Surgical robot and control method thereof

Abstract

The invention relates to the technical field of medical instruments, and discloses a surgical robot and a control method thereof, the surgical robot comprises a trolley, the trolley is provided with a mechanical arm, and the mechanical arm comprises a first arm and a second arm; the surgical robot further comprises a tail end tool, the tail end tool comprises a tail end execution tool and / or a tail end scanning tool, the first arm and the second arm are both used for being detachably connected with the tail end execution tool, and the tail end scanning tool comprises a transmitting end and a receiving end. One of the first arm and the second arm is also used for being detachably connected with the transmitting end, and the other one of the first arm and the second arm is also used for being detachably connected with the receiving end. According to the surgical robot and the control method thereof, the problem that a traditional robot occupies a large space can be solved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a surgical robot and a control method thereof. Background Art

[0002] With the development of science and technology, various robots are gradually used in medical operations. In order to meet the needs of surgery, the functions of robots are becoming more and more abundant.

[0003] Traditional surgical robots, such as orthopedic surgical robot products, usually consist of three parts: robot operating system, optical navigation system and planning navigation system. In addition, in order to achieve intraoperative imaging and preoperative CT (Computed Tomography, electronic computer tomography registration), it is also necessary to equip related scanning equipment, which takes up a lot of space. The operating trolleys in traditional surgical robots are mostly single-arm, requiring more manual participation and limited functions; while multi-arm systems are often equipped with multiple trolleys, which take up more space and are complex to control. Summary of the invention

[0004] The present application provides a surgical robot and a control method thereof, which can solve the problem that traditional robots occupy a large amount of space.

[0005] In a first aspect, an embodiment of the present application provides a surgical robot, comprising a trolley, on which a robotic arm is provided, the robotic arm comprising a first arm and a second arm; the surgical robot also comprises an end tool, the end tool comprising an end execution tool and / or an end scanning tool, the first arm and the second arm are both used for detachable connection with the end execution tool, the end scanning tool comprises a transmitting end and a receiving end, one of the first arm and the second arm is also used for detachable connection with the transmitting end, and the other of the first arm and the second arm is also used for detachable connection with the receiving end.

[0006] In some embodiments, the robotic arm further includes a third arm, one of the transmitting end and the receiving end is detachably connected to the third arm, and the other of the transmitting end and the receiving end is detachably connected to the first arm or the second arm.

[0007] In some of the embodiments, a transverse slide rail and a longitudinal slide rail are provided on the trolley, the third arm can slide in a horizontal direction on the transverse slide rail, and the third arm can slide in a vertical direction relative to the trolley on the longitudinal slide rail.

[0008] In some embodiments, the end-effector includes an actuator and a positioner, the actuator is used to perform a predetermined execution operation; the positioner is used to perform a predetermined positioning operation when the actuator performs the predetermined execution operation.

[0009] In some embodiments, the actuator includes a first actuator and a second actuator that cooperate with each other;

[0010] The first arm has a degree of freedom greater than or equal to six, and the first arm is used to mount the first actuator;

[0011] The second arm has a degree of freedom greater than or equal to six. The second arm is used to install the positioner or the second actuator. The second actuator cooperates with the first actuator installed on the first arm to perform the predetermined execution operation.

[0012] In some embodiments, the actuator includes a joint prosthesis impactor, a Kirschner wire impactor or a joint screw impactor, and the positioner includes a Kirschner wire positioner.

[0013] In some embodiments, the robotic arm further includes a third arm, and the degree of freedom of the third arm is greater than or equal to three; the third arm is used to support and fix the target part of the target object.

[0014] In some embodiments, the surgical robot further includes an optical navigation system, a planning navigation system and the surgical robot as described in the first aspect.

[0015] In a second aspect, an embodiment of the present application provides a control method of a surgical robot as described in the first aspect, comprising:

[0016] During preoperative scanning or intraoperative scanning, the transmitting end and the receiving end are respectively installed on different arms of the robotic arm to perform scanning to obtain a medical image of a target part of a target object;

[0017] and / or,

[0018] When performing a predetermined execution operation, an actuator is installed on the first arm and drives the actuator to perform the predetermined execution operation, and a positioner is installed on the second arm and drives the positioner to perform the predetermined positioning operation.

[0019] In some embodiments, when performing the predetermined operation, the control method of the surgical robot further includes:

[0020] The third arm is controlled to support and fix the target part of the target object.

[0021] The surgical robot provided in the embodiment of the present application has the following beneficial effects: since the surgical robot includes a trolley, a robotic arm is provided on the trolley, the robotic arm includes a first arm and a second arm, and the surgical robot also includes an end tool, the end tool includes an end execution tool and / or an end scanning tool, the first arm and the second arm are both used for detachable connection with the end execution tool, the end scanning tool includes a transmitting end and a receiving end, one of the first arm and the second arm is also used for detachable connection with the transmitting end, and the other of the first arm and the second arm is also used for detachable connection with the receiving end, so the first arm and the second arm can cooperate with the end to perform surgical operations on the target object, there is no need to set up multiple trolleys, less space is occupied and the control is simple, and / or, the first arm and the second arm can cooperate with the end scanning tool to perform preoperative scanning or intraoperative scanning on the target object, there is no need to set up additional scanning equipment, less space is occupied, thereby solving the problem of traditional robots occupying more space.

