Surgical robot, control method thereof and image display method

Abstract

The invention discloses a surgical robot, a control method thereof and an image display method. The surgical robot includes an endoscope assembly, an instrument driver, a signal processing device, and a display device. The endoscope assembly comprises a manual control operation part and a transmission part, and the manual control operation part is connected with the transmission part. The instrument driver comprises an input part, a motor and a detection device, the input part is connected with the transmission part, and the input part can be actuated by the transmission part and acts on a rotor of the motor under the condition that the manual control operation part actuates the transmission part; the detection device can detect the rotation angle of the rotor of the motor and generate a detection signal. The signal processing device establishes a cursor movement instruction in response to the detection signal. And the display device is in communication connection with the signal processing device, receives the cursor moving instruction and displays the position state of the moved cursor. According to the surgical robot, the problem that when a master control doctor is in a clutch state or the master control doctor performs surgical operation, an affected doctor cannot indicate a surgical picture is solved.

Description

Technical Field

[0001] This application relates to the field of medical technologies, and in particular, to a surgical robot, a control method thereof, and an image display method. Background Art

[0002] A surgical robot is a robot that can perform surgeries remotely, and it includes three components: a doctor console, a patient-side robotic arm system, and an imaging system. The doctor console is equipped with a display unit for presenting the surgical instrument environment, a doctor operation control mechanism, and an armrest. An observation window is provided on the display unit for the doctor to observe. The actions of the operation control mechanism correspond to the actions of the surgical instruments, and the armrest is used to place the doctor's arm. In addition, on the doctor console, there are also other control switches that are convenient for the hands or feet to touch or press, used to control the corresponding components of the patient-side robotic arm system to perform various functional operations and complete human-machine interaction. The imaging system is used to display the visual field images (such as surgical images) collected by the endoscope.

[0003] During the process of using a remote surgical robot, when the master doctor and the patient-side doctor are communicating about the surgical image, the master doctor cannot mark the surgical image in the clutch state, or when the master doctor is performing a surgical operation, the patient-side doctor cannot directly mark the image. Summary of the Invention

[0004] The purpose of this application is to disclose a surgical robot, a control method thereof, and an image display method.

[0005] In a first aspect, this application discloses a surgical robot. The surgical robot includes an endoscope assembly, an instrument driver, a signal processing device, and a display device. The endoscope assembly includes a manual operation component and a transmission component, and the manual operation component is connected to the transmission component. The instrument driver includes an input component, a motor, and a detection device. The input component is connected to the transmission component. When the manual operation component actuates the transmission component, the input component can be actuated by the transmission component and act on the rotor of the motor. The detection device can detect the rotation angle of the rotor of the motor and generate a detection signal. The signal processing device is configured to establish a cursor movement instruction in response to the detection signal. The display device is communicatively connected to the signal processing device and is configured to receive the cursor movement instruction and display the position state of the cursor after movement.

[0006] In some embodiments, the manual operation component includes a first manual operation component and a second manual operation component; the transmission component includes a first transmission component and a second transmission component; the input component includes a first input component and a second input component; the motor includes a first motor and a second motor; the detection device includes a first detection device and a second detection device. The first manual operation component can be actuated by an external force and act on the first transmission component, the first input component can be actuated by the first transmission component and act on the rotor of the first motor; the first detection device can detect the rotation angle of the rotor of the first motor and generate a first detection signal. The second manual operation component can be actuated by an external force and act on the second transmission component, the second input component can be actuated by the second transmission component and act on the rotor of the second motor; the second detection device can detect the rotation angle of the rotor of the second motor and generate a second detection signal. The signal processing device responds to the first detection signal sent by the first detection device, establishes a coordinate axis conversion instruction for controlling the cursor and sends it to the display device; the signal processing device responds to the second detection signal sent by the second detection device, establishes a numerical change instruction for the cursor and sends it to the display device; the cursor movement instruction includes the coordinate axis conversion instruction and the numerical change instruction.

[0007] In some embodiments, the manual operation component further includes a third manual operation component and a third transmission component, and the third manual operation component is connected to the third transmission component. The instrument driver includes a third input component, a third motor and a third detection device. When the third manual operation component actuates the third transmission component, the third input component can be actuated by the third transmission component and act on the rotor of the third motor, and the third detection device can detect the rotation angle of the rotor of the third motor and generate a third detection signal. The signal processing device responds to the third detection signal sent by the third detection device, establishes a position marking instruction for the cursor and sends it to the display device.

