Surgical robot system

Abstract

The invention relates to the field of medical instruments, and discloses a surgical robot system. The surgical robotic system includes: a surgical station including at least one driven tool; the at least one wireless operating handle is used for receiving user operation and comprises a pose measuring unit used for generating handle motion information based on the user operation; and a controller in communication connection with the surgical station and the wireless operating handle and configured to determine a moving speed and / or a moving angular speed of the wireless operating handle based on the handle motion information and determine a target speed and / or a target angular speed of the driven tool based on the moving speed and / or the moving angular speed of the wireless operating handle, and controlling the driven tool to move based on the target speed and / or the target angular speed of the driven tool. A user can control the driven tool to move by operating the wireless operating handle, so that the operation can be executed by flexibly selecting a position, and the operation does not need to be performed at a certain fixed position.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a surgical robot system. Background Art

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incisions, greatly reducing the patient's recovery time, discomfort experience and post-healing side effects. Laparoscopic surgery performed by surgical robots, especially single-port laparoscopic surgery, can optimize the surgical method through computer remote control technology.

[0003] When performing surgery with a surgical robot, the user needs to sit in front of the main console to issue control instructions and control the surgical tools to perform the surgery. However, long-term surgical operations may cause discomfort to the user and may even affect the surgery. Summary of the invention

[0004] In some embodiments, the present disclosure provides a surgical robot system, comprising:

[0005] A surgical station, the surgical station comprising at least one driven tool;

[0006] At least one wireless operating handle, the wireless operating handle is used to receive user operations, the wireless operating handle includes a posture measurement unit, and the posture measurement unit is used to generate handle motion information based on the user operation;

[0007] And a controller, the controller is communicatively connected to at least one wireless operating handle and the operating station, the controller is configured to receive handle motion information from a posture measurement unit of the at least one wireless operating handle, determine the moving speed and / or moving angular velocity of the at least one wireless operating handle based on the handle motion information, and determine the target speed and / or target angular velocity of at least one driven tool based on the moving speed and / or moving angular velocity of the at least one wireless operating handle, and control the movement of the at least one driven tool based on the target speed and / or target angular velocity of the at least one driven tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0009] Figure 1 A schematic diagram showing the structure of a surgical robot system according to some embodiments of the present disclosure is shown;

[0010] Figure 2AA perspective view showing a wireless operating handle according to some embodiments of the present disclosure;

[0011] Figure 2B A top view of a wireless operating handle in an open state according to some embodiments of the present disclosure is shown;

[0012] Figure 3 A schematic diagram showing the structure of a surgical station according to some embodiments of the present disclosure;

[0013] Figure 4 A schematic diagram showing the structure of the distal end portion of an endoscope and a driven tool according to some embodiments of the present disclosure;

[0014] Figure 5 A structural schematic diagram showing a partial structure of a wireless operating handle according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0015] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0016] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0017] In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, rear end, or rear part, and the end opposite to the proximal end, near part, rear end, or rear part is defined as the distal end, far end, front end, or front part. Alternatively, the end close to the operator (e.g., surgical patient) is defined as the distal end, far end, front end, or front part, and the end opposite to the distal end, far end, front end, or front part is defined as the proximal end, near part, rear end, or rear part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0018] Figure 1 FIG. 1 is a schematic diagram showing the structure of a surgical robot system 100 according to some embodiments of the present disclosure. Figure 1 As shown, the surgical robot system 100 may include a surgical station 10, at least one wireless operating handle 20 and a controller (not shown in the figure). The surgical station 10 may include at least one slave tool 11. The at least one slave tool 11 may include any suitable slave tool, such as bipolar curved separation forceps, bipolar curved grasping forceps, monopolar curved scissors, monopolar electric hooks, bipolar grasping forceps, needle holding forceps, tissue grasping forceps, etc. In some embodiments, at least one surgical station 10 may also include at least one robotic arm 101, and at least one slave tool 11 may be arranged at the distal end of at least one robotic arm 101. In some embodiments, at least one slave tool 11 may include multiple slave tools, at least one robotic arm 101 may include multiple robotic arms, and multiple slave tools may be respectively arranged at the distal ends of different robotic arms. In other embodiments, such as Figure 1 As shown, the at least one robot arm 101 may include a single robot arm, and a plurality of driven tools may be disposed at a distal end of the robot arm.

[0019] Figure 2A 1 shows a stereoscopic view of a wireless operation handle 20 according to some embodiments of the present disclosure. At least one wireless operation handle 20 can be used to receive user operations. During surgery, the user can hold the wireless operation handle 20 and perform operations. At least one wireless operation handle 20 can include a posture measurement unit 201, which can be used to generate handle motion information based on user operations. Figure 2A As shown, the posture measurement unit 201 can be set in the housing of the wireless operation handle 20. In some embodiments, the posture measurement unit 201 can be used to detect the posture of an object, the movement speed and angular velocity of an object, or the movement acceleration and angular acceleration of an object, etc. The handle motion information may include the movement speed and angular velocity or the movement acceleration and angular acceleration of the wireless operation handle 20. In some embodiments, the posture measurement unit 201 may include an inertial measurement unit (I MU, Inertial Measurement Unit).

[0020] In some embodiments, the user operation may include moving the wireless operating handle up and down, left and right, forward and backward, rolling clockwise, rolling counterclockwise, pitching, yaw, etc. The user may operate the wireless operating handle 20 to move the wireless operating handle 20, and the posture measurement unit 201 in the wireless operating handle 20 may detect the moving speed and moving angular velocity of the wireless operating handle 20 in this process. The handle motion information generated by the posture measurement unit 201 may include the moving speed and moving angular velocity of the wireless operating handle 20.

[0021] The controller can be connected to at least one wireless operating handle 20 and the surgical station 10 in communication. In some embodiments, the controller can be set in any suitable position in the surgical station 10 or in the surgical robot system 100. The wireless operating handle 20 may include a wireless communication device to wirelessly transmit with the controller. The controller can be configured to receive handle motion information from the posture measurement unit 201 of at least one wireless operating handle 20, and determine the movement speed and / or movement angular velocity of at least one wireless operating handle 20 based on the handle motion information.