[0022] The beneficial effects of the control method of the surgical robot provided in the present application compared to the prior art are similar to the beneficial effects of the surgical robot provided in the present application compared to the prior art, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 This is a schematic diagram of the structure of a surgical robot in one of the embodiments of the present application;

[0025] Figure 2 is Figure 1 The schematic diagram of the structure of the surgical robot after the end scanning tool is installed;

[0026] Figure 3 yes Figure 1 A structural schematic diagram of another state of the surgical robot shown;

[0027] Figure 4 is a flowchart of a control method for a surgical robot in one of the embodiments of the present application;

[0028] Figure 5 is a flowchart of a control method for a surgical robot in another embodiment of the present application;

[0029] Figure 6 yes Figure 5 A flowchart of surgical operations in the control method of a surgical robot.

[0030] The meanings of the markings in the figure are as follows:

[0031] 100, surgical robot;

[0032] 10, trolley;

[0033] 11, horizontal slide rail; 12, longitudinal slide rail;

[0034] 20, robotic arm;

[0035] 21, first arm; 22, second arm; 23, third arm;

[0036] 30, end scanning tool;

[0037] 31, transmitting end; 32, receiving end. Detailed implementation manners

[0038] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0040] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0041] Reference to "an embodiment", "some embodiments" or "embodiments" in the description of the present application means that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in an embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" and the like that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. In addition, in one or more embodiments, the specific features, structures or characteristics may be combined in any suitable manner.

[0042] In order to illustrate the technical solution of the present application, a description is given below with reference to specific drawings and embodiments.

[0043] Traditional surgical robots, such as orthopedic surgical robot products, usually consist of three parts: robot operating system, infrared positioning system, and surgical planning and navigation system. In addition, in order to achieve intraoperative imaging and preoperative CT (Computed Tomography, electronic computer tomography registration), it is also necessary to equip related scanning equipment, which takes up a lot of space. The operating trolleys in traditional surgical robots are mostly single-arm, requiring more manual participation and limited functions; while multi-arm systems are often equipped with multiple trolleys, which take up more space and are complex to control.

[0044] To solve the above problems, please refer to Figure 1 , Figure 2 and Figure 3 In the first aspect, the embodiment of the present application provides a surgical robot 100, including a trolley 10, on which a robotic arm 20 is provided, the robotic arm 20 includes a first arm 21 and a second arm 22; the surgical robot 100 also includes an end tool, the end tool includes an end execution tool and / or an end scanning tool 30, the first arm 21 and the second arm 22 are both used for detachable connection with the end execution tool, the end scanning tool 30 includes a transmitting end 31 and a receiving end 32, one of the first arm 21 and the second arm 22 is also used for detachable connection with the transmitting end 31, and the other of the first arm 21 and the second arm 22 is also used for detachable connection with the receiving end 32.

[0045] It is understandable that the end effector can be connected to the first arm 21, the second arm 22, or the first arm 21 and the second arm 22 at the same time. The end effector may include a commonly used surgical tool kit, and the end effector is used to perform a predetermined operation. The first arm 21 and the second arm 22 can be detachably connected to the end effector by means of snap connection, snap connection, bolt or screw connection, magnetic connection, etc. The first arm 21 and the second arm 22 can be detachably connected to the transmitting end 31 or the receiving end 32 by means of snap connection, snap connection, bolt or screw connection, magnetic connection, etc.

[0046] The transmitting end 31 is connected to the first arm 21, and the receiving end 32 is connected to the second arm 22; or, the transmitting end 31 is connected to the second arm 22, and the receiving end 32 is connected to the first arm 21. Both methods can perform intraoperative scanning (such as CT scanning, etc.) on the target object.

[0047] The surgical robot 100 provided by the embodiments of the present application. Since the surgical robot 100 includes a trolley 10, a robotic arm 20 is provided on the trolley 10. The robotic arm 20 includes a first arm 21 and a second arm 22. And the surgical robot 100 further includes an end effector, and the end effector includes an end execution tool and / or an end scanning tool 30. Both the first arm 21 and the second arm 22 are used for detachably connecting with the end execution tool. The end scanning tool 30 includes a transmitting end 31 and a receiving end 32. One of the first arm 21 and the second arm 22 is also used for detachably connecting with the transmitting end 31, and the other of the first arm 21 and the second arm 22 is also used for detachably connecting with the receiving end 32. Therefore, the first arm 21 and the second arm 22 can cooperate with the end execution tool to perform surgical operations on the target object, without the need to set up multiple trolleys, occupying less floor space and having simple control. And / or, the first arm 21 and the second arm 22 can cooperate with the end scanning tool 30 to perform preoperative scanning or intraoperative scanning on the target object, without the need to additionally set up scanning equipment, occupying less floor space, thus solving the problem that traditional robots occupy more floor space.

