Robot system, control method thereof, and corresponding computer-readable storage medium, computer program product and control device

Abstract

The invention relates to a surgical robot system, a control method and a corresponding computer readable storage medium, a computer program product and a control device. The system comprises a processor (1), a robotic arm (2) and control means (3) electrically connected to the processor, and operable means comprising a housing connected to the robotic arm and a component moving relative to the housing; and the control device can control the movement of the mechanical arm in at least one period of time and can also control the movement of the parts of the operable device relative to the shell in at least one period of time. The control device can control the mechanical arm to move so as to hold and drive the operable device, and also can realize the movement of the parts of the operable device relative to the shell, which is difficult to realize by the mechanical arm, so that the operation of automatically holding the operable device and controlling all actions of the operable device becomes possible; therefore, hands, used for operating the device, of doctors are liberated, complex operation is achieved, meanwhile, control over the system is efficiently achieved, and operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, specifically to a surgical robot system, and particularly to a surgical robot system and its control method that can replace a doctor's hand to hold and operate devices, enabling the doctor's hand to be liberated so that the doctor can simultaneously operate two tools or perform more complex operations of a single tool, etc. Background Art

[0002] In current endoscopic surgeries such as spinal endoscopic surgeries, a doctor often holds an endoscope with one hand and operates a tool (surgical instrument) with the other hand and inserts it into the tool channel of the endoscope for operation. Taking traditional spinal endoscopic surgery as an example, the optical lens group and the tool channel are integrated in the same endoscope insertion tube. During the surgical operation, the doctor holds the endoscope body with one hand and rotates the entire endoscope when needed to adjust the direction of the end of the endoscope insertion tube of the spinal endoscope to observe or operate on different parts, and the other hand is used to operate the tool and insert it into the tool channel of the endoscope for surgical operation.

[0003] This operation mode determines that:

[0004] 1. The doctor can only operate the tool of the spinal endoscope with one hand each time.

[0005] 2. When different spinal endoscope tools are needed, the doctor can only use the tools alternately.

[0006] 3. There is only one tool in the working channel of the spinal endoscope each time.

[0007] The above limitations cause various inconveniences to the doctor's operation and affect the efficiency of the surgical operation. For example, in the following clinical application scenarios 1 to 3, the efficiency of the doctor's operation of the spinal endoscope tool is reduced:

[0008] Existing application scenario 1. When the doctor performs decompression operation under the endoscope, the radiofrequency electrode (for soft tissue cutting and hemostasis) and the soft tissue forceps (for clamping soft tissue and removing it through the tool channel) / bone rongeur (for clamping bony structure and removing it through the tool channel) can only be used alternately. Due to the above three limitations, the doctor can only hold the endoscope with one hand, pull out the radiofrequency electrode with the other hand and then insert the soft tissue forceps / bone rongeur into the tool channel for operation, resulting in a lower decompression operation efficiency.

[0009] Existing application scenario 2. When the doctor uses a spinal endoscope tool with a bendable end, the trigger button for changing the direction of the tool end and the trigger button for tool operation are located at different positions of the tool. It is very difficult for the doctor to change the direction of the tool end while triggering the tool operation function while stably holding the tool with one hand.

[0010] Existing Application Scenario 3: When a doctor uses a trephine to perform foraminalplasty, the doctor needs to hold the trephine with one hand to operate it, and hold an endoscope inserted into the channel of the trephine with the other hand to observe or operate on the cutting part of the trephine. Once bleeding is found through endoscopic observation, the doctor can only stop the operation of the trephine, free one hand to pick up the radiofrequency electrode and insert it into the tool channel of the endoscope to start the hemostasis operation. This time difference may lead to "red vision" under the endoscope, making it difficult to find the bleeding point and stop the bleeding immediately (that is, the doctor cannot operate the radiofrequency electrode simultaneously for immediate hemostasis), and the operation may be forced to abort as a result.

[0011] It is not difficult to find from the above clinical application scenarios that "the doctor can only operate the spinal endoscope tool with one hand at a time" is the root cause of the above difficulties and also restricts the development of endoscopic surgeries such as spinal endoscope tool surgeries.

[0012] Furthermore, the current common control methods of surgical robots are as follows: The first is the remote control operation method. For example, for the Da Vinci surgical robot, the doctor can perform remote control operations. The second is the bedside remote control operation method, where the doctor can perform remote control operations in front of the operating table. The third method is that the doctor operates using a dedicated touch screen. However, when we focus on the clinical application scenario of spinal endoscopy surgery, we find that: The first method cannot meet the requirement that the doctor needs to manually operate the decompression tool during spinal surgery. Although the second and third operations can meet this requirement, there are still problems such as inconvenient operation for the doctor, inability to control the robotic arm well, and lack of coordination in operating the endoscope, and it may require two doctors to cooperate to complete the entire operation.

[0013] Therefore, a control method that can effectively solve the current difficulties of doctors in the above three clinical scenarios while ensuring that the doctor can efficiently control the movement of the robotic arm, endoscope / trephine simultaneously has not yet emerged. Moreover, with the development of robotic surgery technology, the technology of controlling a robotic arm (such as a 6-axis serial robotic arm) to replace or assist the doctor's arm to manipulate an endoscope such as a spinal endoscope is developing. However, how to use a 6-axis serial robotic arm to replace the doctor's arm to hold and operate the endoscope, especially a rigid endoscope (such as a spinal endoscope), to achieve the same effect as the doctor's hand-held and operation has not been realized yet. One of the important reasons is as follows:

[0014] In traditional rigid endoscope surgeries such as spinal endoscope surgeries, the doctor needs to frequently rotate the rigid endoscope around the axis to observe in all directions. Since the human arm has a total of 7 degrees of freedom. To complete this axial rotation action, the joints of the doctor's arm all move and / or rotate. In other words, to hold the endoscope and complete the action of axial rotation of 180 degrees, 7 degrees of freedom of arm movement are required to complete this action.

[0015] Therefore, in theory, it is impossible to use the existing robotic arm to replace the doctor's arm to hold and operate the spinal endoscope to achieve the same effect as a spinal endoscope doctor holding and operating it. From a more intuitive perspective for easier understanding, such as Figure 4 As shown, if the robotic arm is connected to and holds the endoscope, and if we want to achieve the rotation of the endoscope around the axis through the movement of the robotic arm, the robotic arm and its trolley need to rotate 180 degrees with the endoscope as the axis. However, such a large-scale movement is almost impossible in actual surgery, especially when the robotic arm trolley cannot move freely beside the operating table in real time and there is a tracer on the robotic arm, and it is necessary to ensure that the tracer is within the field of view of the tracking system. In other words, it is impossible to use the robotic arm to completely replace the doctor's operation to achieve all the actions required by the endoscope in the existing technology.

[0016] Furthermore, in previous spinal surgeries, an optical rigid endoscope was usually used. This optical rigid endoscope is provided with an optical lens at its end, and an image sensing device (such as a CCD or CMOS sensor) is usually provided at the rear end of the rigid endoscope. It converts the optical signal captured by the optical lens into an electrical signal. The image sensing device is then connected to a dedicated image processing device through a cable, and the image processing device is connected to the host of the surgical robot system to transmit the processed image or video. During this process, the processing and transmission of the signal take a long time, resulting in image transmission delay, which limits the efficiency and accuracy of real-time imaging and real-time navigation of the endoscope. Moreover, the equipment used is relatively complex and the data transmission path is long. In addition, the optical rigid endoscope used in traditional spinal surgeries has a large weight due to the presence of an optical lens and an additional image sensing device inside, which is not convenient for doctors to operate, and the cost is relatively high. Summary of the Invention

[0017] The purpose of the present invention is to solve at least one of the above problems and defects existing in the prior art and other technical problems.