[0022] In some embodiments, the moving speed of the wireless operating handle 20 may include a moving speed vector, and the moving angular velocity of the wireless operating handle 20 may include a moving angular velocity vector. In some embodiments, the posture measurement unit 201 (e.g., an inertial measurement unit) may include a three-axis gyroscope and a three-axis accelerometer, which may be used to measure the angular velocity of three dimensions perpendicular to each other in space and the linear acceleration along the three dimensions, respectively. The controller may determine the moving angular velocity vector of at least one wireless operating handle 20 based on the handle motion information received from the posture measurement unit 201, and the moving angular velocity vector may include the moving angular velocity of three dimensions perpendicular to each other in space. The controller may also determine the linear acceleration vector of at least one wireless operating handle 20 based on the handle motion information received from the posture measurement unit 201, and then determine the moving velocity vector based on the linear acceleration vector. The moving velocity vector may include the moving velocity along the three dimensions.

[0023] The controller can also be configured to determine the target speed and / or target angular velocity of at least one driven tool 11 based on the moving speed and / or moving angular velocity of at least one wireless operating handle 20, and control the movement of at least one driven tool 11 based on the target speed and / or target angular velocity of at least one driven tool 11.

[0024] Figure 3 FIG. 2 is a schematic diagram showing the structure of an operating station 10 according to some embodiments of the present disclosure. Figure 1 and Figure 3As shown, the surgical station 10 may further include at least one driving device 102, and at least one driven tool 11 may be disposed at the distal end of the at least one driving device 102. In some embodiments, the surgical station 10 may include multiple driving devices (e.g., driving devices 102 and 103), and at least one driven tool may include multiple driven tools (e.g., driven tools 11 and 12), and the driven tools 11 and 12 may be disposed at the distal ends of the driving devices 102 and 103, respectively. The controller may be communicatively connected with the driving devices 102 and 103, and the controller may also be configured to generate a motion control instruction for the at least one driving device 102 based on a target speed and / or a target angular speed of the at least one driven tool (e.g., the driven tool 11).

[0025] During surgery, the user can issue control instructions by operating the wireless operating handle 20, and the posture measurement unit 201 can generate handle motion information in real time based on the user's operation and transmit it to the controller, and the controller can control the movement of the driven tool 11 in real time based on the handle motion information. Based on this, during surgery, the user can control the movement of the driven tool by operating the wireless operating handle 20, and the user does not need to be in a fixed position, but can flexibly select a position to perform the operation, which helps to improve the user's comfort.

[0026] Figure 4 FIG. 2 shows a schematic diagram of the distal end structure of an endoscope and a driven tool according to some embodiments of the present disclosure. Figure 3 and Figure 4 As shown, the surgical station 10 may further include an endoscope 13 disposed at the distal end of the robotic arm 101. During surgery, the endoscope 13 may be used to collect surgical field images, which may include at least a portion of the image of the driven tool 11. The surgical field images collected by the endoscope 13 may be presented on a display (e.g., Figure 1 The image of the surgical field is displayed on the display 31 shown in the figure for viewing by the user. The user can perform the surgical operation while viewing the surgical field image through the display 31. In some embodiments, the display 31 can be a naked-eye 3D display to provide a surgical field image with a sense of depth and space, so that the user does not need to be constrained by the position of the near-eye display.

[0027] like Figure 1As shown, the surgical robot system 100 may also include a main control trolley 30. The main control trolley 30 may include a display 31. During surgery, the user may be located in front of the main control trolley 30 to facilitate viewing of the surgical field image. In some embodiments, the main control trolley 30 may also include a main column 301 and a bracket 302, the bracket 302 may be rotatably disposed on the main column 301, and the display 31 may be disposed at the end of the bracket 302. The bracket 302 may pitch and rotate relative to the main column 301 and swing left and right. Based on this, the user can adjust the display 31 to any suitable position, so that the user can flexibly select a position and posture to view the surgical field image and perform surgical operations.

[0028] In some embodiments, the controller may be further configured to determine the target speed of the control point of at least one driven tool 11 in the control point coordinate system based on the moving speed and speed mapping coefficient of at least one wireless operating handle 20. In some embodiments, the controller may be further configured to determine the target angular velocity of the control point of at least one driven tool 11 in the control point coordinate system based on the moving angular velocity and angular velocity mapping coefficient of at least one wireless operating handle 20. In this embodiment, the controller can map the moving speed and moving angular velocity of at least one wireless operating handle 20 to the target velocity of the control point of at least one driven tool 11 in the control point coordinate system in a certain proportion.

[0029] In some embodiments, the controller may be further configured to control the movement of the control point of at least one driven tool 11 based on the target speed and target angular velocity of the control point of at least one driven tool 11 in the control point coordinate system. The at least one driven tool 11 may thus follow the movement of the at least one wireless operating handle 20.

[0030] Those skilled in the art will appreciate that the control point of the driven tool 11 can be set as needed, for example, it can be set at the end of the arm 111 of the driven tool 11, or it can be set at the center or end of the actuator 112 at the end. In addition, the speed mapping coefficient and the angular velocity mapping coefficient can be any suitable value, and the present disclosure does not limit the specific values ​​of the speed mapping coefficient and the angular velocity mapping coefficient. Those skilled in the art will appreciate that when the absolute values ​​of the speed mapping coefficient and the angular velocity mapping coefficient are larger, the control point of at least one driven tool 11 follows the movement of the wireless operating handle 20 and moves with higher sensitivity.

[0031] In some embodiments, Figure 4As shown, at least one driven tool 11 may include an arm body 111 and an actuator 112 disposed at the distal end of the arm body 111. In some embodiments, the arm body 111 may be a flexible arm to increase the degree of freedom of the driven tool 11 and improve the flexibility of the driven tool 11 in performing surgical operations in the body. In some embodiments, the arm body 111 may include any suitable structure to increase the degree of freedom, such as a continuum structure, a snake bone structure, a combination structure of a rod and a joint, etc. In some embodiments, the actuator 112 may include any suitable type of actuator, such as a bipolar curved separation forceps actuator, a bipolar curved grasping forceps actuator, a monopolar curved shears actuator, a monopolar electric hook actuator, a bipolar grasping forceps actuator, a needle holding forceps actuator, a tissue grasping forceps actuator, etc.