[0048] Please continue to refer to Figure 1 、 Figure 2 and Figure 3 , in some of the embodiments, the robotic arm 20 further includes a third arm 23. One of the transmitting end 31 and the receiving end 32 is detachably connected to the third arm 23, and the other of the transmitting end 31 and the receiving end 32 is detachably connected to the first arm 21 or the second arm 22.

[0049] By adopting the above solution, one of the first arm 21, the second arm 22 and the third arm 23 can be connected to the transmitting end 31 as needed, and the other of the first arm 21, the second arm 22 and the third arm 23 can be connected to the receiving end 32, so as to make the scanning path shorter.

[0050] Optionally, the third arm 23 is used for detachably connecting with the end execution tool. With such a setting, at least two of the first arm 21, the second arm 22 and the third arm 23 can be used and cooperate with the end execution tool to perform surgical operations, so as to better perform surgical operations.

[0051] Wherein, the third arm 23 can be detachably connected to the transmitting end 31 or the receiving end 32 by means of clamping, snap connection, bolt or screw connection, magnetic attraction connection, etc. The third arm 23 can be detachably connected to the end execution tool by means of clamping, snap connection, bolt or screw connection, magnetic attraction connection, etc.

[0052] Optionally, the trolley 10 is provided with a transverse slide rail 11 and a longitudinal slide rail 12, the third arm 23 can slide in the horizontal direction on the transverse slide rail 11, and the third arm 23 can slide in the vertical direction relative to the trolley 10 on the longitudinal slide rail 12. Such a configuration can make the movement range of the third arm 23 larger, so that when the receiving end 32 or the transmitting end 31 is connected to the third arm 23, a larger range of the target object can be scanned.

[0053] It should be noted that the number of the transverse slide rails 11 and the number of the longitudinal slide rails 12 can be set to one or more, and the number of the transverse slide rails 11 and the number of the longitudinal slide rails 12 can be adjusted according to actual changes.

[0054] In this embodiment, three transverse slide rails 11 are provided and one longitudinal slide rail 12 is provided to facilitate the movement of the third arm 23 to different positions. Through the above configuration, the difficulty of system control and the cost can be reduced without affecting the surgical workflow.

[0055] The conventional surgical robot is only provided with a single mechanical arm 20, which can only perform operations such as grasping, and requires a lot of manual cooperation from the doctor, such as knocking, turning, drilling, etc. Due to the doctor's experience and condition, there are often problems such as low accuracy and poor stability.

[0056] Please refer to Figure 1 , Figure 2 and Figure 3 In some embodiments provided in the present application, the end-effector includes an actuator and a positioner, the actuator is used to perform a predetermined execution operation, and the positioner is used to perform a predetermined positioning operation when the actuator performs the predetermined execution operation.

[0057] By adopting the above solution, after the target object is scanned by the robot arm 20 and the end scanning tool 30 , the end effector tool can continue to perform a predetermined execution operation and a predetermined positioning operation on the target tool.

[0058] It is understandable that the end scanning tool 30 can be removed from the robot arm 20 first, and then the end effector can be installed on the robot arm 20. Alternatively, the end scanning tool 30 and the end effector can be installed on the robot arm 20 at the same time. Executing the predetermined operation includes a predetermined execution operation and a predetermined positioning operation.

[0059] Optionally, the actuator includes a first actuator and a second actuator that cooperate with each other.

[0060] The degree of freedom of the first arm 21 is greater than or equal to six, and the first arm 21 is used to install the first actuator.

[0061] The second arm 22 has a degree of freedom greater than or equal to six, and is used to mount a positioner or a second actuator, which cooperates with the first actuator mounted on the first arm 21 to perform a predetermined execution operation. In this way, the first arm 21 and the second arm 22 can cooperate with each other to perform a predetermined execution operation and a predetermined positioning operation on the target device.

[0062] Optionally, the actuator includes a joint prosthesis driver, a Kirschner wire driver or a joint screw driver, and the positioner includes a Kirschner wire positioner. With such arrangement, the first arm 21 and the second arm 22 can cooperate with each other to perform predetermined execution operations and predetermined positioning operations on a variety of target instruments.

[0063] It is understandable that the joint prosthesis driver, the Kirschner wire driver and the joint screw driver can all be percussion hammers, etc. The target device can be a Kirschner wire, a joint screw and a joint prosthesis, etc. The specific content of the predetermined execution operation and the specific content of the predetermined positioning operation are related to the specific device of the actuator and the target device.