[0018] It should be noted that the electronic rigid endoscope in this article especially refers to such an endoscope whose insertion tube (for example, a tube made of metal or a material with higher hardness) is non-bendable (compared with a flexible soft endoscope). Generally, the end of the insertion tube of the electronic rigid endoscope enters the patient's tissue structure and bony structure to observe and / or operate through surgical instruments. The proximal end of the electronic rigid endoscope (the end close to the operator, that is, the end opposite to the end of the insertion tube of the electronic rigid endoscope) is located outside the patient's body for manual or motorized control.

[0019] In this text, the "electron" in "electronic rigid endoscope" refers to an imaging module located at the end of the lens barrel (or lens rod), which includes an electronic image sensor (such as a CCD or CMOS), and can directly convert the captured optical image into an electronic signal. Moreover, those skilled in the art can understand that the "imaging module" is a broad concept and can have functions such as shooting, video acquisition, and image acquisition, and the "image" is a broad concept and can include videos, dynamic continuous images, and static images.

[0020] According to a first aspect of the present invention, a surgical robot system is provided. The surgical robot system includes a processor, a robotic arm electrically connected to the processor, and a control device electrically connected to the processor, and further includes an operable device. The operable device includes a housing that can be detachably connected to the robotic arm and a component that can move relative to the housing; wherein the control device can control the movement of the robotic arm for at least a period of time and can also control the movement of the component of the operable device relative to the housing for at least a period of time.

[0021] The operable devices in this solution are a general term, representing various devices that need to be operated during surgery, such as rigid endoscopes, trephines for foraminal fenestration, etc. These devices are usually operated by doctors during routine operations. For example, a doctor holds an endoscope to observe or operate on the part to be treated, or a doctor holds a trephine to cut the intervertebral foramen. Even if these devices are driven by a robotic arm in the prior art, they cannot complete the relative movement of some components, so it is impossible to fully automatically perform all the required actions of these devices. Therefore, it is still impossible to free the doctor's hand that operates or holds the device to operate surgical instruments other than these devices. In the solution of the present invention, since the control device can not only control the movement of the robotic arm to achieve certain movements of the operable device (such as driving the entire rigid endoscope to the target decompression site), but also achieve the movement of the components of the operable device relative to its housing that is difficult for the robotic arm to achieve. For example, the rotation of the insertion tube of the rigid endoscope, and the movement of the trephine that moves up and down while rotating. This makes it possible to mechanically hold the operable device and control all its required actions, which liberates the doctor's hand used to operate the device. The doctor only operates the control device when it is necessary to control the actions of the operable device, and can release both hands to operate one or two surgical instruments when it is not necessary to operate the control device. Therefore, a large number of operations that can be performed by the doctor's two hands can be achieved. For example, it can achieve (1) the doctor uses both hands to hold a spinal endoscope tool (such as the radiofrequency electrode and the soft tissue forceps / osteotome in Application Scenario 1 of the following first embodiment) and inserts them into the tool channel for operation. (2) The doctor uses both hands to operate a spinal endoscope tool (such as a steerable spinal endoscope tool) and inserts it into the tool channel for operation to solve the problem in the second clinical application scenario mentioned in the background art. (3) The doctor holds a spinal endoscope tool in each hand (for example, when the trephine is held by the robotic arm, the doctor can hold the control device with one hand and indirectly hold the rigid endoscope, and operate the radiofrequency electrode to stop bleeding with the other hand, which will be further described in Application Scenario 3 of the following specific embodiment) and operate simultaneously.

[0022] According to one example, the operable device includes an electronic rigid endoscope, which includes a first housing as the housing and a tube as the component. A first engaging portion adapted to be docked with a robotic arm is provided on the first housing; the tube can rotate relative to the first housing, and the control device can control the rotation of the tube.

[0023] In this example, since the insertion tube of the mirror (or the mirror rod) can be driven to rotate independently relative to the housing of the mirror, the automatic rotation of the lens barrel can still be achieved when the housing of the mirror is held by the robotic arm, so as to achieve any desired orientation, which can solve the problem that the existing robots (such as 6-axis robotic arms) have insufficient degrees of freedom and it is difficult to operate the rigid endoscope as freely as a doctor, especially to achieve the rotation of the rigid endoscope around its axis. Through the above solution, on the one hand, the rotation of the insertion tube of the rigid endoscope can be driven, and on the other hand, the rigid endoscope can also be driven by the robotic arm to complete the linear motion back and forth along the axis of the lens barrel and / or the tilting motion approximately pivoted on the intervertebral foramen. Therefore, these motions of the rigid endoscope can be completed on the basis of a small change in the overall pose of the robotic arm (a small rotation amplitude of each joint), realizing the same end visual range and coverage area as the doctor's hand-held operation. This can also avoid the robotic arm occupying space and interfering with the operator or other equipment, and can largely avoid the tracer on the robotic arm moving out of the field of view of the tracking system and affecting the navigation and positioning process. The core value of this solution is that when the robotic arm does not have the ability to sense a pressure of one-thousandth of a Newton of a human hand, without sacrificing any efficiency and operating fineness, using this patent enables the surgical robot system to replace the operation of the hand holding the endoscope by the spinal endoscopy doctor. At the same time, the spinal endoscopy doctor can use the freed hand holding the endoscope to operate surgical instruments to complete more complex decompression operations, realizing the essential improvement of the efficiency of spinal endoscopy surgery. That is to say, the rigid endoscope can be hand-held by the doctor to near the planned operation position (for example, placed in the working channel of the spinal endoscopy surgery), or even after the operation requires the takeover of the robotic arm, and then the electronic endoscope is docked with the robotic arm and driven by the robotic arm, which is a more realistic solution with higher working efficiency in clinical practice.

[0024] According to an example, the control device includes a third housing, and a power source for driving the rotation of the tube of the rigid endoscope is arranged in the third housing. Since the power source for driving the rotation of the insertion tube is not arranged in the rigid endoscope but in the control device, it is convenient to make the rigid endoscope into a disposable consumable, which can better meet the aseptic requirements and is more convenient and fast to use. The disposable rigid endoscope does not include a power source, so the cost of the rigid endoscope as a consumable can be reduced.

[0025] According to an example, an electronic unit for image processing for electrically connecting with the imaging module of the rigid endoscope is arranged in the third housing of the control device. The electronic unit for image processing is configured to output a processed digital image, and the electronic unit for image processing is electrically connected to the processor to transmit the digital image to the processor. Similar to the advantages of the solution in the previous example, this solution can also facilitate making the rigid endoscope into a disposable consumable and reduce its cost.

[0026] According to an example, the first engagement part is configured to also be suitable for connecting a tracer. This solution enables the tracer to be still mounted on the electronic rigid endoscope in a state where the docking robotic arm is absent, so that the orientation of the electronic rigid endoscope (including the orientation of the conical field of view of its imaging module) can be obtained through the tracer for navigation.