[0032] The control point D of at least one driven tool 11 may include the center of the distal cross section of the arm body 111, and the control point coordinate system {D} may include a first longitudinal coordinate axis (such as Figure 4 The z-axis of the coordinate system {D} shown in FIG. 1 ) and the first transverse coordinate axis (such as Figure 4 In some embodiments, the target speed v of the control point D of at least one driven tool 11 in the control point coordinate system {D} is d A target velocity vector may be included, which may include the target velocity v along the three coordinate axes of the control point coordinate system {D} dx 、v dy and v dz The target angular velocity ω of the control point D of at least one driven tool 11 in the control point coordinate system {D} d The target angular velocity vector may include the target angular velocity ω around the three coordinate axes of the control point coordinate system {D} dx ,ω dy And ω dz .

[0033] Figure 2B FIG. 2 shows a top view of the wireless operating handle 20 in an open state according to some embodiments of the present disclosure. Figure 2A and Figure 2BAs shown, at least one wireless operating handle 20 may include a first clamp 21, a second clamp 22 and a handle body 23. The handle body 23 may extend from the proximal end to the distal end. The handle body 23 may be in any suitable shape, such as a cylindrical shape, a prismatic shape, etc. The first clamp 21 and the second clamp 22 may be rotatably connected to the handle body 23, respectively, and cooperate with each other to achieve opening and closing. The first clamp 21 and the second clamp 22 may be clamped by the user's fingers, and the opening and closing are achieved under the control of the clamping and opening and closing actions of the user's fingers. In some embodiments, the handle body 23 may include a cylindrical shell and a accommodating cavity located in the shell, and in the open state, the proximal ends of the first clamp 21 and the second clamp 22 may extend into the accommodating cavity of the handle body 23.

[0034] In some embodiments, the first clamp 21 and the second clamp 22 can be rotatably connected to the handle body 23 at the proximal end. In some embodiments, the first clamp 21 and the second clamp 22 can be hinged to the handle body 23 by a pin or other structure, or can be pivoted to the handle body 23 by a pivot or other structure. In some embodiments, at least one wireless operating handle 20 can also include a first finger sleeve 24 and a second finger sleeve 25, so that the user can hold the wireless operating handle 20 and perform operations such as clamping. The first finger sleeve 24 can be arranged at the distal end of the first clamp 21, and the second finger sleeve 25 can be arranged at the distal end of the second clamp 22.

[0035] In some embodiments, the controller may be further configured to determine the target speed of the control point D of at least one driven tool 11 in the control point coordinate system {D} based on the movement speed of at least one wireless operating handle 20 in the handle coordinate system and the speed mapping coefficient. In some embodiments, the controller may be further configured to determine the target angular velocity of the control point D of at least one driven tool 11 in the control point coordinate system {D} based on the movement angular velocity of at least one wireless operating handle 20 in the handle coordinate system and the angular velocity mapping coefficient.

[0036] In some embodiments, Figure 2A and Figure 2B As shown, the origin M of the handle coordinate system {M} may be located at the proximal end of the handle body 23. In some embodiments, the posture measurement unit 201 may be located at the proximal end of the handle body 23, and the origin of the handle coordinate system {M} may be the center point of the posture measurement unit 201. The handle coordinate system {M} may include a second longitudinal coordinate axis (e.g., Figure 2A or Figure 2B The z-axis of the coordinate system {M} shown in FIG. 1 ), and a third transverse coordinate axis and a fourth transverse coordinate axis perpendicular to the second longitudinal coordinate axis (eg, Figure 2A and Figure 2BThose skilled in the art will appreciate that the handle coordinate system used to determine the movement of the wireless operating handle 20 is not limited to the coordinate system {M}, but may be any suitable coordinate system.

[0037] In some embodiments, the moving speed v of at least one wireless operating handle 20 in the handle coordinate system {M} m The moving speed vector may include the moving speed v of the wireless operating handle 20 along the three coordinate axes of the handle coordinate system {M}. mx 、v my and v mz The moving angular velocity ω of at least one wireless operating handle 20 in the handle coordinate system {M} m The angular velocity ω of the wireless operating handle 20 around the three coordinate axes of the handle coordinate system {M} may be included. mx ,ω my And ω mz .

[0038] In some embodiments, v m The controller can determine the target speed v of the control point D of at least one driven tool 11 in the control point coordinate system {D} by using the following formula (1): d :

[0039] v d =αv m (1)

[0040] In some embodiments, m The controller can determine the target angular velocity ω of the control point D of at least one driven tool 11 in the control point coordinate system {D} by using the following formula (2): d :

[0041] ω d =βω m (2)

[0042] In some embodiments, the controller may also be configured to determine the target velocity and target angular velocity [v d ω d ] T , controlling the movement of the control point of at least one driven tool 11. Those skilled in the art will appreciate that formula (1) and formula (2) can convert the movement of at least one wireless operating handle 20 [v m ω m] T The motion of at least one control point of the driven tool 11 is mapped to a certain ratio [v d ω d ] T Based on [v d ω d ] T The control point of at least one driven tool 11 is controlled to move, and the control point of at least one driven tool 11 can move following the movement of at least one wireless operating handle 20 .

[0043] In some embodiments, the controller may also be configured to control the at least one wireless operating handle 20 along a second longitudinal coordinate axis (eg, Figure 2A or Figure 2B The moving speed v of the z-axis of the coordinate system {M} shown in FIG. mz and the speed mapping coefficient α, determine the control point D of at least one driven tool 11 along the first longitudinal coordinate axis (e.g., Figure 4 The target speed v of the coordinate system {D} (z axis) is shown dz In some embodiments, the controller may determine the target speed v of the control point D of at least one driven tool 11 along the first longitudinal coordinate axis by the following formula (3): dz :

[0044] v dz =αv mz (3)

[0045] In some embodiments, the controller may also be configured to determine a target speed v along the first longitudinal coordinate axis based on a control point D of at least one driven tool 11. dz , controlling at least one driven tool 11 to move. Those skilled in the art will appreciate that when a user operates the wireless operating handle 20 and moves the wireless operating handle 20 at a moving speed v mz During axial movement, at least one control point D of the driven tool 11 can move axially along the z-axis of the control point coordinate system {D}. dz In the case of axial motion, the actuator 112 located at the far end of the control point D can move at v dz The user can observe on the display 31 that the actuator 112 of the driven tool 11 moves following the user's operation on the wireless operating handle 20 , thereby obtaining an intuitive operating experience.