[0064] For example, when using the surgical robot 100 to implant a hip prosthesis, the first arm 21 is used to install a first actuator, which is a hammer, and the second arm 22 is used to install a second actuator, which is an implanter equipped with a prosthesis. The two are used together to perform the hip prosthesis implantation operation.

[0065] For example, the target instrument is a Kirschner wire, the actuator is a Kirschner wire driver, and the positioner is a Kirschner wire positioner. The first arm 21 first drives the Kirschner wire driver to knock the Kirschner wire positioner installed on the second arm 22, and then the first arm 21 drives the Kirschner wire driver to knock the Kirschner wire fixed to the second arm 22, and the Kirschner wire is positioned by the previously inserted Kirschner wire positioner. Alternatively, the target instrument is an articular screw, the actuator can be an articular screw driver, and the second arm 22 is provided with a second operating member at the end, and the second operating member directly holds and positions the articular screw.

[0066] Optionally, the robot arm 20 further includes a third arm 23, the degree of freedom of the third arm 23 is greater than or equal to three; the third arm 23 is used to support and fix the target part of the target object. In this way, when the first arm 21 and the second arm 22 cooperate with each other to perform a predetermined execution operation and a predetermined positioning operation on the target instrument, the target part of the target object can be supported and fixed, and the target object can be specifically a patient.

[0067] It should be noted that the first arm 21, the second arm 22 and the third arm 23 can all be multi-joint six-degree-of-freedom robotic arms 20 to complete the surgical operation to the maximum extent; or, according to surgical needs, any one or two of the first arm 21, the second arm 22 and the third arm 23 can be six-axis robotic arms 20, and the rest can be three-axis robotic arms 20.

[0068] Please refer to Figure 1 , Figure 2 and Figure 3 In some of these embodiments, the surgical robot also includes an optical navigation system and / or a planning navigation system.

[0069] It should be noted that the optical navigation system can be an infrared positioning system, which can emit infrared rays to obtain the relative coordinates of the target object, the trolley 10, the robotic arm 20 and the end tool, etc., to achieve the positioning function. The planning navigation system can formulate the surgical process and perform operations such as the movement of the robotic arm 20 in steps according to the surgical process. The robotic arm 20 can move under the control of the planning navigation system and cooperate with the end tool to achieve functions such as scanning and surgical operations.

[0070] By adopting the above solution, the relative coordinates of the target object, the trolley 10, the robot arm 20 and the end tool can be obtained to realize the positioning function, and the surgical process can be formulated through the planning navigation system.

[0071] Optionally, the optical navigation system and the planning navigation system are both arranged on the trolley 10. Such an arrangement can make the structure of the surgical robot more compact and occupy a smaller area.

[0072] Please refer to Figures 1 to 4 In a second aspect, an embodiment of the present application provides a control method for a surgical robot as in the first aspect, comprising:

[0073] During preoperative scanning or intraoperative scanning, the transmitting end 31 and the receiving end 32 are respectively installed on different arms of the robot arm 20 to perform scanning to obtain a medical image of a target part of the target object.

[0074] Specifically, the medical image of the target part of the target object obtained by the preoperative scan may be a preoperative 3D image. The medical image of the target part of the target object obtained by the intraoperative scan may be an intraoperative 3D image.

[0075] Among them, one of the first arm 21 and the second arm 22 can be connected to the transmitting end 31 of the terminal scanning tool 30, and the other of the first arm 21 and the second arm 22 can be connected to the receiving end 32 of the terminal scanning tool 30. The planning navigation system will remind the doctor to install the terminal scanning tool 30 corresponding to the end of the mechanical arm 20. The transmitting end 31 and the receiving end 32 can both be installed at the end of the mechanical arm 20. The image data obtained by the receiving end 32 can be transmitted to the planning navigation system in real time for registration in subsequent steps.

[0076] It can be understood that when the robot 20 includes the third arm 23, one of the first arm 21, the second arm 22 and the third arm 23 can be connected to the transmitting end 31, and the other one of the first arm 21, the second arm 22 and the third arm 23 can be connected to the receiving end 32.

[0077] and / or,

[0078] When performing a predetermined execution operation, an actuator is installed on the first arm 21 and drives the actuator to perform the predetermined execution operation, and a positioner is installed on the second arm 22 and drives the positioner to perform a predetermined positioning operation.

[0079] Specifically, according to the surgical process planned by the planning and navigation system, specific surgical operations can be completed step by step. For one surgical operation, such as implanting a joint prosthesis in some orthopedic surgeries, the planning and navigation system will automatically select the robotic arm 20 and the planned motion path, and remind the doctor to replace the end effector at the end of the corresponding robotic arm 20. After each step is completed, the next surgical operation is performed according to the planned surgical process until the entire surgical process is completed.