[0027] According to an example, the electronic rigid endoscope is a spinal electronic rigid endoscope. The advantages of the electronic rigid endoscope of the present invention are better reflected especially when it is used as a spinal electronic rigid endoscope in spinal surgery. As described in the background art, in spinal surgery, a spinal endoscope tool with a bendable end is encountered. With the surgical robot system of the present invention, since the electronic rigid endoscope is taken over by the robotic arm and the control device only needs to be operated when controlling the movement of the mirror (i.e., there is no need to always hold the control device), the doctor's hands are liberated. Thus, the doctor can operate such a complex tool required in spinal surgery, and can control the spinal endoscope tool with both hands, changing the direction of the tool end while operating the tool, thereby achieving more efficient and accurate operation. The remaining problems encountered in spinal surgery (such as the problems in Application Scenario 1 and Application Scenario 3 in the background art) are also perfectly solved. Further, as described in the background art, the existing spinal endoscopes have always used optical rigid endoscopes, and the whole mirror is very heavy, bulky and inconvenient for doctors to operate, and the cost is relatively high. While using the solution of the electronic rigid endoscope of the present invention, while overcoming these disadvantages, it can also solve the problem that the existing robots are difficult to operate the spinal endoscope to rotate around its axis as freely as a doctor, and can greatly reduce the image transmission delay, improving the real-time performance of image information transmission when the endoscope is connected to the navigation system.

[0028] According to an example, a tool channel is formed in the cylinder of the electronic rigid endoscope, and the tool channel is configured to be suitable for accommodating at least two surgical tools. The electronic rigid endoscope with such a structure facilitates the doctor to operate two surgical tools with both hands (such as the radiofrequency electrode and the soft tissue forceps / osteotome described below), which enables better application of the advantage of liberating the doctor's hands of the present invention.

[0029] According to an example, a fourth engagement part suitable for connecting a tracer is provided on the first housing, and the fourth engagement part is independent of the first engagement part.

[0030] According to an example, the operable device includes a trephine which includes a second housing as the housing, on which a third engaging portion for docking with a robotic arm is provided; and further includes a rod as the component, the rod being capable of rotating about the axis of the rod and moving axially relative to the second housing, wherein a second power source for the rotation and the movement of the rod is provided in the robotic arm. In this solution, since the trephine is held by the robotic arm and its movement can be controlled by a control device, the doctor's hand holding the trephine can be released to operate the radiofrequency electrode in time to stop bleeding when bleeding is found, thereby avoiding the time difference between operating the trephine and applying the radiofrequency electrode in the existing application scenario three mentioned in the background art. Further, this solution only requires one control device to simultaneously control the rotation of the electronic rigid endoscope, the movement of the robotic arm, and the driving of the trephine by the built-in motor thereof, that is, one control device can control various movements including the rotation and movement of the trephine, the movement of the electronic rigid endoscope (including the tilting movement of the electronic rigid endoscope and the movement along the axis of the insertion tube), and the rotation of the tube of the electronic rigid endoscope. Moreover, since the drive source for rotating the tube of the electronic rigid endoscope is provided in the control device and the second drive source for driving the movement of the trephine is provided in the robotic arm, the simultaneous driving of the two is achieved.

[0031] In the surgical robot system of the present invention, the doctor can control the endoscopic tool with one hand and control all other movements in the corresponding clinical application scenarios through the control unit with the other hand. At the same time, the doctor only operates the handle when needed (without always holding the handle), so the doctor's hands are liberated to perfectly complete the operations in each application scenario. And when the doctor controls an endoscopic tool with each hand and the robotic arm is already docked with the electronic rigid endoscope, the control device is always facing the doctor and is stably held by the robotic arm, and the doctor can control the movement of the rigid endoscope through the control device at any time. Therefore, through this surgical robot system, the doctor can efficiently control the system while perfectly solving the difficulties in the clinical scenarios mentioned in the background art, improving the surgical efficiency.

[0032] According to an example, at least one of the following is provided on the control device: a first operating member for controlling the axial movement of the electronic rigid endoscope along the tube, a second operating member for controlling the rotation of the tube of the electronic rigid endoscope about its own axis, a rocker for controlling the tilting movement of the electronic rigid endoscope, and an execution control member for controlling the execution of the operating action of the control device.

[0033] According to an example, the control device includes a third operating member for controlling the action of the second power source in the robotic arm to drive the movement of the rod of the trephine.

[0034] According to an example, a display unit is further provided on the third housing of the control device, for displaying the current orientation of the field of view of the imaging module at the end of the barrel of the electronic rigid endoscope. Since the rotation of the barrel is driven by a power source such as a linear motor, its rotation amount and rotation direction can be recorded, so that the system can know the rotation of the barrel relative to the initial reference position, and then obtain the orientation of the field of view of the imaging module at the end of the barrel and display it through the display unit to intuitively prompt the operator.

[0035] According to an example, the control device further includes a circuit board disposed in its third housing. The circuit board is electrically connected to the power source for driving the rotation of the barrel of the electronic rigid endoscope and is electrically connected to the processor. And the circuit board is also electrically connected to at least one of the following: a first operating member, a second operating member, a rocker, an execution control member, a third operating member, and a display unit.

[0036] According to another aspect of the present invention, a control assembly is provided. The control assembly includes a control device and an operable device adapted to be electrically connected to a processor, wherein the operable device includes a housing capable of being detachably connected to a robotic arm and a component capable of moving relative to the housing; wherein the control device can control the movement of the robotic arm for at least a period of time and can also control the movement of the component of the operable device relative to the housing for at least a period of time.

[0037] According to another aspect of the present invention, a control method for a surgical robot system is provided. The surgical robot system includes a robotic arm, a control device, and a trephine. The trephine includes a second housing connected to the robotic arm and a rod, wherein the rod can rotate about its own axis and move axially relative to the second housing. A second power source for the rotation and the axial movement of the rod is provided in the robotic arm. The control method includes the following steps: in response to an input from a third operating member of the control device, controlling the second power source to act to achieve the rotation and the axial movement of the rod.

[0038] According to an example, the method further includes the following steps: in response to an input from a second operating member of the control device, controlling the power source to act to control the barrel of the electronic rigid endoscope to rotate about its own axis. According to this control method, the trephine can be held by the robotic arm and its movement can be automatically realized by operating the control device, so that the doctor's hand for manipulating the trephine can be released, and the operations in Application Scenario 3 described below can be realized.

[0039] According to another aspect of the present invention, there is also provided a control method for a surgical robot system. The surgical robot system includes a robotic arm, a control device, and an electronic rigid endoscope. The electronic rigid endoscope includes a first housing and a barrel that can rotate about its own axis relative to the first housing under the drive of a power source. The first housing is connected to the robotic arm. The method includes the following steps:

[0040] In response to an input from a first operating member of the control device, control the movement of the robotic arm to drive the entire electronic rigid endoscope to move axially along the barrel;

[0041] In response to an input from a joystick of the control device, control the movement of the robotic arm to drive the entire electronic rigid endoscope to perform a tilting movement; and

[0042] In response to an input from a second operating member of the control device, control the power source to act to control the barrel of the electronic rigid endoscope to rotate about its own axis.

[0043] According to this control method, the hands of the doctor can be freed, thereby realizing operations in Application Scenario 1 and Application Scenario 2 described below, for example.

[0044] According to another aspect of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, and when the program is run by a processor, it executes the steps in the method in the above example.

[0045] According to still another aspect of the present invention, there is also provided a control device, which includes a memory, a processor, and a program stored on the memory and capable of running on the processor. When the processor runs the program, it executes the method in the above example.

[0046] According to still another aspect of the present invention, there is also provided a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the method in the above example. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention will be described in detail below with reference to the accompanying drawings via exemplary embodiments.

[0048] Figure 1 Exemplarily shown is a schematic diagram of the principle of a surgical robot system for spinal electronic rigid endoscope surgery according to a first embodiment of the present invention. The operable device in this example is an electronic rigid endoscope.

[0049] Figure 2 Exemplarily shown is Figure 1 a schematic diagram of the internal structure principle of the electronic rigid endoscope, the control device, and the robotic arm in the assembled state in

[0050] Figure 3 The structural schematic diagram of the electronic rigid endoscope of the present invention is exemplarily shown.