[0046] In some embodiments, the controller may also be configured to adjust the position of the at least one wireless operating handle 20 around a second longitudinal coordinate axis (eg, Figure 2A or Figure 2B The angular velocity ω of the z-axis of the coordinate system {M} shown in FIG. mzand angular velocity mapping coefficient β, determine the control point D of at least one driven tool 11 around the first longitudinal coordinate axis (e.g., Figure 4 The target angular velocity ω of the coordinate system {D} shown in FIG. dz In some embodiments, the controller can determine the target angular velocity ω of the control point D of at least one driven tool 11 along the first longitudinal coordinate axis by the following formula (4): dz :

[0047] ω dz =βω mz (4)

[0048] In some embodiments, the controller may also be configured to determine a target angular velocity ω of a control point D of at least one driven tool 11 around the first longitudinal coordinate axis based on the target angular velocity ω of the control point D of at least one driven tool 11. dz , controlling at least one driven tool 11 to move. Those skilled in the art will appreciate that when a user operates the wireless operating handle 20 and moves the wireless operating handle 20 at an angular velocity ω mz When rolling around the central axis of the handle body 23, at least one control point D of the driven tool 11 can rotate around the z-axis of the control point coordinate system {D} by ω dz Roll, the actuator 112 located at the far end of the control point D can also dz The user can thus observe on the display 31 that the actuator 112 of the driven tool 11 rolls following the user's rolling operation on the wireless operating handle 20 , thereby obtaining an intuitive operating experience.

[0049] In some embodiments, the controller may also be configured to calculate a moving speed v of at least one wireless operating handle 20 along the x-axis of the handle coordinate system {M} based on the moving speed v of the at least one wireless operating handle 20 along the x-axis of the handle coordinate system {M}. mx and the speed mapping coefficient α, determine the target speed v of the control point D of at least one driven tool 11 along the x-axis of the control point coordinate system {D} dx In some embodiments, the controller may also be configured to calculate the angular velocity ω of at least one wireless operating handle 20 around the x-axis of the handle coordinate system {M} based on the angular velocity ω of the at least one wireless operating handle 20 around the x-axis of the handle coordinate system {M}. mx and angular velocity mapping coefficient β, determine the target angular velocity ω of the control point D of at least one driven tool 11 around the x-axis of the control point coordinate system {D} dx In some embodiments, the controller can determine the target speed v by the following formula (5) and formula (6): dx and the target angular velocity ω dx :

[0050] v dx =αv mx (5)

[0051] ω dx =βω mx (6)

[0052] In some embodiments, the controller may also be configured to calculate a target speed v along the x-axis of the control point coordinate system {D} based on the control point D of at least one driven tool 11. dx and / or the target angular velocity ω about the x-axis dx , controlling at least one driven tool 11 to move. Those skilled in the art will appreciate that when a user operates the wireless operating handle 20 and moves the wireless operating handle 20 at a moving speed v mx When moving in the lateral direction, at least one control point D of the driven tool 11 can move along the x-axis of the control point coordinate system {D} at a speed of v dx When the user operates the wireless operating handle 20 and moves the wireless operating handle 20 at an angular velocity ω mx When performing the deflection motion, at least one control point D of the driven tool 11 can rotate around the x-axis of the control point coordinate system {D} by ω dx Deflection movement, users can get an intuitive operating experience.

[0053] In some embodiments, the controller may also be configured to calculate a moving speed v of at least one wireless operating handle 20 along the y-axis of the handle coordinate system {M} based on the moving speed v of the at least one wireless operating handle 20 along the y-axis of the handle coordinate system {M}. my and the speed mapping coefficient α, determine the target speed v of the control point D of at least one driven tool 11 along the y-axis of the control point coordinate system {D} dy In some embodiments, the controller may also be configured to calculate the angular velocity ω of at least one wireless operating handle 20 around the y-axis of the handle coordinate system {M} based on the angular velocity ω of the at least one wireless operating handle 20 around the y-axis of the handle coordinate system {M}. my and the angular velocity mapping coefficient β, determine the target angular velocity ω of the control point D of at least one driven tool 11 around the y-axis of the control point coordinate system {D} dy In some embodiments, the controller can determine the target speed v by the following formula (7) and formula (8): dy and the target angular velocity ω dy :

[0054] v dy =αv my (7)

[0055] ω dy =βω my (8)

[0056] In some embodiments, the controller may also be configured to calculate a target speed v along the y-axis of the control point coordinate system {D} based on the control point D of the at least one driven tool 11. dy and / or the target angular velocity ω about the y-axis dy , controlling at least one driven tool 11 to move. Those skilled in the art will appreciate that when a user operates the wireless operating handle 20 and moves the wireless operating handle 20 at a moving speed vmy When moving in the lateral direction, at least one control point D of the driven tool 11 can move along the y-axis of the control point coordinate system {D} at a speed of v dy When the user operates the wireless operating handle 20 and moves the wireless operating handle 20 at an angular velocity ω my When performing pitch motion, at least one control point D of the driven tool 11 can rotate around the y-axis of the control point coordinate system {D} by ω dy By performing pitch movements, users can gain an intuitive operating experience.

[0057] like Figure 2A As shown, in some embodiments, at least one wireless operating handle 20 may further include a touch sensor 27. The touch sensor 27 may be used to detect whether the at least one wireless operating handle 20 receives a user touch. The touch sensor 27 may be used to generate a touch signal in response to at least one wireless operating handle 20 receiving a user touch. In some embodiments, the touch sensor 27 may be any suitable type of touch sensor, such as a resistive touch sensor, a capacitive touch sensor, etc. It will be appreciated by those skilled in the art that a user's contact may cause a change in resistance or capacitance in a circuit, and the touch sensor 27 may thus determine whether it is touched by a user based on the change in resistance or capacitance in the circuit.

[0058] In some embodiments, the touch sensor 27 can be set at a position on the wireless operating handle 20 that is convenient for the user to touch. In some embodiments, the touch sensor can include a first touch sensor and a second touch sensor that are respectively set on the first clamp 21 and the second clamp 22. In some embodiments, the first touch sensor and the second touch sensor can be set on the inner circumference of the first finger sleeve 24 and the second finger sleeve 25, so that the user can touch the touch sensor when holding the wireless operating handle 20. For example, the first touch sensor can be set as follows Figure 2A The position of the touch sensor 27 shown in the figure, the second touch sensor can be set at a corresponding position on the second finger sleeve 25. Those skilled in the art can understand that the present disclosure does not limit the position where the touch sensor 27 is set, and the touch sensor 27 can be set at any suitable position, such as the proximal end of the handle body 23, the axial outer side of the first clamp 21 and the second clamp 22, etc.