[0080] It is understandable that when performing intraoperative scanning, the end effector pre-installed on the robot arm 20 can be removed from the robot arm 20 first, and then one of the first arm 21 and the second arm 22 can be connected to the transmitting end 31 of the end scanning tool 30, and the other of the first arm 21 and the second arm 22 can be connected to the receiving end 32 of the end scanning tool 30. This method requires that the end effector be reinstalled on the robot arm 20 before performing the predetermined operation; or, there is no need to remove the end effector from the robot arm 20, and one of the first arm 21 and the second arm 22 can be directly connected to the transmitting end 31 of the end scanning tool 30, and the other of the first arm 21 and the second arm 22 can be connected to the receiving end 32 of the end scanning tool 30, so that the end scanning tool 30 and the end effector can be installed on the robot arm 20 at the same time.

[0081] Among them, the first arm 21 can be used as the active arm, mainly imitating the doctor's right hand, to perform more complex predetermined execution operations such as knocking and drilling. The first arm 21 can be used to drive the actuator to perform the predetermined execution operations, and the second arm 22 can be used as the auxiliary arm, mainly imitating the doctor's left hand, playing a cooperating role, and driving the locator to perform the predetermined positioning operations.

[0082] It can be understood that when the predetermined execution operation is a knocking operation, the actuator may be a knocking hammer, the target device may be a joint prosthesis, and the second arm 22 may perform a predetermined positioning operation on the joint prosthesis.

[0083] The control method of the surgical robot provided in the embodiment of the present application includes an optical navigation system, a planning navigation system and a surgical robot 100, wherein the surgical robot 100 includes a trolley 10, a mechanical arm 20 is arranged on the trolley 10, and the mechanical arm 20 includes a first arm 21 and a second arm 22, and the surgical robot 100 also includes an end tool, the end tool includes an end execution tool and / or an end scanning tool 30, the first arm 21 and the second arm 22 are both used for detachably connecting with the end execution tool, the end scanning tool 30 includes a transmitting end 31 and a receiving end 32, the first arm 21 and the second arm 22 are used for detachably connecting with the end execution tool, the end scanning tool 30 includes a transmitting end 31 and a receiving end 32, and the first arm 21 and the second arm 2 2 is also used for detachably connecting to the transmitting end 31, and the other of the first arm 21 and the second arm 22 is also used for detachably connecting to the receiving end 32, so the first arm 21 and the second arm 22 can cooperate with the end execution tool to perform surgical operations on the target object, without the need to set up multiple trolleys, occupying less space and simple to control, and / or, the first arm 21 and the second arm 22 can cooperate with the end scanning tool 30 to perform preoperative scanning or intraoperative scanning on the target object, without the need to set up additional scanning equipment, occupying less space, thereby solving the problem of traditional robots occupying more space.

[0084] Optionally, when performing a predetermined operation, the control method of the surgical robot further includes: controlling the third arm 23 to support and fix the target part of the target object. In this way, when the first arm 21 and the second arm 22 cooperate with each other to perform a predetermined operation and a predetermined positioning operation on the target instrument, the target part of the target object can be supported and fixed.

[0085] In this embodiment, the control method of the surgical robot includes:

[0086] S100 : Using an optical navigation system to obtain relative coordinates of a target object, the trolley 10 , the robot arm 20 , and an end tool mounted on the robot arm 20 .

[0087] Specifically, the infrared positioning system as an optical navigation system needs to be placed in a suitable position so that the infrared rays it emits can cover the position to be positioned, and then the tracker structure is fixed to the structure where the relative coordinates need to be obtained, such as the target object, the trolley 10, the robotic arm 20, and the end tool installed on the robotic arm 20. Then the infrared positioning system emits infrared rays, and the tracker structure has a reflection function, which reflects the infrared rays back to the infrared positioning system. The spatial coordinate transformation is performed through the algorithm to obtain the relative coordinates of the fixed positions of each tracker structure. The spatial coordinate transformation algorithm is a prior art and will not be described in detail.

[0088] S200: Using the planning navigation system and formulating a surgical procedure according to the preoperative 3D image of the target part of the target object.

[0089] Specifically, the surgical workflow can be planned according to the preoperative 3D image of the target object and the different surgical procedures, such as intraoperative target object scanning, image registration, and controlling the robotic arm 20 to complete a series of actual surgical operations. The planning navigation system will prompt the doctor to perform operations that require manual cooperation at each step, and is also responsible for controlling the robotic arm 20 to perform the predetermined surgical operations.

[0090] It can be understood that preoperative 3D images can be obtained through preoperative scanning. When performing preoperative scanning, the transmitting end 31 and the receiving end 32 can be respectively installed on different arms of the robot arm 20, and scanning is performed to obtain the preoperative 3D image of the target part of the target object, that is, one of the first arm 21 and the second arm 22 is connected to the transmitting end 31 of the end scanning tool 30, and the other of the first arm 21 and the second arm 22 is connected to the receiving end 32 of the end scanning tool 30, and scanning is performed to obtain the preoperative 3D image of the target part of the target object.

[0091] The order of step S100 and step S200 can be interchanged.