[0051] Figure 3A Exemplarily shown Figure 3 the internal structure schematic diagram of the end of the barrel of the electronic rigid endoscope in Figure 3 the part within circle A in

[0052] Figure 4 The structural schematic diagram of the control device according to the present invention is exemplarily shown.

[0053] Figure 5 The principle schematic diagram of the state where the electronic rigid endoscope, the control device and the tracer of the electronic rigid endoscope are assembled together is exemplarily shown.

[0054] Figure 6 The principle schematic diagram of the surgical robot system for spinal electronic rigid endoscope surgery according to the second embodiment of the present invention is exemplarily shown. In this example, the operable device connected to the robotic arm is a trephine.

[0055] Figure 7 Exemplarily shown Figure 6 the principle schematic diagram of the internal structure of the trephine, the electronic rigid endoscope, the control device and the robotic arm in the assembled state in

[0056] Figure 8 The principle schematic diagram of the tilting motion and linear motion of the electronic rigid endoscope driven by the robotic arm according to the present invention is schematically shown.

[0057] It should be noted that the drawings are only schematic. They only show those components or steps necessary to clarify the present invention, while other components or steps may be omitted or only simply mentioned. In addition to the components or steps shown in the drawings, the present invention may also include other components or steps. Detailed implementation manners

[0058] The technical solutions of the present invention will be further specifically described below through embodiments in combination with the drawings. The description of the embodiments of the present invention with reference to the drawings is intended to explain the general concept of the present invention and should not be construed as a limitation to the present invention.

[0059] The following are specific embodiments that describe the specific composition of the surgical robot system of the present invention, the control method of the operable device controlled by the surgical robot system (in this article, two specific embodiments where the operable device is an electronic rigid endoscope and a trephine are provided, and the electronic rigid endoscope is, for example, a spinal endoscope, arthroscope, nasal endoscope, ventriculoscope, laparoscope, etc.), and the corresponding application scenarios, and also describe the structure of the electronic rigid endoscope, the structure of the control device, the structure of the trephine, etc. in the surgical robot system. In the following detailed description, many specific details and steps are elaborated in an extremely specific and detailed manner to provide a comprehensive understanding of the embodiments. However, it should be understood that one or more other embodiments can also be implemented without these specific details and steps.

[0060] The following combines Figures 1 - 5 and 8 to describe the first embodiment of the present invention. Figure 1 FIG. shows a schematic diagram of the principle of the surgical robot system according to the first embodiment of the present invention. As Figure 1 shown, the surgical robot system includes a processor 1 (host), a robotic arm 2 connected to the trolley, and the robotic arm 2 is electrically connected to the processor 1. The surgical robot system further includes a control device 3 (in the form of a handle in this embodiment) electrically connected to the processor 1 and an operable device (in the form of an electronic rigid endoscope 4 in this embodiment). The electronic rigid endoscope 4 includes a first housing 41. A first engagement portion 42 for detachably connecting to the robotic arm 2 (which can be seen more clearly in Figure 3 ) and a second engagement portion 44 adapted to be detachably connected to the control device 3 are provided on the first housing 41. The electronic rigid endoscope 4 further includes a member that can rotate relative to the first housing 41, namely a barrel 43 (see Figure 3 and Figure 3A ). The barrel 43 is used to extend into the patient's tissue structure and bony structure during the surgical operation. In this embodiment, the control device 3 can control both the movement of the robotic arm 2 and the rotation of the barrel 43 relative to the first housing 41.

[0061] In this solution, since the control device can control the movement of the robotic arm to drive the entire electronic rigid endoscope, for example, to realize the movement and tilting movement of the electronic rigid endoscope along the axis of the insertion barrel, and can also realize the rotation of the insertion barrel of the electronic rigid endoscope that is difficult to achieve by the robotic arm, all operations of the electronic rigid endoscope as an operable device can be realized. Therefore, the hand of the doctor used to operate the electronic rigid endoscope is liberated, and a large number of operations that can be performed by the doctor's two hands can be realized, such as the operations in Application Scenario 1 and Application Scenario 2 described below.

[0062] Before introducing the control methods and operations of these application scenarios, first describe the structures of the components in the surgical robot system in sequence to better introduce the working principle of the system.

[0063] The surgical robot system further includes a tracking system, and the tracking system includes a tracking device 200 to achieve positioning and navigation during the surgical procedure. The tracking device 200 can be an optical tracking device (such as an NDI navigator), and correspondingly, a tracer 22 can be provided on the robotic arm 2. The orientation information of the robotic arm 2 can be obtained through the tracer 22. In the state where the robotic arm 2 is docked with the electronic rigid endoscope 4, due to the rigid positional relationship between the two, the position of the electronic rigid endoscope 4 relative to the robotic arm 2 is determined and known. Therefore, through the tracer 22 on the robotic arm 2, the orientation of the electronic rigid endoscope 4 can be obtained, and thus the positioning and navigation of the electronic rigid endoscope 4 can be achieved. In addition, as Figure 5 shown, the first joint portion 42 of the electronic rigid endoscope 4 is also configured to be able to mount a tracer 421 (such as an optical tracer) of the electronic rigid endoscope 4. In the state where the electronic rigid endoscope 4 is not docked with the robotic arm but is held by a doctor, for example, by holding the handle, a tracer 421 can still be mounted on the electronic rigid endoscope 4 to navigate the orientation of the electronic rigid endoscope 4 (including the orientation of the conical field of view of its imaging module) through the tracer 421. It should be noted that although in this embodiment, the first joint portion 42 of the electronic rigid endoscope 4 can be used to mount the tracer 421 of the electronic rigid endoscope 4 and can also be used to engage with the robotic arm 2, in other alternative examples, a fourth joint portion for mounting its tracer 421 can also be provided on the electronic rigid endoscope 4, that is, the fourth joint portion is independent of the first joint portion suitable for engaging with the robotic arm 2.

[0064] As a specific example, as Figure 3 and 3A shown, a tool channel 431 is formed in the barrel 43 of the electronic rigid endoscope 4, and a surgical instrument is inserted into the tool channel 431 and approaches the part to be treated of the patient. The channel 431 is visible in Figure 3A . The tool channel in the present invention is configured to be able to accommodate at least two surgical tools, such as a radiofrequency electrode and a soft tissue forceps / osteotome. It can be understood that although one tool channel is shown in the figure, two or more channels can also be formed in the barrel 44, and two or more surgical tools are respectively inserted into one of the channels. As Figure 3A shown, an imaging module 46 is provided at the end of the barrel 43. The imaging module 46 can include a CCD or CMOS sensor for converting an optical signal into an electrical signal. And, as Figure 3 and Figure 3AAs shown, the end of the barrel 43 has an inclined end face, and the imaging module 46 is arranged within this inclined end face and is arranged in this inclined end face in a manner offset relative to the central axis of the barrel. In this example, the barrel 43 is configured to be rotatable relative to the housing 41 about the central axis of the barrel 43. Since the imaging module 46 is arranged on this inclined end face and in a manner offset relative to the central axis of the barrel, a larger viewing range of the mirror can be obtained by the rotation of the barrel 43. In the prior art, during the operation, a doctor rotates the rigid endoscope (the entire rigid endoscope is rotated at this time) according to the part to be observed so that it faces the desired viewing field, but it is difficult to perform this rotation action when the rigid endoscope is held by the robotic arm, as described in the background art. In the present invention, since the barrel (or the mirror rod) of the mirror can be driven to rotate independently relative to the first housing 41 of the mirror, the free rotation of the barrel of the mirror can still be achieved when the housing 41 of the mirror is held by the robotic arm to achieve any desired orientation, so that the problem that the existing robot cannot operate the rigid endoscope as freely as a doctor can be solved. At the same time, the electronic rigid endoscope of the present invention can, under the drive of the robotic arm, complete the linear motion back and forth along the axis of the barrel of the rigid endoscope and / or the tilting motion (which can be seen in Figure 8 for the schematic diagrams of the tilting motion and the linear motion of the electronic rigid endoscope achieved by the drive of the robotic arm), and these motions of the rigid endoscope can be completed on the basis that the overall pose of the robotic arm changes little (the rotation amplitude of each joint is small). On the one hand, this can avoid the space occupied by the robotic arm and avoid interference with the operator or other devices. On the other hand, it can largely avoid the tracer on the robotic arm moving out of the viewing field of the tracking system (see Figure 1 ).

