shell orientation is obtained according to the first tracer 11 and the fixed position relationship between the first shell of the electronic hard mirror in the docking state with the robotic arm 1 and the first tracer 11), and at the same time, the relative orientation of the barrel 44 relative to the first shell 43 is obtained from the control device 3 as described above, and the orientation of the barrel 44 is determined according to the shell orientation and the relative orientation, so that the orientation of the field of view of the imaging module at its end in the tracking system can be determined.

[0107] Endoscope orientation display step: displaying the endoscope and the virtual model of the field of view on the navigation image at the orientation obtained in the previous step. Fig.11 Such a navigation image (including three navigation views in this example) is shown as an example, and each navigation view is updated in real time as the position and direction of the endoscope tip change. Based on this, the doctor can obtain more comprehensive navigation information. The doctor can judge whether the endoscope position needs to be adjusted by observing the navigation image and the virtual model of the endoscope and its field of view (the cone in the figure), and perform operations accordingly until the surgical operation goal is achieved. It can be understood by those skilled in the art that the navigation image is not limited to the attached image. Fig.11 The views shown in the figure may display other cross-sections, orientations or any suitable views as needed.

[0108] Furthermore, since the positioning, navigation and orientation display of the endoscope can be realized through the tracking system, the endoscope can be adjusted according to the target orientation desired by the doctor. The method may include the following steps: a target acquisition step: acquiring an input of the target orientation of the field of view of the endoscope;

[0109] Pre-display step: displaying a virtual image of the endoscope at the target orientation according to the input;

[0110] Automatic movement execution step: upon receiving a confirmation instruction of a target position, controlling the endoscope to move to the target position.

[0111] In this example, the input of the target orientation of the field of view of the endoscope, such as the electronic hard endoscope, obtained in the above-mentioned target acquisition step is performed by the doctor. When the doctor expects the electronic hard endoscope to face a certain direction or be in a certain orientation for clearer observation or operation, he can make such an input to instruct the surgical robot system to move the electronic hard endoscope to that orientation. The doctor can implement this input in various ways, such as dragging the cone model (i.e., the virtual model of the field of view displayed on the navigation view) on the display device (e.g., a touch screen) of the surgical robot system, or marking the target orientation of the cone model, or, for example, setting a touch screen on the control device to implement this input. After receiving this input, the system host will pre-display the virtual image of the electronic hard endoscope in the target orientation on the display device according to the input, which is combined with the three-dimensional image of the patient before or during the operation. When the doctor looks at the display device and confirms that the virtual image is the part he wants to see, he enters the confirmation instruction of the target orientation, i.e., the instruction obtained in the "automatic movement execution step". The instruction can be implemented through various input components such as the control device (e.g., a button thereon) or the display device, keyboard, mouse, etc. After the system receives the confirmation instruction, it can control the movement of the mechanical arm and / or control the first power source to drive the barrel of the electronic hard endoscope to rotate, so as to automatically move the electronic hard endoscope to the target position desired by the doctor.

[0112] It should be understood that although Fig. 9 The above steps are listed and described in sequence in the flowchart, claims and description of this article, but it does not mean that there is a specific order relationship between the steps. For example, the docking position acquisition step can be performed before, after or at the same time as the robot position acquisition step. The endoscope orientation acquisition step can be performed before, after or at the same time as the endoscope movement indication step.

[0113] Next, combine Figure 6 , Figure 7 and Fig.10 ( Figure 3 , Figure 3A , Figure 4 , Figure 5 and Figure 8 The structure shown is also applicable to the second embodiment) The surgical robot system of the second embodiment of the present invention and the method of operating the operable components therein are described. The difference between the surgical robot system and the surgical robot system of the first embodiment is that the operable component connected to the mechanical arm 1 in the system is a ring saw 2. In addition to the ring saw 2, the robot system of the second embodiment may also include an electronic hard mirror, and the structure of the electronic hard mirror is exactly the same as that of the first embodiment. Therefore, it should be noted that although the control methods of the two and the robot systems to which they belong are divided into the first and second embodiments for description because the mechanical arm is docked to the electronic hard mirror as an operable component in the first embodiment and the mechanical arm is docked to the ring saw 2 as an operable component in the second embodiment, in fact, the ring saw 2 and the electronic hard mirror are surgical instruments used successively in spinal surgery operations, and from a holistic perspective, they actually belong to the entire spinal surgery robot system.