[0059] In some embodiments, Figure 1As shown, the surgical robot system 100 may also include a display, such as a display 31. The display 31 may be used to display an image of the surgical field. During surgery, a user may be located in front of the display 31 and, while viewing the image of the surgical field, operate the wireless operating handle 20 to perform a surgical operation. A controller may be communicatively connected to the display 31, and the controller may also be configured to receive a touch signal from at least one wireless operating handle 20, and in response to the touch signal, control the display 31 to display an image of a control point D of at least one driven tool 11 and an indicator line of a first longitudinal coordinate axis extending from the control point to the distal end. The image of the control point D may be as shown in FIG. Figure 4 The control point D shown in FIG. 1 , the indication line of the first longitudinal coordinate axis can be as follows Figure 4 The z-axis of the coordinate system {D} is shown.

[0060] Based on this, when the user holds the wireless operating handle 20, the display 31 can display the image of the control point D of the driven tool 11 and the indicator line of the first longitudinal coordinate axis, which helps the user to determine the correspondence between the movement direction of the wireless operating handle 20 and the movement direction of the driven tool 11, so that the user can control the movement of the driven tool 11 by operating the wireless operating handle 20.

[0061] In some embodiments, the controller may be further configured to control the image and the indicator line of the control point D to move based on the handle motion information in response to the touch signal. In some embodiments, the controller may determine the moving speed v of the wireless operating handle 20 based on the handle motion information. m and / or angular velocity ω m , based on the moving speed v of the wireless operating handle 20 m and / or angular velocity ω m Determine the target speed v of the control point D of the driven tool 11 d and / or target angular velocity ω d , and then based on the target speed v of the control point D of the driven tool 11 d and / or target angular velocity ω d Determine the motion speed v of the image of control point D id and / or angular velocity ω id and control the image movement speed v of point D id and / or angular velocity ω id The image movement of the control point D is controlled, and the movement of the indicator line is controlled so that the indicator line always extends from the control point D to the far end.

[0062] Based on this embodiment, when the user holds the wireless operating handle 20 and operates the wireless operating handle 20 to move it, the user can watch the image of the control point D and the indicator line on the display 31 move following the user's operation of the wireless operating handle 20, thereby assisting the user in determining the corresponding relationship between the movement of the wireless operating handle 20 and the movement of the driven tool 11. In some embodiments, before establishing the master-slave mapping relationship between the wireless operating handle 20 and the driven tool 11, the user can operate the wireless operating handle 20 to move and watch the image of the control point D and the movement of the indicator line through the display 31 to improve the familiarity and accuracy of subsequent master-slave operations.

[0063] In some embodiments, the posture measurement unit 201 of the wireless operating handle 20 may also include any other suitable device to generate handle motion information based on user operation. For example, the posture measurement unit 201 may include a magnetic positioning device, which can be used to detect the posture of the wireless operating handle 20 in space. In some embodiments, the magnetic positioning device may include a soft magnet. In some embodiments, the main control trolley 30 may include an electromagnetic sensor and a permanent magnet, and the permanent magnet may include a suitable permanent magnet such as an electromagnet. The permanent magnet can be used to provide a magnetic field for the magnetic positioning device. In some embodiments, the electromagnetic sensor and the permanent magnet can be set at a suitable position such as the main column 301 or the base 303 of the main control trolley 30. It can be understood by those skilled in the art that when the wireless operating handle 20 moves under the operation of the user, the posture of the soft magnet in the wireless operating handle 20 changes in the magnetic field provided by the permanent magnet, and the electromagnetic sensor can detect the response change of the magnetic field of the soft magnet, thereby being able to detect the posture of the soft magnet in space. Based on this, the change in the posture of the wireless operating handle 20 can be detected.

[0064] In some embodiments, the electromagnetic sensor can transmit the detection result to the posture measurement unit 201, so that the posture measurement unit 201 generates the handle motion information based on the detection result of the electromagnetic sensor. In some embodiments, the electromagnetic sensor can directly transmit the detection result to the controller, and the controller can determine the handle motion information based on the detection result of the electromagnetic sensor.

[0065] In some embodiments, the surgical robot system 100 may further include any other suitable device to track the position change of the wireless operating handle 20. For example, the surgical robot system 100 may further include an optical positioning device. In some embodiments, the optical positioning device may include a stereo display and an image processor, the stereo display may be used to capture images of the wireless operating handle 20, and the image processor may be used to process the images captured by the stereo display, such as detecting the distance between the wireless operating handle 20 and the stereo display in the image. In some embodiments, the optical positioning device may be set in the main control trolley 30, for example, at a suitable position such as the main column 301, the base 303, etc.

[0066] Figure 5 FIG. 2 is a schematic diagram showing a partial structure of a wireless operating handle 20 according to some embodiments of the present disclosure. A person skilled in the art will understand that Figure 5 The outer shell of the wireless operating handle 20 is hidden in the figure to facilitate the internal structure of the wireless operating handle 20. In some embodiments, Figure 5 As shown, at least one wireless operating handle 20 may further include an opening and closing sensor 28. The opening and closing sensor 28 may be used to detect the opening and closing information of the wireless operating handle 20, and the opening and closing information may include an opening and closing angle, an opening and closing state, etc. In some embodiments, the opening and closing sensor 28 may determine that the opening and closing state of the wireless operating handle 20 is "open" in response to detecting that the opening and closing angle of the wireless operating handle 20 is greater than a preset threshold, and determine that the opening and closing state of the wireless operating handle 20 is "closed" in response to detecting that the opening and closing angle is less than a preset threshold.

[0067] In some embodiments, Figure 5 As shown, the wireless operating handle 20 may further include a first tooth structure 291 and a second tooth structure 292. The first tooth structure 291 may be fixedly disposed at the proximal end of the first clamp 21, and the second tooth structure 292 may be fixedly disposed at the proximal end of the second clamp 22. The first tooth structure 291 and the second tooth structure 292 may be located in the accommodating cavity of the handle body 23. The first tooth structure 291 may mesh with the second tooth structure 292. Those skilled in the art may appreciate that, by means of the mutually meshing first tooth structure 291 and second tooth structure 292, the first clamp 21 and the second clamp 22 may maintain an equal angle of opening and closing relative to the handle body 23. In some embodiments, the posture measurement unit ( Figure 5 Not shown, see Figure 2A and Figure 2B ) can be arranged in the accommodating cavity of the handle body 23 and located at the proximal end of the first tooth structure 291 and the second tooth structure 292.