[0065] As Figure 3 can be seen, a lighting device 432 such as an LED can also be provided at the end of the barrel 43 to provide the required light for the operation area. A water inlet 411 can also be provided on the first housing 41 to introduce water with a suitable pressure into the barrel 43 and spray it out from the end opening to the operation site. A water outlet 412 can also be provided to provide negative pressure to suck out the water.

[0066] As Figure 3As shown, the electronic rigid endoscope further includes a transmission mechanism 45 for driving the rotation of the barrel 43. In the figure, a transmission mechanism in the form of two bevel gears within the first housing 41 is exemplarily shown. Those skilled in the art can understand that other components of the transmission mechanism can also be set as needed. Preferably, a power source (such as a motor) for driving the transmission mechanism 45 and then driving the barrel 43 to rotate is not provided in the electronic rigid endoscope. For example, the power source can be provided in the control device 3 described below. Preferably, the electronic unit 32 for image processing electrically connected to the imaging module 46 of the electronic rigid endoscope may also not be provided in the electronic rigid endoscope 4 (which will be described in detail below). Any one of these two preferred solutions has the following advantages: that is, it is convenient to make the electronic rigid endoscope 4 into a disposable consumable, which can better meet the aseptic requirements and is more convenient and fast to use. As described above, since the power source for the electronic rigid endoscope 4 and the electronic unit for image processing are not provided in the electronic rigid endoscope 4, the disposable electronic rigid endoscope 4 does not include a power source and an electronic unit for image processing, thus greatly reducing the cost of the electronic rigid endoscope as a consumable. Further, the first housing 41 of the electronic rigid endoscope 4 can be injection-molded from a plastic material, which on the one hand reduces the cost of the electronic rigid endoscope 4, on the other hand reduces the weight of the electronic rigid endoscope 4, reduces the weight borne by the robotic arm, and is more convenient when the doctor operates manually. Preferably, the barrel 43 of the electronic rigid endoscope 4 can also be made of, for example, hard plastic or low-density metal (such as aluminum), because the barrel 43 is used as a channel for surgical instruments without surgical operations such as cutting, so the force on itself is not large and its stiffness requirement is not high. This can also achieve the effects of reducing cost and weight.

[0067] As Figure 2 , 4 shown, the control device 3 includes a third housing 30. A power source 31 (such as a linear motor) for driving the rotation of the barrel 2 of the electronic rigid endoscope 4 is provided in the third housing 30. The control device 3 further includes a circuit board 37 provided in the third housing 30. The circuit board 37 is electrically connected to the power source 31 for driving the rotation of the barrel 43 of the electronic rigid endoscope and is electrically connected to the processor of the surgical robot system. Therefore, instructions can also be sent from the processor of the surgical robot system to the circuit board 37 to control the power source 31 and then control the rotation of the barrel 43. As another example (this exemplary solution is not shown in the figure), the power source for driving the barrel 43 to rotate can also be provided in the robotic arm. For example, in addition to engaging with the housing 41 of the electronic rigid endoscope 4 at the first engagement portion 42 to hold the electronic rigid endoscope, the robotic arm can also include an additional motor and drive the barrel 43 to rotate through an additional transmission mechanism at an additional electronic rigid endoscope engagement portion.

[0068] Although the above describes two setting positions of the power source of the driving cylinder 43, it is preferable to set the power source 31 in the control device 3 (this solution is shown in the accompanying drawings of the specification). This solution has the following advantages: the electronic rigid endoscope can be operated by a doctor holding it (the doctor holds the control device 3 to indirectly hold the electronic rigid endoscope 4), and in this case, the rotation of the driving cylinder 43 can still be driven by operating the control device 3; at the same time, the electronic rigid endoscope can be connected to the robotic arm and held by it, which provides a greater degree of freedom of choice for the doctor's operation in practical applications.

[0069] Moreover, in a preferred embodiment of the present invention, the control device 3 is detachably connected to the electronic rigid endoscope 4 via the second engagement part 44. In other words, the control device 3 and the electronic rigid endoscope 4 are separate bodies.

[0070] Next, the structure of the control device 3 is described. As described above, the power source 31 (preferably a DC motor) is arranged in the third housing 30 of the control device, and the output shaft of the power source 31 can extend out of the third housing 30. An electronic unit (IPU) 32 for image processing for electrically connecting to the imaging module 46 of the electronic rigid endoscope is also arranged in the third housing 30. The electronic unit for image processing (which can be a circuit board) can include functional modules such as exposure adjustment, image gain noise reduction, analog-digital conversion, and signal amplification. The electronic unit 32 for image processing processes the electrical signals received from the electronic image sensor of the imaging module 46, directly generates processed high-quality digital images or videos, and can transmit the digital images or videos to a processor, such as the host of the entire surgical robot system, through a signal line. As Figure 4 shown, the electronic unit (IPU) 32 for image processing is electrically connected to the image signal line interface 38. At the same time, as Figure 2 and Figure 3 shown, a second engagement part 44 connected to the control device 3 is also arranged on the first housing 41 of the electronic rigid endoscope. The second engagement part 44 includes both a driving interface 441 that engages with the output shaft of the power source 31 and an image interface 442 that docks with the image signal line interface 38. The image interface 442 is electrically connected to the electronic unit 32 for image processing through the image signal line interface 38 on the one hand, and is electrically connected to the electronic imaging sensor of the imaging module 46, such as a CCD module or a CMOS module, on the other hand, so as to transmit the electrical signals received from the electronic image sensor of the imaging module 46 to the electronic unit 32 for image processing.

[0071] As Figure 1 、 2As shown, the robotic arm 2 is connected to the electronic rigid endoscope 4, and this connection is separable. Therefore, the electronic rigid endoscope 4 can be held by the doctor through the control device 3 or by the robotic arm 2. In this way, simple actions that are more suitable for manual completion can be performed by the doctor holding it, and the robotic arm takes over the electronic rigid endoscope only when the doctor needs to free the hand holding the endoscope to operate the decompression instrument.

[0072] The control device 3 is also configured to be able to control the movement of the robotic arm 2. As Figure 4 shown, an operation member group 35 can be provided on the control device 3. The operation member group 35 can include a first operation member (such as two keys) for controlling the forward and backward movement of the electronic rigid endoscope along the axis of the barrel 43, a second operation member (such as two keys for controlling the barrel 43 to rotate clockwise and counterclockwise respectively) for controlling the barrel 43 of the electronic rigid endoscope to rotate around its own axis, and a third operation member for controlling the second power source 21 in the robotic arm 2 to act to drive the rod 52 of the trephine 5 to move (see the second embodiment described below. Although this third operation member is not required in this first embodiment, those skilled in the art can understand that this third operation member can be provided on the control device 3 so that the control device can be used for both the electronic rigid endoscope and the trephine). A rocker 34 for controlling the tilting movement or rocking of the electronic rigid endoscope can also be provided on the control device 3. An execution control member 33 can also be provided on the control device 3, which can be in the form of an execution key for controlling the execution of instructions of the rocker 34 and / or each operation member in the operation member group 35. The execution control member 33 can start to execute the operations on the operation member group 35 and the rocker 34 by the doctor operating the execution control member 33 in the mode of controlling the movement of the electronic rigid endoscope according to the target orientation input by the doctor; it can also be in the "instant execution mode", that is, in the state where the execution control member 33, that is, the execution key, is pressed, the system immediately executes the operations on the operation member group 35 and the rocker 34.