[0092] S300: Perform intraoperative scanning to obtain an intraoperative 3D image of a target part of a target object.

[0093] Specifically, the transmitting end 31 and the receiving end 32 can be respectively installed on different arms of the robot arm 20 to perform scanning to obtain an intraoperative 3D image of the target part of the target object, that is, one of the first arm 21 and the second arm 22 is connected to the transmitting end 31 of the end scanning tool 30, and the other of the first arm 21 and the second arm 22 is connected to the receiving end 32 of the end scanning tool 30 to perform scanning to obtain an intraoperative 3D image of the target part of the target object.

[0094] Among them, the planning navigation system will remind the doctor to install the end scanning tool 30 corresponding to the end of the robot arm 20. The transmitting end 31 and the receiving end 32 can both be installed at the end of the robot arm 20. The image data obtained by the receiving end 32 can be transmitted to the planning navigation system in real time for registration in subsequent steps. After the doctor connects one of the first arm 21 and the second arm 22 to the transmitting end 31 of the end scanning tool 30, and connects the other of the first arm 21 and the second arm 22 to the receiving end 32 of the end scanning tool 30, a start command can be initiated, and the corresponding robot arm 20 will automatically move to the specified position according to the predetermined path, and adjust the position and posture of the transmitting end 31 and the receiving end 32. Then the transmitting end 31 emits rays, and the receiving end 32 completes the image transmission, completing the intraoperative target object scanning task.

[0095] S400: Perform image registration based on the preoperative 3D image and the intraoperative 2D image.

[0096] Specifically, by registering the preoperative 3D image and the intraoperative 2D image, and combining the relative coordinates of the target object, the trolley 10, the robotic arm 20, the end effector, etc. obtained in step S100, the workflow planned preoperatively can be corresponded to the coordinates of the target object, so as to plan the movement path of each step of the robotic arm 20.

[0097] S500: According to the surgical procedure, use the first arm 21 and the second arm 22 and cooperate with the end effector to perform a predetermined execution operation on the target part of the target object.

[0098] Specifically, when performing the predetermined execution operation, an actuator can be installed on the first arm 21 to drive the actuator to perform the predetermined execution operation, and a locator can be installed on the second arm 22 to drive the locator to perform the predetermined positioning operation.

[0099] Among them, according to the surgical procedure planned by the planning and navigation system, the specific surgical operations are gradually completed. For one surgical operation, such as implanting an articular prosthesis in some orthopedic surgeries, the planning and navigation system will automatically select the robotic arm 20 and the planned movement path, and remind the doctor to replace the end effector at the end of the corresponding robotic arm 20 respectively. After each step is completed, the next surgical operation is performed according to the planned surgical procedure until the entire surgical process is completed.

[0100] It should be noted that after all the above-mentioned planned workflows are completed, the robotic arm 20 automatically resets. The doctor sutures the wound if the wound needs to be sutured, and then the surgery is completed.

[0101] In order to make the walking path of the end scanning tool 30 shorter, one of the first arm 21, the second arm 22 and the third arm 23 is connected to the transmitting end 31 of the end scanning tool 30, and the other of the first arm 21, the second arm 22 and the third arm 23 is connected to the receiving end 32 of the end scanning tool 30, including:

[0102] First, obtain the position information of the target part of the target object.

[0103] Specifically, the position information of the target part of the target object that needs to be scanned can be obtained through the infrared positioning system.

[0104] Secondly, according to the position information of the target part, a first scanning path, a second scanning path and a third scanning path are simulated, wherein the first scanning path is the sum of the path taken by the transmitting end 31 and the path taken by the receiving end 32 during the intraoperative scanning of the target part of the target object using the transmitting end 31 and the receiving end 32 when one of the transmitting end 31 and the receiving end 32 is connected to the first arm 21 and the other of the transmitting end 31 and the receiving end 32 is connected to the third arm 23, and the second scanning path is the sum of the path taken by the transmitting end 31 and the path taken by the receiving end 32 when one of the transmitting end 31 and the receiving end 32 is connected to the second arm 22 and the transmitting end 31 is connected to the third arm 23. When the other of the transmitting end 31 and the receiving end 32 is connected to the third arm 23, the path traveled by the transmitting end 31 and the path traveled by the receiving end 32 during the intraoperative scanning of the target part of the target object using the transmitting end 31 and the receiving end 32. The third scanning path is the sum of the path traveled by the transmitting end 31 and the path traveled by the receiving end 32 during the intraoperative scanning of the target part of the target object using the transmitting end 31 and the receiving end 32 when one of the transmitting end 31 and the receiving end 32 is connected to the first arm 21 and the other of the transmitting end 31 and the receiving end 32 is connected to the second arm 22.