[0068] In some embodiments, the opening and closing sensor 28 may include a sensor 281 and a sensor 282. The sensor 282 may be disposed on the second clamp 22, for example, disposed on the axial inner side of the second clamp 22, and the sensor 281 may be disposed on a side of the handle body 23 facing the second clamp 22, and the position of the sensor 282 may correspond. The sensor 281 may be used to detect the change in the distance between the sensor 282 and the sensor 281 to detect the opening and closing state of the wireless operating handle 20. In other embodiments, the sensor 282 may be disposed on the axial inner side of the first clamp 21, and the sensor 281 may be disposed on a side of the handle body 23 facing the first clamp 21, and the position of the sensor 281 may correspond. In other embodiments, the opening and closing sensor 28 may include a first opening and closing sensor and a second opening and closing sensor, and the first opening and closing sensor and the second opening and closing sensor may be used to detect the opening and closing state of the first clamp 21 and the second clamp 22 relative to the clamp body 23, respectively.

[0069] Those skilled in the art will appreciate that the present disclosure does not limit the type of the opening and closing sensor, and the opening and closing sensor may be any suitable type of sensor, such as an infrared sensor or laser sensor for detecting distance, a potentiometric sensor or magnetic sensor for detecting rotation angle, etc.

[0070] In some embodiments, Figure 5 As shown, the wireless operating handle 20 may further include an elastic member 202, and the elastic member 202 may be located in the accommodating cavity of the handle body 23. In some embodiments, the elastic member 202 may be a spring or other elastic member. Both ends of the elastic member 202 may be connected to the proximal ends of the first clamp 21 and the second clamp 22, respectively. The elastic member 202 is used to apply a pre-elastic force to the first clamp 21 and the second clamp 22 to keep the first clamp 21 and the second clamp 22 in an open state.

[0071] The opening and closing sensor 28 can also be used to generate a confirmation signal in response to at least one wireless operating handle 20 being pinched by a user. In some embodiments, the opening and closing sensor 28 can generate a confirmation signal in response to detecting that the opening and closing state of the wireless operating handle 20 changes from open to closed and then to open. In some embodiments, the opening and closing sensor 28 can also generate a confirmation signal in response to detecting that the opening and closing state of the wireless operating handle 20 changes from open to closed and then to open, and the time in the closed state does not exceed a preset time.

[0072] In some embodiments, the controller may also be configured to receive a touch signal and a confirmation signal from at least one wireless operating handle 20, and in response to the touch signal and the confirmation signal, initiate the master-slave operation of at least one wireless operating handle 20 on at least one slave tool 11. During surgery, the user may hold the wireless operating handle 20 and clamp the first clamp 21 and the second clamp 22, thereby initiating the master-slave operation of at least one wireless operating handle 20 on at least one slave tool 11. The user needs to perform a clamping confirmation operation before initiating the master-slave operation, thereby helping to prevent the user from misoperating the wireless operating handle 20.

[0073] In some embodiments, the opening and closing sensor 28 can also be used to generate a clamping signal in response to detecting that the opening and closing state of at least one wireless operating handle 20 changes from opening to closing during the master-slave operation. The controller can also be configured to receive a clamping signal from at least one wireless operating handle 20 under the master-slave operation, and control the distal clamping of the actuator 112 of at least one slave tool 11 in response to the clamping signal, such as controlling a monopolar bending shear actuator to perform a shearing operation, controlling a bipolar grasping forceps actuator or a needle holder to perform a clamping operation.

[0074] In some embodiments, the opening and closing sensor 28 can also be used to generate an opening signal in response to detecting that the opening and closing state of at least one wireless operating handle 20 changes from closed to open. The controller can also be configured to receive the opening signal from at least one wireless operating handle 20 under master-slave operation, and control the distal end of the actuator 112 of at least one driven tool 11 to open in response to the opening signal.

[0075] During surgery, after starting the master-slave operation by holding and pinching the wireless operating handle 20, the user can move at least one wireless operating handle 20 to control the movement of at least one slave tool 11 in the patient's body. The user can also clamp the first clamp 21 and the second clamp 22 of at least one wireless operating handle 20 to clamp the distal end of the actuator 112 of at least one slave tool 11 to perform the operation.

[0076] In some embodiments, Figure 5 As shown, the wireless operating handle 20 may further include at least one micro switch 203. The at least one micro switch 203 may be disposed axially inward of the first clamp 21 and the second clamp 22. In some embodiments, the at least one micro switch 203 may include a pair of micro switches disposed on the first clamp 21 and the second clamp 22, respectively, and the pair of micro switches may be symmetrically disposed.

[0077] like Figure 5As shown, a trigger stage 204 corresponding to at least one micro switch 203 may be provided in the handle body 23. When the first clamp 21 and the second clamp 22 are closed, the micro switch 203 can contact the trigger stage 204. In some embodiments, the trigger stage 204 may generate a closing signal in response to the micro switch 203 contacting the trigger stage 204. The controller may also be configured to receive a closing signal from the wireless operating handle 20, and in response to the closing signal, control the wireless operating handle 20 to give feedback to the user in the form of vibration, sound, etc., to prompt the user that the first clamp 21 and the second clamp 22 of the wireless operating handle 20 are in a fully closed state.

[0078] In some embodiments, Figure 2A , Figure 2B and Figure 5 As shown, at least one wireless operating handle 20 may further include a clutch device 26. The clutch device 26 may be used to receive a first user operation (e.g., toggle the clutch device 26) and generate a trigger signal based on the first user operation. The controller may also be configured to receive a trigger signal from the clutch device 26, and disconnect the master-slave operation of at least one wireless operating handle 20 on at least one driven tool 11 in response to the trigger signal. Based on this, the user may disconnect the master-slave operation of the wireless operating handle 20 on the driven tool 11 by performing a first user operation on the clutch device 26.