[0114] The schematic structure of the ring saw 2 is shown in Figure 7 It can be more clearly seen that it includes a second shell 22, on which a third joint portion 21 for docking with the robot arm 1 is provided; the ring saw 2 also includes a rod 23 (a hollow rod), which can rotate around the axis of the rod 23 relative to the second shell 22 and move axially to achieve hole cutting, i.e., foramoplasty (a process of removing a small amount of articular process bone to allow the tool to enter the spinal canal for decompression). Figure 7As shown, the ring saw includes a transmission mechanism 24 arranged in the second housing 22 to drive the rod 23 to achieve the rotation and axial movement. The transmission mechanism 24 can be driven by the output shaft of the second power source 12. Preferably, the second power source 12 can be arranged in the mechanical arm 1. Therefore, when the ring saw 2 is docked with the mechanical arm 1, the control of the cutting action of the ring saw 2 is achieved by controlling the mechanical arm 1. This configuration ensures that during the process of foraminoplasty, the mechanical arm 1 does not need to move at all, only needs to be locked in the current position, and the transmission mechanism 24 driven by the second power source 12 drives the rod 23 to rotate along the axis and move axially at the same time (the saw teeth at the end of the rod 23 combined with these two actions are the action of the ring saw "cutting" bone). At the same time, since the second power source is not arranged in the ring saw 2, this solution facilitates the ring saw 2 to be made into a disposable consumable, which can better meet the sterility requirements and is more convenient and quick to use. The power source is not included in the disposable ring saw 2, so the cost of the ring saw 2 as a consumable can be reduced. It should be noted that, although in this embodiment, the second power source 12 is set in the robot arm 1 as an example, this solution requires a corresponding adaptive structure of the robot arm 1, and the surgical robot system needs to include a robot arm with this adaptive structure. However, as described in the invention content, in order to adapt to the existing robot arm of the existing hospital, so that the hospital can use the surgical robot system of the present invention (in this case, the surgical robot system does not include the robot arm) to operate the ring saw without repurchasing the robot arm, a robot arm adapter suitable for connecting to the robot arm can be used, wherein the second power source is set in the robot arm adapter. It is only necessary to install the robot arm adapter on the existing robot arm, and the surgical robot system can control the second power source in the robot arm adapter through, for example, a control device to control the movement of the rod of the ring saw to perform the ring saw.

[0115] In addition, the joint part of the mechanical arm that is connected to the ring saw 2 and the joint part that is connected to the endoscope can be the same joint part, or different joint parts on the mechanical arm. If they are the same joint part, when the joint part of the mechanical arm is connected to the third joint part 21 of the ring saw 2, the second power source 12 is connected to the transmission mechanism 24 of the rod 23, and when it is connected to the electronic hard mirror, the second power source is idle.

[0116] like Figure 7 As shown, in this second embodiment, the tube 44 of the electronic hard mirror is inserted into the hollow rod 23 of the ring saw, and the imaging module 46 at the end of the tube 44 can obtain an image of the cutting part of the end of the ring saw ( Figure 7 The conical field of view of the electronic hard endoscope can be seen in the figure 461), and the tool channel 441 in the tube 44 can be inserted with an endoscopic tool such as a radiofrequency electrode to operate on the operating site, such as to stop bleeding (in Figure 7(The endoscopic tool is not shown in the figure). In this embodiment, the robot arm 1 holds a trephine saw 2, and the electronic hard endoscope is indirectly held by the operator by holding a control device 3.

[0117] For the specific structures of the components in the second embodiment that are the same as those in the first embodiment, namely the tracking system, the robotic arm 1, the control device 3 and the electronic hard mirror, please refer to the description of the first embodiment and will not be repeated here. Fig.10 The control method of the surgical robot system is described. The method comprises the following steps:

[0118] Docking instruction receiving step: receiving an instruction to dock the manipulator 1 with an operable device. In this embodiment, the instruction may come from, for example, a fourth operating member (e.g., a button) in the operating member group 35 of the control device 3. During surgery, an operator, such as a doctor, installs an optical tracer on the bony structure of the patient's spine and first places the ring saw in the sleeve (at this time, the position of the ring saw is not precise and may be near the position planned before surgery). After that, the manipulator is needed to dock the ring saw 2, and the operator can press the button in the fourth operating member for docking the manipulator 1 with the ring saw 2, so that the system can receive the docking instruction. After receiving the docking instruction, the following docking position acquisition step is performed.