[0105] Next, determining the relative lengths of the first scanning path, the second scanning path, and the third scanning path;

[0106] Finally, if the first scanning path is shorter than the second scanning path and shorter than the third scanning path, the first arm 21 of one of the transmitting end 31 and the receiving end 32 is connected to the phase, and the other of the transmitting end 31 and the receiving end 32 is connected to the third arm 23; if the second scanning path is shorter than the first scanning path and shorter than the third scanning path, the second arm 22 of one of the transmitting end 31 and the receiving end 32 is connected to the phase, and the other of the transmitting end 31 and the receiving end 32 is connected to the third arm 23; if the third scanning path is shorter than the first scanning path and shorter than the second scanning path, the first arm 21 of one of the transmitting end 31 and the receiving end 32 is connected to the phase, and the other of the transmitting end 31 and the receiving end 32 is connected to the second arm 22.

[0107] By adopting the above solution, the travel path of the end scanning tool 30 can be shortened, thus saving scanning time.

[0108] It should be noted that, based on the position information of the target part, simulation of the first scanning path, the second scanning path and the third scanning path and judgment of the relative lengths of the first scanning path, the second scanning path and the third scanning path can be achieved through planning of the navigation system. After the planning of the navigation system outputs the judgment result, the doctor can be reminded to install the end scanning tool 30 on the corresponding robotic arm 20.

[0109] It is understandable that the judgment result output by the planning navigation system should avoid interference with the robot arm 20.

[0110] Please refer to Figure 2 , Figure 3 , Figure 5 and Figure 6 When the surgical robot provided in the above embodiment is used for "minimally invasive sacroiliac joint screw insertion", the control method of the surgical robot includes:

[0111] S100 : Using an optical navigation system to obtain relative coordinates of a target object, the trolley 10 , the robot arm 20 , and an end tool mounted on the robot arm 20 .

[0112] Specifically, an infrared positioning system is needed as an optical navigation system to identify and locate the target object, the trolley 10, the robotic arm 20 and the tracker structure on the end effector tool to be used, and obtain their real-time relative coordinates, wherein the end effector tool includes but is not limited to the end scanning tool 30 and the end effector tool, and the end effector tool can be a Kirschner wire locator, a percussion hammer, a Kirschner wire injector and a joint screw injector, etc.

[0113] S200: Using the planning navigation system and formulating a surgical procedure according to the preoperative 3D image of the target part of the target object.

[0114] Specifically, the surgical procedure includes: intraoperative target object scanning - image registration - minimally invasive incision - bone surface positioning - K-wire insertion - screw insertion - K-wire removal - robotic arm 20 resetting - wound suturing to complete the operation.

[0115] S300: Perform intraoperative scanning to obtain an intraoperative 3D image of a target part of a target object.

[0116] Specifically, the target object for sacroiliac joint surgery generally adopts the supine position, and it is often necessary to simultaneously capture frontal (front-to-back direction of the target object) and lateral (left-to-right direction of the target object) images. Then, the planning and navigation system will sequentially complete the frontal and lateral image captures. First, the frontal image is captured. According to the position of the target object and the position of the robotic arm 20 in step S100, a suitable robotic arm 20 is selected. For example, the second arm 22 is the installation arm for the optimal transmitter 31 planned by the system, and the third arm 23 serves as the fixed arm for the receiver 32. Then, the movement paths of the second arm 22 and the third arm 23 are planned. After the planning is completed, the planning and navigation system will remind the doctor to install the transmitter 31 tool at the end of the second arm 22 and the receiver 32 tool at the end of the third arm 23. After the installation is completed, the doctor issues a start command through an instruction, and then the second arm 22 automatically moves along the planned path to the predetermined position. After that, the doctor manually pulls the third arm 23 to move along the transverse slide rail 11 and the longitudinal slide rail 12 on the trolley 10 to the planned position, and at the same time adjusts the pose of the end scanning tool 30. The infrared positioning system will compare the current pose of the end scanning tool 30 with the pre-set pose until it is adjusted to the preset state. Then, the frontal image is captured. After the capture is completed, the receiver 32 transmits the image to the planning and navigation system, and thus the frontal image capture is completed. Next is the capture of the lateral image. The process is basically the same as that of the frontal image, except that the selected robotic arm 20 and the movement path may be different. After the lateral image capture is completed, the receiver 32 transmits the image to the planning and navigation system.

[0117] S400: Perform image registration based on the preoperative 3D image and the intraoperative 2D image.

[0118] Specifically, register the frontal and lateral images of the target object obtained in step S300 above and the preoperative 3D image (which can be the CT image of the target object before surgery), and a registration algorithm in the prior art can be used.

[0119] S500: According to the surgical procedure, use the first arm 21 and the second arm 22 and cooperate with the end effector tool to perform a predetermined execution operation on the target part of the target object.