[0079] In some embodiments, the clutch device 26 may also be used to receive a second user operation and generate a release signal based on the second user operation (e.g., releasing the clutch device 26). The controller may also be configured to receive the release signal from the clutch device 26, and initiate the master-slave operation of at least one wireless operating handle 20 on at least one driven tool 11 in response to the release signal. Based on this, the user may initiate the master-slave operation of the wireless operating handle 20 on the driven tool 11 by performing the second user operation on the clutch device 26.

[0080] Those skilled in the art can understand that when the user moves the hand to the maximum range or wants to adjust the hand position and posture, the user can perform a first user operation on the clutch device 26 to disconnect the master-slave operation of the wireless operating handle 20 on the driven tool 11, and hold the wireless operating handle 20 to move to a suitable position to facilitate subsequent master-slave operations. When moving to a suitable position, the user can perform a second user operation on the clutch device 26 to restore the master-slave operation of the wireless operating handle 20 on the driven tool 11.

[0081] In some embodiments, Figure 2A , Figure 2B and Figure 5As shown, the clutch device 26 may be a dial button provided on the handle body 23, the first user operation may be toggling the dial button, and the second user operation may be releasing the dial button. The present disclosure does not limit the form of the clutch device 26, and the clutch device 26 may include any suitable form, such as a button, a key, etc. When the clutch device 26 includes a button, the first user operation may be pressing the button, and the second user operation may be releasing the button. When the clutch device 26 includes a key, the first user operation may be touching the key, and the second user operation may be touching the key again.

[0082] In some embodiments, at least one wireless operating handle 20 may further include a left operating handle and a right operating handle. The structures of the left operating handle and the right operating handle may be as follows: Figure 2A , Figure 2B or Figure 5 The wireless operating handle 20 shown. The left operating handle can be used to receive the operation of the user's left hand, and the right operating handle can be used to receive the operation of the user's right hand. The at least one driven tool may include a plurality of driven tools, such as Figure 3 or Figure 4 The driven tool 11 and the driven tool 12 are shown. The driven tool 11 may include an arm body 111 and an actuator 112 located at the distal end of the arm body 111, and the driven tool 12 may include an arm body 121 and an actuator 122 located at the distal end of the arm body 121. The surgical station 10 may include a plurality of driving devices, such as a driving device 102 and a driving device 103, and the driven tool 11 and the driven tool 12 may be respectively arranged at the distal ends of the driving device 102 and the driving device 103, and the driving device 102 and the driving device 103 may be used to drive the driven tool 11 and the driven tool 12 to move respectively.

[0083] The left operating handle and the right operating handle can respectively perform master-slave operations on the driven tool 11 and the driven tool 12. The user can operate the left operating handle or the right operating handle to make the driven tool 11 or the driven tool 12 perform a surgical operation respectively, or operate the left operating handle and the right operating handle at the same time to make the driven tool 11 and the driven tool 12 cooperate to perform a surgical operation.

[0084] In some embodiments, the surgical robot system 100 may further include an input device, which may be used to receive user input operations and generate user input information based on the user input operations. The controller may be communicatively connected to the input device, and the controller may also be configured to receive user input information from the input device, and establish a master-slave assignment relationship between the left operating handle and / or the right operating handle and the corresponding slave tool in the plurality of slave tools based on the user input information. Based on this, the user may establish a master-slave assignment relationship between the left operating handle and / or the right operating handle and the slave tool by operating the input device.

[0085] In some embodiments, the input device may include a touch display, which may be disposed on the master control trolley 30, such as on the main column 301. The user may establish a master-slave assignment relationship between the left operating handle and / or the right operating handle and the slave tool by operating the touch display. For example, the user may assign the left operating handle to the slave tool 11 and the right operating handle to the slave tool 12 by operating the touch display. The user may thus perform a master-slave operation on the slave tool 11 by operating the left operating handle, and perform a master-slave operation on the slave tool 12 by operating the right operating handle.

[0086] Those skilled in the art will appreciate that the present disclosure does not limit the form or position of the input device, and the input device may include any suitable form, such as buttons, pedals, etc.; the input device may be located at any suitable position, such as below the display 31 or on the base of the main console cart 30, etc.

[0087] In some embodiments, the left operating handle and the right operating handle may include a first clutch device and a second clutch device, respectively. The user may disconnect the master-slave operation of the left operating handle on the driven tool 11 by performing a first user operation on the first clutch device; and restore the master-slave operation of the left operating handle on the driven tool 11 by performing a second user operation on the first clutch device. The user may also disconnect the master-slave operation of the right operating handle on the driven tool 12 by performing a first user operation on the second clutch device; and restore the master-slave operation of the right operating handle on the driven tool 12 by performing a second user operation on the second clutch device.

[0088] like Figure 1 As shown, in some embodiments, the main control trolley 30 may further include a plurality of pedals (e.g., pedals 32 and 33, etc.), and the plurality of pedals may be disposed on the base 303 of the main control trolley 30. In some embodiments, the plurality of pedals may include an electrocutting pedal and an electrocoagulation pedal, and the user may step on the electrocoagulation pedal or the electrocutting pedal to enable the energy driven tool (e.g., bipolar grasping forceps, monopolar curved scissors, etc.) to realize the energy function and perform the surgical operation of electrocoagulation or electrocutting. The user may also terminate the energy function of the energy driven tool by releasing the electrocoagulation pedal or the electrocutting pedal.

[0089] In some embodiments, the multiple pedals may further include a clutch pedal, and the user may depress the clutch pedal to disconnect the master-slave operation of the wireless operating handle 20 (e.g., the left operating handle and the right operating handle) on the slave tools (e.g., the slave tools 11 and 12). The user may also establish the master-slave operation of the wireless operating handle 20 on the slave tools by releasing the clutch pedal. In some embodiments, the user may depress the clutch pedal and change the master-slave assignment relationship between the left operating handle and the right operating handle and the multiple slave tools by operating the input device, and then release the clutch pedal to perform subsequent master-slave operations.

[0090] Those skilled in the art will appreciate that the master control trolley 30 may also include any other suitable pedals to achieve different functions, such as a pedal for switching the master-slave control object of the wireless operating handle 20 to the field of view pedal of the endoscope 13. The user can step on the field of view pedal to switch to the wireless operating handle 20 to perform master-slave operation on the endoscope 13 to adjust the position of the endoscope 13 in the patient's body. The user can also release the field of view pedal to switch to the wireless operating handle 20 to perform master-slave operation on the slave tool.