[0119] Docking position acquisition step: the docking position of the joint part 21 of the ring saw 2 that will be docked with the robot arm 1 is acquired under the tracking system. The docking position is obtained according to the approach position of the ring saw planned before the operation. Specifically, the method further includes an image and planning acquisition step and an image and planning registration step before the docking position acquisition step. For example, before the operation begins, the doctor has made a preoperative plan on the three-dimensional image obtained before the operation, such as a CT image, through the preoperative planning software, and the preoperative plan includes the planned approach position of the ring saw 2. During the operation, the preoperative three-dimensional image including the preoperative plan can be saved or transmitted to the host through the data interface of the host. In the docking position acquisition step, the preoperative three-dimensional image including the preoperative plan is first acquired, and then the image and plan registration step is performed to register the preoperative three-dimensional image and the preoperative plan to the current tracking system, that is, to create a mapping between each point in the preoperative three-dimensional image and each point on the skeletal anatomical structure of the patient during the operation, which is achieved, for example, by matching the preoperative three-dimensional image with the three-dimensional or two-dimensional perspective image during the operation. Correspondingly, the preoperative plan including the planned approach position of the ring saw 2 is also registered to the current tracking system according to the registration mapping relationship. After the planned approach position is registered, it has a corresponding approach position under the tracking system, and the approach position is acquired and the docking position of the joint part 21 of the ring saw 2 under the tracking system can be obtained according to the approach position (because the ring saw has a certain shape and size, and the joint part 21 has a fixed position relationship relative to the end of the ring saw).

[0120] Robot arm position acquisition step: the current position of the robot arm 1 is acquired through the tracking system and the first tracer 11 on the robot arm 1. Figure 6 , 7 As shown, the robot arm 1 is provided with a first tracer 11, so the tracking system can determine the position of the first tracer 11 under the tracking system. Accordingly, since the robot arm joint part on the robot arm 1 for docking with the joint part of the ring saw 2 is fixed relative to the position of the first tracer 11, that is, there is a calibrable fixed position relationship between the two, so that the current position of the robot arm joint part of the robot arm 1 can be known through the position of the first tracer 11 under the tracking system.

[0121] Robotic arm movement instruction step: instruct the robot arm 1 to move from the current position to a position suitable for docking with the ring saw, so that the robot arm 1 and the ring saw can be docked at the joint part. It should be noted that "a position suitable for docking with the ring saw" includes, for example, accurately moving to the docking position according to the first method so that the joint part of the robot arm 1 and the joint part of the ring saw can be directly engaged, and also includes moving to the vicinity of the docking position according to the second method (a position that allows the operator to manually drive the ring saw to dock its joint part with the joint part of the robot arm 1). As an example, according to the first method, in this step, the trajectory that the robot arm needs to move will be calculated based on the docking position to be moved to obtained in the docking position acquisition step and the current position of the robot arm joint part, and an instruction will be issued to instruct the robot arm to move, so that the robot arm stops at the docking position to be moved to. The operator, for example, presses the joint release key on the ring saw 2 to complete the docking of the ring saw and the robot arm 1.

[0122] After the above docking, the doctor can dock the second joint part 45 of the electronic hard mirror with the control handle 3, hold the control device 3 or the electronic hard mirror, insert the tube 44 of the electronic hard mirror into the channel 25 of the rod 23 of the ring saw 2, operate the control device 3 and then operate the ring saw 2. The system receives input from the third operating member of the control device 3, controls the second power source 12 to drive the ring saw 2 to achieve "cutting" of the ring saw.