[0073] A display portion 36 can also be provided on the third housing 30 of the control device 4 for displaying the current orientation of the field of view of the imaging module at the end of the barrel 43 of the electronic rigid endoscope. Since the rotation of the barrel 43 is driven by a power source 31 such as a linear motor, the amount and direction of its rotation can be recorded, so that the system can know the rotation of the barrel 43 and display it through the display portion 36. The circuit board 37 in the control device 3 is electrically connected to the processor 1 of the surgical robot system as described above, and on the other hand, is electrically connected to the power source 31 for driving the barrel 43 of the electronic rigid endoscope to rotate, and is also electrically connected to the rocker 34, the operation member group 35, the execution control member 33, the display portion 36, etc. of the control device 3.

[0074] Figure 2The electronic hard endoscope 4, the robot arm 2 and the control device 3 in the docking state are shown. The doctor can operate the control device 3 to control the movement of the robot arm 2 to drive the overall movement of the electronic hard endoscope 4 to achieve the tilting movement and the up and down linear movement mentioned above. At the same time, the doctor can also operate the control device 3 to rotate the barrel 43 of the electronic hard endoscope 4 to observe the desired position or operate the patient's desired position through the surgical instrument inserted into the tool channel 431.

[0075] Including the above-mentioned components such as Figure 1 The surgical robot system shown has at least the following advantages: (1) The required movement of the electronic hard endoscope can be completed without much change in the overall posture of the robotic arm (each joint rotates with a small amplitude), while avoiding the robotic arm from occupying space, interfering with the operator or other equipment, and largely avoiding the tracer on the robotic arm from moving out of the field of view of the navigation system and affecting the navigation process. (2) The doctor can free up the mirror-holding hand to operate the endoscopic tool, making the decompression operation more efficient and enabling the doctor to use both hands to operate more complex tools. This will be described in detail below. (3) The rotation of the barrel of the electronic hard endoscope is driven by the power source in the control device. Therefore, no matter how the barrel rotates, the position of the control device does not move, ensuring that the control device as a controller is always facing the doctor, making it more convenient for the doctor to operate and interact with the system, especially compared with the way in which the handle part of the traditional optical hard endoscope rotates with the barrel. (4) The robotic arm replaces the human hand to hold the electronic hard endoscope, with accurate positioning and no manual fatigue. It can be held for a long time, moved infinitely and precisely.

[0076] The following describes a method of using the surgical robot system to control the movement of an operable device in the system (in this embodiment, the electronic hard mirror 4) and corresponding exemplary application scenarios.

[0077] As described above, the surgical robot system includes a robotic arm 2, a control device 3, and an electronic hard mirror 4. The electronic hard mirror 4 includes a first shell 41 and a cylinder 43 that can rotate around its own axis relative to the first shell 41 under the drive of a power source 31. The first shell 41 is connected to the robotic arm 2. The method can perform at least one or more of the following steps according to the doctor's operation needs:

[0078] In response to the input from the first operating member of the control device 3, the mechanical arm 2 is controlled to move so as to drive the entire electronic hard mirror to move along the axial direction of the tube;

[0079] In response to the input from the joystick 34 of the control device 3, the mechanical arm 2 is controlled to move so as to drive the entire electronic hard mirror to perform a tilting movement; and

[0080] In response to an input from a second operating member of the control device 3, the power source 31 is controlled to actuate, so as to control the rotation of the barrel 43 of the electronic rigid endoscope about its own axis.

[0081] Specifically, the control method can be understood in combination with Application Scenario 1 and Application Scenario 2 as follows.

[0082] Application Scenario 1: First, the doctor assembles the electronic rigid endoscope 4 and the control device 3, and inserts the control device 3 onto the second engagement portion 44 of the electronic rigid endoscope 4; then, the doctor docks the electronic rigid endoscope 4 with the robotic arm 2 through its first engagement portion 42 (if necessary, the robotic arm 2 can be controlled to move to the position where the electronic rigid endoscope 4 is located under the tracking system first), thereby forming Figure 1 the surgical robot system in. The doctor can control the movement of the robotic arm by operating the first operating member (button) on the control device 3 for controlling the axial movement of the electronic rigid endoscope 4 along its barrel 43 and / or the rocker 34 for controlling the tilting movement of the electronic rigid endoscope, so as to drive the entire electronic rigid endoscope to perform axial movement and / or tilting movement along the barrel to reach the required decompression position or move to a new decompression position. Moreover, when the barrel needs to be rotated, the doctor can operate the second operating member (button) in the operating member group 35 on the control device 3 to control the power source 31 to actuate, so as to control the rotation of the barrel 43 of the electronic rigid endoscope about its own axis to the required orientation. Since the electronic rigid endoscope 4 is taken over by the robotic arm 2 and only the handle needs to be operated when controlling the movement of the mirror (there is no need to hold the handle all the time), the doctor's hands are liberated. Thus, the doctor can hold a radiofrequency electrode in one hand and a soft tissue forceps / osteotome in the other hand, and both are kept working in the working channel 431 of the electronic rigid endoscope 4. When using the soft tissue forceps / osteotome, the radiofrequency electrode can be moved with the other hand to make way for the operation of the soft tissue forceps / osteotome, and vice versa. Thus, soft tissue cutting and hemostasis can be coordinated, and the soft tissue / osseous structure can be clamped and removed through the tool channel, without the need to operate the radiofrequency electrode with only one hand and then insert the tissue forceps / osteotome into the tool channel as described in Scenario 1 of the background art.

[0083] Application Scenario 2: First, the doctor assembles the electronic rigid endoscope 4 and the control device 3, and inserts the control device 3 onto the second engagement portion 44 of the electronic rigid endoscope 4; then, the doctor docks the electronic rigid endoscope 4 with the robotic arm 2 through its first engagement portion 42 (if necessary, the robotic arm 2 can be controlled to move to the position where the electronic rigid endoscope 4 is located under the tracking system first), thereby forming Figure 1The surgical robot system therein. The doctor can control the movement of the robotic arm to drive the entire electronic endoscope to perform axial movement and / or tilting movement along the barrel by operating the first operating member (button) on the control device 3 for controlling the axial movement of the electronic endoscope 4 along the barrel 43 thereof and / or the rocker 34 for controlling the tilting movement of the electronic endoscope, so as to reach the required decompression position or move to a new decompression position. And when the barrel needs to be rotated, the doctor can control the power source 31 to act by operating the second operating member (button) in the operating member group on the control device 3 to control the barrel 43 of the electronic endoscope to rotate around its own axis to the required orientation. Since the electronic endoscope 4 is taken over by the robotic arm 2 and only the control device 3 needs to be operated when controlling the movement of the mirror (that is, there is no need to hold the control device all the time), the doctor's hands are liberated. Thus, when the doctor uses an endoscope tool with more complex operations, such as using the end-tip bendable surgical instrument used in the second application scenario in the background art during spinal surgery, the doctor can control the surgical instrument with both hands, changing the direction of the tool tip while operating the tool, so as to achieve more efficient and accurate operation.