[0120] Specifically, the predetermined execution operations mainly include minimally invasive incision, bone surface positioning, Kirschner wire insertion, screw insertion, Kirschner wire removal, and robotic arm 20 reset and wound suture and other operations planned in step S200. Some of these operations are completely completed by the doctor, such as wound suture. Some operations require the doctor to perform the main operation and the robotic arm 20 to assist, such as minimally invasive incision. More operations are basically assisted by the first arm 21 and the second arm 22, such as bone surface positioning, etc. In this embodiment, taking bone surface positioning as an example, how the first arm 21 and the second arm 22 assist in completion will be introduced. The remaining surgical operations are similar and will not be elaborated.

[0121] Wherein, bone surface positioning refers to the process of knocking the Kirschner wire locator into the bone surface. When performing this operation, the planning navigation system will plan the motion path of the first arm 21 and the second arm 22 and the subsequent knocking force and knocking number. After planning is completed, the system will remind the doctor to install the knock hammer and the Kirschner wire locator at the first arm 21 and the second arm 22 ends respectively. After installation, the doctor issues a start command by instruction, then the first arm 21 will automatically move to the predetermined position (the position where the target part of the target object is located) according to the planned path, and the end execution tool posture is adjusted at the same time. Further, the first arm 21 will perform a knocking action so that the knock hammer hits the Kirschner wire locator, and the predetermined knocking force and knocking number are completed. Of course, in this process, the doctor can terminate the process in advance by instruction to prevent excessive knocking and damage the target object bone structure. So far, the bone surface positioning operation is completed, and the system will repeat step S500 to perform the next step of the operation.

[0122] It should be noted that after completing all the surgical steps in the above step S500, the robot arm 20 will automatically reset to facilitate the doctor to further perform wound suturing operations, and the operation is now completed. It is understandable that the control method of the surgical robot provided in the embodiment of the present application is applicable to a variety of orthopedic surgeries, not limited to the surgical process in the embodiment.

[0123] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A surgical robot, characterized in that, it includes a trolley (10), a robotic arm (20) is arranged on the trolley (10), and the robotic arm (20) includes a first arm (21) and a second arm (22); the surgical robot (100) further includes an end effector, and the end effector includes an end execution tool and / or an end scanning tool (30), both the first arm (21) and the second arm (22) are used for detachably connecting with the end execution tool, the end scanning tool (30) includes a transmitting end (31) and a receiving end (32), and one of the first arm (21) and the second arm (22) is also used for detachably connecting with the transmitting end (31), and the other of the first arm (21) and the second arm (22) is also used for detachably connecting with the receiving end (32).

2. The surgical robot according to claim 1, characterized in that, the robotic arm (20) further includes a third arm (23), one of the transmitting end (31) and the receiving end (32) is detachably connected with the third arm (23), and the other of the transmitting end (31) and the receiving end (32) is detachably connected with the first arm (21) or the second arm (22).

3. The surgical robot according to claim 2, characterized in that, a transverse slide rail (11) and a longitudinal slide rail (12) are arranged on the trolley (10), the third arm (23) can slide horizontally on the transverse slide rail (11), and the third arm (23) can slide vertically relative to the trolley (10) on the longitudinal slide rail (12).

4. The surgical robot according to claim 1, characterized in that, the end execution tool includes an actuator and a locator, the actuator is used for performing a predetermined execution operation; the locator is used for performing a predetermined positioning operation when the actuator performs the predetermined execution operation.

5. The surgical robot according to claim 4, characterized in that, the actuator includes a first actuator and a second actuator that cooperate with each other; the degree of freedom of the first arm (21) is greater than or equal to six, and the first arm (21) is used for installing the first actuator; the degree of freedom of the second arm (22) is greater than or equal to six, and the second arm (22) is used for installing the locator or the second actuator, and the second actuator cooperates with the first actuator installed on the first arm (21) to perform the predetermined execution operation.

6. The surgical robot according to claim 4, characterized in that, the actuator includes a joint prosthesis inserter, a Kirschner wire inserter or a joint screw inserter, and the locator includes a Kirschner wire locator.

7. The surgical robot according to claim 1, characterized in that, the robotic arm (20) further includes a third arm (23), and the degree of freedom of the third arm is greater than or equal to three; the third arm (23) is used for supporting and fixing a target part of a target object.

8. The surgical robot according to any one of claims 1 to 7, characterized in that, The surgical robot also includes an optical navigation system and / or a planning navigation system.

9. A method for controlling a surgical robot according to any one of claims 1 to 8, It is characterized in that include: During preoperative scanning or intraoperative scanning, the transmitting end (31) and the receiving end (32) are respectively installed on different arms of the mechanical arm (20), and scanning is performed to obtain a medical image of a target part of a target object; and / or, When performing a predetermined execution operation, an actuator is installed on the first arm (21) and drives the actuator to perform the predetermined execution operation, and a positioner is installed on the second arm (22) and drives the positioner to perform the predetermined positioning operation.

10. The control method of the surgical robot according to claim 9, It is characterized in that When performing the predetermined operation, the control method of the surgical robot further includes: The third arm (23) is controlled to support and fix the target part of the target object.

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