[0123] Moreover, after the above docking, the positioning and navigation of the ring saw 2 can also be achieved under the tracking system. That is, the method can also include the following steps:

[0124] Ring saw orientation acquisition step: acquiring the current orientation of the ring saw 2. In this step, the housing orientation of the second housing 22 is obtained according to the fixed position relationship between the ring saw 2 in the docking state with the robot arm 1 and the first tracer 11 on the robot arm 1, and because the system controls the action of the second power source 12 to control the rotation and axial movement of the rod 23 relative to the second housing 22, the system can know the relative orientation of the rod 23 relative to the second housing 22, and determine the orientation of the rod and then the orientation of its end according to the housing orientation and the relative orientation.

[0125] The step of displaying the position of the trephine is as follows: displaying the virtual model of the trephine in the position on the navigation image. This display is similar to the display of the virtual model of the endoscope on the navigation image in the first embodiment, and will not be described in detail here.

[0126] It should be understood that although Fig.10 The above steps are listed and described in sequence in the flowchart, claims and description of this article, but it does not mean that there is a specific order relationship between the steps. For example, the docking position acquisition step can be performed before, after or at the same time as the robot arm position acquisition step. The ring saw orientation acquisition step can be performed before, after or at the same time as the ring saw movement indication step.

[0127] The above method is implemented in combination with other components in the robot system, and the method steps themselves are performed by a computer program. Accordingly, the present invention also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the above steps of the method are implemented. The present invention also provides a computer readable storage medium, on which the computer program is stored. The present invention can also provide a control device, such as a computer host, which may include a memory, a processor, and the computer program stored in the memory and capable of running on the processor.

[0128] Those skilled in the art will appreciate that the steps of the methods or algorithms described herein may be implemented directly using hardware, software modules executed by a processor, or a combination of the two. The software modules may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0129] In the above embodiments, the method can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the present invention is generated in whole or in part. The computer here can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk), etc.

[0130] Those skilled in the art will appreciate that the memory of the control device of the present invention may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device separate from the processor.

[0131] The processor of the control device can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0132] Although some embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.

Claims

1. A control method for a surgical robot system, characterized in that: The surgical robot system comprises a tracking system and a robotic arm (1), wherein the robotic arm (1) is provided with a first tracer (11), wherein the method comprises the following steps: A docking instruction receiving step: receiving an instruction for docking the mechanical arm (1) with an operable device; A docking position acquisition step: acquiring the docking position of the joint portion of the operable device that is about to dock with the robot arm (1) by means of the tracking system; Robot arm position acquisition step: acquiring the current position of the robot arm (1); Robotic arm movement instruction step: according to the docking position, instruct the robotic arm (1) to move from the current position to a position suitable for docking with the joint part.

2. The method according to claim 1, characterized in that The operable device is an endoscope (4), wherein in the docking position acquisition step, the docking position of the endoscope (4) is acquired by means of a second tracer (41) arranged on the endoscope (4).

3. The method according to claim 2, characterized in that The surgical robot system further comprises a control device (3) and the endoscope (4), wherein the endoscope is an electronic hard endoscope, and the electronic hard endoscope comprises a first shell (43) and a cylinder (44) which can rotate around its own axis relative to the first shell (43) under the drive of a first power source (31), wherein the engaging portion is arranged on the first shell (43), and after the electronic hard endoscope is docked with the robot arm (1), the method further comprises at least one of the following hard endoscope movement indication steps: In response to the input from the first operating member of the control device (3), the mechanical arm (1) is controlled to move so as to drive the entire electronic hard mirror to move along the axial direction of the tube; In response to input from the joystick (34) of the control device (3), the mechanical arm (1) is controlled to move so as to drive the entire electronic hard mirror to perform a tilting movement; and In response to input from a second operating member of the control device (3), the first power source (31) is controlled to operate so as to control the barrel (44) of the electronic hard mirror to rotate around its own axis.

4. The method according to claim 3, characterized in that After the electronic hard mirror is docked with the mechanical arm (1), the method further comprises the following steps: Endoscope orientation acquisition step: acquiring the orientation of the field of view of the imaging module located at the end of the tube (44) of the electronic hard endoscope; Endoscope orientation display step: displaying a virtual model of the endoscope and / or its field of view in the orientation on a navigation image or on a display unit of the control device (3).