[0084] Next, in combination with Figure 6 and Figure 7 ( Figure 3 、 Figure 3A 、 Figure 4 、 Figure 5 and Figure 8 The structures shown are also applicable to the surgical robot system of the second embodiment) to describe the surgical robot system of the second embodiment of the present invention. This surgical robot system also includes a processor 1, a robotic arm 2 electrically connected to the processor 1, and a control device 3. The difference between this surgical robot system and the surgical robot system of the first embodiment is only that the operable device connected to the robotic arm 2 in this system is a trephine 5. The surgical robot system of the second embodiment may further include an electronic endoscope 4 in addition to the trephine 5, and the structure of the electronic endoscope is exactly the same as that in the first embodiment. The schematic structure of the trephine 5 can be seen more clearly in Figure 7 It includes a second housing 51, and a third engaging portion 53 for docking with the robotic arm 2 is provided on the second housing 51; the trephine 5 further includes a rod 52 (a hollow rod), and the rod 52 can rotate around the axis of the rod 52 and move axially relative to the second housing 51 to achieve hole cutting, that is, intervertebral foramen formation (the process of removing a small amount of articular process bone mass to allow the tool to enter the spinal canal for decompression). As Figure 7As shown in the figure, the trephine includes a transmission mechanism 54 disposed in the housing 51 to drive the rod 52 to achieve the rotation and axial movement. The transmission mechanism 54 can be driven by the output shaft of the second power source 21. Preferably, the second power source 21 can be disposed in the robotic arm 2. Thus, when the trephine 5 is docked with the robotic arm 2, the cutting action of the trephine 5 can be controlled by controlling the robotic arm 2. This configuration ensures that during the formation of the intervertebral foramen, the robotic arm 2 does not need to move at all and only needs to be locked in the current position. The second power source 21 drives the transmission mechanism 54 to drive the rod 52 to rotate axially while moving axially (the saw teeth at the end of the rod 52 combine the above two actions to form the action of the trephine "cutting" bone). At the same time, since the second power source is not disposed in the trephine 5, this solution facilitates the trephine 5 to be made into a disposable consumable, which can better meet the aseptic requirements, is more convenient and fast to use. The disposable trephine 5 does not include a power source, so the cost of the trephine 5 as a consumable can be reduced.

[0085] As Figure 7 shown, in this second embodiment, the tube 43 of the electronic rigid endoscope 4 is inserted into the rod 52 of the trephine. The imaging module 46 at the end of the tube 43 can acquire an image of the cutting part at the end of the trephine ( Figure 7 the conical field of view range of the electronic rigid endoscope 4 can be seen in), and an endoscopic tool such as a radiofrequency electrode can be inserted into the tool channel 431 in the tube 43 to operate on the operation site such as hemostasis ( Figure 7 the endoscopic tool is not shown in). In this embodiment, the robotic arm 2 holds the trephine 5, and the electronic rigid endoscope 4 is indirectly held by the operator through the holding control device 3.

[0086] In addition, the joint part of the robotic arm that docks with the trephine 5 and the joint part that docks with the electronic rigid endoscope can be the same joint part or different joint parts on the robotic arm. If it is the same joint part, when the joint part of the robotic arm is joined to the third joint part 53 of the trephine 5, the second power source 21 is connected to the transmission mechanism 54 of the rod 52, and when joined to the electronic rigid endoscope, the second power source can be vacant.

[0087] For the specific structures of the components in the second embodiment that are the same as those in the first embodiment, namely the tracking system, the robotic arm 2, the control device 3, and the electronic rigid endoscope 4, please refer to the description of the first embodiment and will not be elaborated here. Next, a method for controlling the movement of the trephine 5 and the electronic rigid endoscope 4 in the system using the surgical robot system and a corresponding exemplary application scenario three will be described.

[0088] As described above, the surgical robot system includes a robotic arm 2, a control device 3, and a trephine 5. The trephine includes a second housing 51 connected to the robotic arm 2 and a rod 52. The rod 52 can rotate about its own axis and move axially relative to the second housing 51. A second power source 21 for the rotation and axial movement of the rod 52 is provided in the robotic arm 2. The control method includes the following steps: in response to the input of a third operating member in the operating member group 35 of the control device 3, control the second power source 21 of the robotic arm 2 to act to achieve the rotation and axial movement of the trephine 5.

[0089] Further, the method further includes the following steps: in response to the input of a second operating member of the control device 3, control the power source 31 to act to control the rotation of the barrel 43 of the electronic rigid endoscope about its own axis.

[0090] Specifically, the control method can be understood in combination with the following Application Scenario 3.

[0091] First, the doctor assembles the electronic rigid endoscope 4 and the control device 3, and inserts the control device 3 onto the second engagement portion 44 of the electronic rigid endoscope 4. And, the doctor docks the trephine 5 with the robotic arm 2 through its third engagement portion 53 (if necessary, the robotic arm 2 can be controlled to move to the position where the trephine 5 is located under the tracking system first). The doctor holds the control device 3 and inserts the barrel 43 of the electronic rigid endoscope 4 connected thereto into the internal passage 55 of the hollow rod 52 of the trephine 5, thereby forming the surgical robot system in Figure 6 . The doctor holds an endoscopic tool such as a radiofrequency electrode and inserts it into the tool channel 431 of the electronic rigid endoscope 4. The doctor can control the second power source 21 in the robotic arm 2 to act to achieve the rotation and axial movement of the trephine 5 by operating the third operating member in the operating member group 35 of the control device 3, so as to realize the cutting of the trephine, such as the formation of the intervertebral foramen. Since the trephine 5 is held by the robotic arm 2 and its movement can be controlled by the control device 3, the doctor only needs to hold the control device 3 with one hand (and also holds the rigid endoscope 4), freeing the other hand to operate the radiofrequency electrode in time to stop bleeding when bleeding is found (or use the radiofrequency electrode to peel the soft tissue when needed), thereby avoiding the time difference between operating the trephine and applying the radiofrequency electrode in the application scenario mentioned in the background art.

[0092] And, when the rotation of the lens barrel is required, the doctor can conveniently control the power source 31 to act by operating the second operating member (button) in the operating member group on the control device 3 to control the barrel 43 of the electronic rigid endoscope to rotate about its own axis to the required orientation. When the movement of the endoscope is required, the doctor can hold the control device 3 with the hand and drive the endoscope to move up and down axially along the internal passage of the trephine.

[0093] The above method is combined with other components in the surgical robot system, and the method steps themselves can be fully implemented by a computer program. Accordingly, the present invention also provides a computer program product, which includes a computer program that implements the above steps of the method when executed by a processor. The present invention also provides a computer-readable storage medium on which the computer program is stored. The present invention may also provide a control device, such as a computer host, which may include a memory, a processor, and the computer program stored on the memory and capable of running on the processor.

[0094] Those skilled in the art can understand that the steps of the method or algorithm described herein can be directly implemented by hardware, a software module executed by a processor, or a combination of both. The software module can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the technical field.

[0095] In the above embodiments, the method can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the present invention are generated in whole or in part. The computer here can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk).

[0096] Those skilled in the art can understand that the memory of the control device of the present invention may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device separate from the processor.

[0097] The processor of the control device may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0098] Although some embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the general concept of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A surgical robot system, characterized in that: The surgical robot system comprises: Processor (1), a robotic arm (2) electrically connected to the processor (1); A control device (3) electrically connected to the processor (1); as well as An operable device comprising: a housing detachably connectable to the robot arm (2); and a component capable of moving relative to the housing; The control device (3) is capable of controlling the movement of the robot arm (2) for at least a period of time, and is also capable of controlling the movement of the component of the operable device relative to the housing for at least a period of time.