[0091] Those skilled in the art will appreciate that the surgical robot system 100 may be any suitable surgical robot system including a laparoscopic surgical robot system.

[0092] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical robot system, characterized in that: include: a surgical station comprising at least one driven tool; At least one wireless operating handle, the wireless operating handle is used to receive user operations, the wireless operating handle includes a posture measurement unit, and the posture measurement unit is used to generate handle motion information based on the user operation; and a controller, wherein the controller is communicatively connected to the at least one wireless operating handle and the operating station, the controller being configured to receive the handle motion information from a posture measurement unit of the at least one wireless operating handle, determine a moving speed and / or a moving angular velocity of the at least one wireless operating handle based on the handle motion information, determine a target speed and / or a target angular velocity of the at least one driven tool based on the moving speed and / or the moving angular velocity of the at least one wireless operating handle, and control the movement of the at least one driven tool based on the target speed and / or the target angular velocity of the at least one driven tool.

2. The surgical robot system according to claim 1, characterized in that: The controller is also configured to determine the target speed of the control point of the at least one driven tool in the control point coordinate system based on the moving speed and speed mapping coefficient of the at least one wireless operating handle, and / or determine the target angular velocity of the control point of the at least one driven tool in the control point coordinate system based on the moving angular velocity and angular velocity mapping coefficient of the at least one wireless operating handle.

3. The surgical robot system according to claim 2, characterized in that: The driven tool includes an arm body and an actuator arranged at the distal end of the arm body. The control point of the driven tool includes the center of the distal cross-section of the arm body. The control point coordinate system includes a first longitudinal coordinate axis extending axially from the proximal end to the distal end with the control point as the center, and a first transverse coordinate axis and a second transverse coordinate axis perpendicular to the first longitudinal coordinate axis.

4. The surgical robot system according to claim 3, characterized in that: The controller is also configured to determine the target speed of the control point of the at least one driven tool in the control point coordinate system based on the moving speed of the at least one wireless operating handle in the handle coordinate system and the speed mapping coefficient, and / or determine the target angular velocity of the control point of the at least one driven tool in the control point coordinate system based on the moving angular velocity of the at least one wireless operating handle in the handle coordinate system and the angular velocity mapping coefficient.

5. The surgical robot system according to claim 4, characterized in that: The wireless operating handle comprises: A handle body, the handle body extending from the proximal end to the distal end; And a first clamp and a second clamp, wherein the first clamp and the second clamp are respectively rotatably connected to the handle body and cooperate with each other to achieve opening and closing.

6. The surgical robot system according to claim 5, characterized in that: The origin of the handle coordinate system is located at the proximal end of the handle body, and the handle coordinate system includes a second longitudinal coordinate axis collinear with the central axis of the handle body, and a third transverse coordinate axis and a fourth transverse coordinate axis perpendicular to the second longitudinal coordinate axis.

7. The surgical robot system according to claim 6, characterized in that: The controller is also configured to determine the target speed of the control point of the at least one driven tool along the first longitudinal coordinate axis based on the movement speed of the at least one wireless operating handle along the second longitudinal coordinate axis and the speed mapping coefficient, and / or determine the target angular velocity of the control point of the at least one driven tool around the first longitudinal coordinate axis based on the movement angular velocity of the at least one wireless operating handle around the second longitudinal coordinate axis and the angular velocity mapping coefficient.

8. The surgical robot system according to claim 1, characterized in that: The operating station further comprises at least one driving device, wherein the driven tool is arranged at the distal end of the driving device. The controller is communicatively connected to the at least one driving device, and the controller is further configured to generate a motion control instruction for the at least one driving device based on a target speed and / or a target angular speed of the at least one driven tool.

9. The surgical robot system according to claim 5, characterized in that: The wireless operating handle further includes a touch sensor, and the touch sensor is used to generate a touch signal in response to the wireless operating handle receiving a user touch.

10. The surgical robot system according to claim 9, characterized in that: Also included is a display, the display being used to display an image of the surgical field; The controller is communicatively connected to the display, and is also configured to receive a touch signal from the at least one wireless operating handle, and in response to the touch signal, control the display to display an image of a control point of the at least one driven tool and an indicator line of the first longitudinal coordinate axis extending from the control point to the distal end.

11. The surgical robot system according to claim 10, characterized in that: The controller is further configured to control the image of the control point and the movement of the indication line based on the handle movement information in response to the touch signal.

12. The surgical robot system according to claim 9, characterized in that: The touch sensor includes a first touch sensor and a second touch sensor respectively disposed on the first clamp and the second clamp; The controller is communicatively connected with the first touch sensor and / or the second touch sensor.

13. The surgical robot system according to claim 9, characterized in that: The wireless operating handle further includes an opening and closing sensor, and the opening and closing sensor is used to generate a confirmation signal in response to the wireless operating handle being pinched by a user.

14. The surgical robot system according to claim 13, characterized in that: The controller is further configured to receive a touch signal and a confirmation signal from the at least one wireless operating handle, and initiate a master-slave operation of the at least one driven tool by the at least one wireless operating handle in response to the touch signal and the confirmation signal.

15. The surgical robot system according to claim 14, characterized in that: The at least one wireless operating handle further includes a clutch device, the clutch device being used to receive a first user operation and generate a trigger signal based on the first user operation; The controller is further configured to receive a trigger signal from the clutch device, and disconnect the master-slave operation of the at least one wireless operating handle on the at least one driven tool in response to the trigger signal.

16. The surgical robot system according to claim 15, characterized in that: The clutch device is further used to receive a second user operation and generate a release signal based on the second user operation; The controller is further configured to receive a release signal from the clutch device, and initiate a master-slave operation of the at least one driven tool by the at least one wireless operating handle in response to the release signal.

17. The surgical robot system according to claim 8, characterized in that: The at least one wireless operating handle includes a left operating handle and a right operating handle, and the at least one driven tool includes a plurality of driven tools.

18. The surgical robot system according to claim 17, characterized in that: Also included is an input device, the input device is used to receive a user input operation and generate user input information based on the user input operation; The controller is communicatively connected to the input device, and is also configured to receive the user input information from the input device, and establish a master-slave assignment relationship between the left operating handle and / or the right operating handle and the corresponding slave tools among the multiple slave tools based on the user input information.

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