5. The method according to claim 4, characterized in that The endoscope (4) is provided with a first joint portion (42) suitable for connecting the second tracer (41), and the first joint portion (42) is the same joint portion as the joint portion used for docking with the robotic arm. When docking with the robotic arm, the joint portion is in a state where the second tracer (41) has been removed therefrom.

6. The method according to claim 5, characterized in that In the endoscope orientation acquisition step, the shell orientation of the first shell (43) is obtained based on the fixed position relationship between the first shell of the electronic hard mirror in the docking state with the robot arm (1) and the first tracer (11), and the relative orientation of the barrel (44) relative to the first shell (43) is obtained from the control device (3), and the orientation of the barrel (44) is determined based on the shell orientation and the relative orientation, thereby determining the orientation of the field of view of the imaging module at its end.

7. The method according to claim 4, characterized in that The endoscope (4) is provided with a first joint portion (42) suitable for connecting to a second tracer (41), and the joint portion for docking with the robotic arm is independent of the first joint portion; wherein in the endoscope orientation acquisition step, the shell orientation of the first shell (43) is obtained according to the second tracer (41) or according to the fixed position relationship between the first shell of the electronic hard endoscope in the docking state with the robotic arm (1) and the first tracer (11), and the relative orientation of the barrel (44) relative to the first shell (43) is obtained from the control device (3), and the orientation of the barrel (44) is determined according to the shell orientation and the relative orientation, thereby determining the orientation of the field of view of the imaging module at its end.

8. The method according to any one of claims 2 to 7, characterized in that: The method further comprises the steps of: Target acquisition step: obtaining input of a target orientation for the field of view of the endoscope; Pre-display step: displaying a virtual image of the endoscope at the target orientation according to the input; Automatic movement execution step: upon receiving a confirmation instruction of a target position, controlling the endoscope to move to the target position.

9. The method according to claim 1, characterized in that: The operable device is a ring saw (2), wherein before the docking position acquisition step, the method further comprises: Image and planning acquisition step: acquiring a preoperative three-dimensional image of the patient including a preoperative plan, wherein the preoperative plan includes a planned approach position of the trephine (2); Image and planning registration steps: register the preoperative 3D image and preoperative plan to the tracking system; In the docking position acquisition step, the entry position of the planned entry position after registration under the tracking system is acquired, and the docking position of the joint part of the ring saw (2) under the tracking system is obtained based on the entry position.

10. The method according to claim 9, characterized in that After the ring saw (2) is docked with the mechanical arm (1), the method further comprises the following steps: The step of obtaining the position of the ring saw: obtaining the current position of the ring saw (2) in the tracking system; The ring saw orientation display step: displaying the virtual model of the ring saw in the orientation on the navigation image.

11. The method according to claim 10, characterized in that The surgical robot system further comprises a control device (3) for controlling the movement of the ring saw (2), wherein the ring saw (2) comprises a second housing (22) on which the engagement portion is arranged and a rod (23), wherein the rod (23) can rotate around the axis of the rod (23) and move axially relative to the second housing (22) under the drive of a second power source (12); The method further comprises a ring saw movement instruction step, in which, in response to input from a third operating member of the control device (3), the second power source (12) is instructed to act to achieve the rotation and axial movement of the rod (23).

12. The method according to claim 11, characterized in that In the ring saw orientation acquisition step, the shell orientation of the second shell (22) is obtained based on the fixed position relationship between the ring saw (2) and the first tracer (11) in the docking state with the robot arm (1), and the relative orientation of the rod (23) relative to the second shell is obtained based on the action of the second power source (12), and the orientation of the rod (23) and then the orientation of its end are determined based on the shell orientation and the relative orientation.

13. The method according to any one of claims 2 to 7, characterized in that: The endoscope is a spinal electronic hard endoscope.

14. The method according to claim 3, characterized in that The instruction in the docking instruction receiving step comes from the fourth operating element of the control device (3).

15. The method according to claim 11, characterized in that The instruction in the docking instruction receiving step comes from the fourth operating element of the control device (3), or from an interactive button arranged on the robotic arm (1), or from a touch element of a display device of the surgical robot system.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 15 are executed.

17. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 15 are implemented.

18. A control device, wherein the control device comprises a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method according to any one of claims 1 to 15 are executed.