2. The surgical robot system according to claim 1, characterized in that: The operable device comprises an electronic hard mirror (4), which comprises: A first shell (41) as the shell, provided with a first joint portion (42) suitable for docking with the robot arm (2); and The cartridge (43) as the component is rotatable relative to the first housing (41), wherein the control device (3) is capable of controlling the rotation of the cartridge (43).

3. The surgical robot system according to claim 2, characterized in that: The first shell (41) is provided with a second joint portion (44) suitable for connecting with the control device (3), and the control device (3) is detachably connected to the electronic hard mirror via the second joint portion (44).

4. The surgical robot system according to claim 3, characterized in that: The control device (3) comprises a third housing (30), wherein a power source (31) for driving the barrel (2) of the electronic hard mirror (4) to rotate is arranged in the third housing (30).

5. The surgical robot system according to claim 3, characterized in that: The control device (3) comprises a third shell (30), wherein an electronic unit (32) for image processing electrically connected to the imaging module (46) of the electronic hard mirror is arranged in the third shell (30), the electronic unit for image processing is configured to output a processed digital image, and the electronic unit (32) for image processing is electrically connected to the processor (1) to transmit the digital image to the processor.

6. The surgical robot system according to claim 2, characterized in that: The first joint (42) is also configured to be suitable for connecting a tracer (421).

7. The surgical robot system according to claim 2, characterized in that: The electronic hard endoscope is a spinal electronic hard endoscope.

8. The surgical robot system according to claim 2, characterized in that: A tool channel (431) is formed in the tube (43) of the electronic hard endoscope, and the tool channel (431) is configured to accommodate at least two surgical tools.

9. The surgical robot system according to claim 2, characterized in that: The first shell (41) is provided with a fourth joint portion suitable for connecting a tracer (421), and the fourth joint portion is independent of the first joint portion (42).

10. The surgical robot system according to any one of claims 1 to 9, characterized in that: The operable device comprises a trephine (5), comprising: A second housing (51) as the housing, provided with a third joint portion (53) for docking with the robot arm (2); and The rod (52) as the component is capable of rotating around the axis of the rod (52) and moving axially relative to the second shell (51), wherein a second power source (21) for the rotation and movement of the rod (52) is arranged in the robot arm (2).

11. The surgical robot system according to claim 2, characterized in that: The control device (3) is provided with at least one of the following: a first operating member for controlling the axial movement of the electronic hard mirror along the tube (43), a second operating member for controlling the rotation of the tube (43) of the electronic hard mirror around its own axis, a rocker (34) for controlling the tilting movement of the electronic hard mirror, and an execution control member (33) for controlling the execution of the operating action of the control device (3).

12. The surgical robot system according to claim 10, characterized in that: The control device (3) comprises a third operating member for controlling the movement of the second power source (21) in the mechanical arm (2) to drive the rod (52) of the ring saw (5) to move.

13. The surgical robot system according to claim 11, characterized in that: The third housing (30) of the control device (3) is also provided with a display unit (36) for displaying the current orientation of the field of view of the imaging module at the end of the barrel (43) of the electronic hard mirror.

14. The surgical robot system according to any one of claims 11 to 13, characterized in that: The control device (3) also includes a circuit board (37) arranged in its third shell (30), and the circuit board (37) is electrically connected to a power source (31) for driving the barrel (43) of the electronic hard mirror to rotate, and is electrically connected to the processor, and the circuit board (37) is also electrically connected to at least one of the following: a first operating member, a second operating member, a joystick (34), an execution control member (33), a third operating member and a display unit (36).

15. A control component, characterized in that: The control component comprises: A control device (3) adapted to be electrically connected to the processor; and An operable device, wherein the operable device comprises: a housing detachably connectable to the robot arm (2); and a component capable of moving relative to the housing; The control device (3) is capable of controlling the movement of the robot arm (2) for at least a period of time, and is also capable of controlling the movement of the component of the operable device relative to the housing for at least a period of time.

16. The control assembly according to claim 15, characterized in that The operable device comprises an electronic hard mirror (4), which comprises: A first shell (41) as the shell, provided with a first joint portion (42) suitable for docking with the robot arm (2); and The cartridge (43) as the component is rotatable relative to the first housing (41), wherein the control device (3) is capable of controlling the rotation of the cartridge (43).

17. The control assembly according to claim 16, characterized in that The first shell (41) is provided with a second joint portion (44) suitable for connecting with the control device (3), and the control device (3) is detachably connected to the electronic hard mirror via the second joint portion (44).

18. The control assembly according to claim 17, characterized in that The control device (3) comprises a third housing (30), wherein a power source (31) for driving the barrel (2) of the electronic hard mirror (4) to rotate is arranged in the third housing (30).

19. The control assembly according to claim 17, characterized in that A display unit (36) is provided on the third housing (30) of the control device (3) for displaying the current orientation of the field of view of the imaging module at the end of the barrel (43) of the electronic hard mirror.

20. The control assembly according to claim 15, characterized in that The operable device comprises a trephine (5), comprising: A second housing (51) as the housing, provided with a third joint portion (53) for docking with the robot arm (2); and The rod (52) as the component is capable of rotating around the axis of the rod (52) and moving axially relative to the second shell (51), wherein a second power source (21) for the rotation and movement of the rod (52) is arranged in the robot arm (2).

21. A control method for a surgical robot system, characterized in that: The surgical robot system comprises a robotic arm (2), a control device (3) and a ring saw (5), wherein the ring saw comprises a second housing (51) connected to the robotic arm (2) and a rod (52), wherein the rod (52) can rotate around the axis of the rod (52) and move axially relative to the second housing (51), and a second power source (21) for the rotation and axial movement of the rod (52) is arranged in the robotic arm (2), wherein the control method comprises the following steps: In response to input from a third operating member of the control device (3), the second power source (21) is controlled to operate so as to realize the rotation and axial movement of the rod (52).

22. The control method according to claim 21, wherein the surgical robot system further comprises an electronic hard mirror (4), which comprises a first shell (41) and a cylinder (43) capable of rotating around its own axis relative to the first shell (41) under the drive of a power source (31), and the method further comprises the following steps: In response to the input from the second operating member of the control device (3), the power source (31) is controlled to operate so as to control the barrel (43) of the electronic hard mirror to rotate around its own axis.

23. A control method for a surgical robot system, characterized in that: The surgical robot system comprises a robotic arm (2), a control device (3) and an electronic hard mirror (4), wherein the electronic hard mirror (4) comprises a first shell (41) and a cylinder (43) which can rotate around its own axis relative to the first shell (41) under the drive of a power source (31), wherein the first shell (41) is connected to the robotic arm (2), and the method comprises at least one of the following steps: In response to the input from the first operating member of the control device (3), the mechanical arm (2) is controlled to move so as to drive the entire electronic hard mirror to move along the axial direction of the tube; In response to input from the joystick (34) of the control device (3), the mechanical arm (2) is controlled to move so as to drive the entire electronic hard mirror to perform a tilting movement; and In response to the input from the second operating member of the control device (3), the power source (31) is controlled to operate so as to control the barrel (43) of the electronic hard mirror to rotate around its own axis.

24. The control method according to claim 23, characterized in that: The first housing (41) of the electronic hard mirror (4) is connected to the control device (3), wherein the power source (31) for driving the cylinder (2) to rotate is arranged in the third housing (30) of the control device (3).

25. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 21 to 24 are performed.

26. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 21-24 are implemented.

27. A control device, wherein the control device comprises a memory, a processor, and a program stored in the memory and executable on the processor, wherein the steps of the method according to any one of claims 21 to 24 are executed when the processor executes the program.

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