19. A surgical robot system, characterized in that: The surgical robot system comprises: A tracking device (200), the tracking device (200) being adapted to track a first tracer (11) disposed on the robot arm (1); and A processor (6), the processor being adapted to be electrically connected to the tracking device (200) and the robotic arm (1), wherein the processor is configured to control the robotic arm (1) to move from its current position to a position suitable for docking with a joint portion of the operable device with the aid of the tracking device (200) according to an instruction for the robotic arm (1) to dock with an operable device.

20. The surgical robot system according to claim 19, characterized in that: The surgical robot system comprises: a control device (3) electrically connected to the processor (6); and The electronic hard mirror as the operable device comprises: A first housing (43) having a joint portion suitable for docking with the robot arm (1); and A cartridge (44) is rotatable relative to the first housing (43) around the cartridge axis, wherein the control device (3) is capable of controlling the rotation of the cartridge (44).

21. The surgical robot system according to claim 20, characterized in that: The surgical robot system comprises the robotic arm (1), and the processor is configured to: In response to the input from the first operating member of the control device (3), the robot arm (1) is controlled to move so as to drive the entire electronic hard mirror to move along the axial direction of the tube; and / or In response to the input from the joystick (34) of the control device (3), the movement of the mechanical arm (1) is controlled to drive the entire electronic hard mirror to perform tilting movement.

22. The surgical robot system according to claim 20, characterized in that: The surgical robot system further comprises a display device (5), and the processor is configured to display a virtual model of the electronic hard mirror and / or its field of view on the navigation image of the display device to show its orientation.

23. The surgical robot system according to claim 22, characterized in that: The processor is configured to display a virtual model of the electronic hard mirror at the target orientation on a navigation image based on an input of the target orientation of the field of view of the electronic hard mirror, and to control the electronic hard mirror to move to the target orientation upon receiving a confirmation instruction of the target orientation.

24. The surgical robot system according to claim 20, characterized in that: The first shell (43) is provided with a second joint portion (45) suitable for connecting with the control device (3), and the control device (3) is detachably connected to the electronic hard mirror via the second joint portion (45).

25. The surgical robot system according to claim 24, characterized in that: The control device (3) comprises a third housing (30), wherein a first power source (31) for driving the barrel (44) of the electronic hard mirror to rotate is arranged in the third housing (30).

26. The surgical robot system according to claim 24, characterized in that: The control device (3) comprises a third shell (30), wherein an electronic unit (32) for image processing electrically connected to the imaging module (46) of the electronic hard mirror is arranged in the third shell (30), the electronic unit (32) for image processing is configured to output a processed digital image, and the electronic unit (32) for image processing is electrically connected to the processor (6) to transmit the digital image to the processor.

27. The surgical robot system according to claim 19, characterized in that: The operable device is a ring saw (2), and the processor is configured to receive a preoperative three-dimensional image of the patient including a preoperative plan, wherein the preoperative plan includes a planned approach position of the ring saw (2).

28. The surgical robot system according to claim 27, characterized in that: The ring saw (2) comprises: a second housing (22) on which a third joint portion (21) is provided as a joint portion for docking with the robot arm (1); and A rod (23) is capable of rotating around an axis of the rod (23) and moving axially relative to the second housing (22) under the drive of the second power source (12).

29. The surgical robot system according to claim 28, characterized in that: It also includes a robot arm adapter suitable for connecting to the robot arm (1), wherein the second power source (12) is arranged in the robot arm adapter.

30. The surgical robot system according to claim 29, characterized in that: The surgical robot system also includes the robotic arm (1).

31. The surgical robot system according to claim 28, characterized in that: The surgical robot system further comprises the robotic arm (1), wherein the second power source (12) is arranged in the robotic arm (1).

32. The surgical robot system according to claim 20, characterized in that: The housing (30) of the control device (3) is also provided with a display unit (36) for displaying the current orientation of the field of view of the imaging module at the end of the barrel (44) of the electronic hard mirror.

33. The surgical robot system according to claim 20, characterized in that: A tool channel (441) is formed in the tube (44) of the electronic hard endoscope, and the tool channel (441) is configured to accommodate at least two surgical tools.

Images