[0008] In some embodiments, the signal processing device responds to a fourth detection signal sent by the third detection device, establishes a coordinate conversion instruction, and according to the coordinate conversion instruction, converts the coordinates of the cursor in the endoscope coordinate system of the endoscope into coordinates in the absolute coordinate system.

[0009] In some embodiments, the endoscope assembly includes a housing, the housing includes a through hole, and the through hole communicates the interior of the housing and the exterior of the endoscope assembly; the manual operation component includes an operation part; a part of the operation part extends out of the through hole.

[0010] Second aspect, the present application discloses a control method for a surgical robot. The surgical robot includes an endoscope assembly, an instrument driver, a signal processing device, and a display device. The endoscope assembly includes a first manual operation member, a first transmission member actuated by the first manual operation member, a second manual operation member, and a second transmission member actuated by the second manual operation member. The instrument driver includes a first input member, a first motor, a first detection device, a second input member, a second motor, and a second detection device; the first input member can be actuated by the first transmission member and act on the rotor of the first motor; the first detection device can detect the rotation angle of the rotor of the first motor and generate a first detection signal; the second input member can be actuated by the second transmission member and act on the rotor of the second motor, and the second detection device can detect the rotation angle of the rotor of the second motor and generate a second detection signal. The signal processing device can receive the first detection signal of the first detection device and the second detection signal of the second detection device. The display device is communicatively connected to the signal processing device. The control method for the surgical robot includes:

[0011] Apply a first operation to the first manual operation member to generate the first detection signal; the signal processing device receives the first detection signal, establishes an instruction for coordinate axis conversion of the control cursor and sends it to the display device, and the cursor of the display device switches to the selected coordinate axis;

[0012] Apply a second operation to the second manual operation member to generate the second detection signal; the signal processing device receives the second detection signal, establishes an instruction for numerical change of the cursor and sends it to the display device, and the cursor of the display device moves along the direction of the selected coordinate axis.

[0013] In some embodiments, the surgical robot further includes: a third manual operation member and a third transmission member, a third input part, a third motor, and a third detection device; the third manual operation member and the third transmission member are disposed on the endoscope assembly; the third manual operation member can be actuated by an external force and act on the third transmission member; the third motor, the third detection device, and the third input member are disposed on the instrument driver, the third input member can be actuated by the third transmission member and act on the rotor of the third motor, and the third detection device can detect the rotation angle of the rotor of the third motor and generate a third detection signal; the control method for the surgical robot further includes: applying a third operation to the third manual operation member to generate the third detection signal, and the signal processing device generates a marking instruction according to the third detection signal to mark the current position of the cursor of the display device.

[0014] In some embodiments, a fourth operation is applied to the third manual operation component to cause the third detection device to generate a coordinate conversion instruction. The signal processing device receives the coordinate conversion instruction, converts the coordinates of the cursor in the endoscope coordinate system of the endoscope into coordinates in the absolute coordinate system, and stores the coordinates of the cursor in the absolute coordinate system.

[0015] In a third aspect, the present application discloses an image display method. The image display method includes:

[0016] Obtain a first field of view image collected by the endoscope and display the first field of view image;

[0017] Based on a first operation from the endoscope assembly, display a three-dimensional coordinate system and a cursor in the first field of view image, and the selected coordinate axis is highlighted;

[0018] Based on a second operation from the endoscope assembly, the cursor moves along the direction of the selected coordinate axis.

[0019] In some embodiments, the first field of view image is displayed based on the endoscope coordinate system, and the initial position of the cursor is located at the origin of the endoscope coordinate system.

[0020] In some embodiments, the image display method further includes: when the endoscope moves from the position corresponding to the first field of view image, obtain a second field of view image collected by the endoscope corresponding to the moved position, and based on the first operation, display the initial position of the cursor and the selected coordinate axis highlighted in the second field of view image.

[0021] In some embodiments, the second field of view image is displayed based on the endoscope coordinate system, and the initial position of the cursor is located at the origin of the endoscope coordinate system corresponding to the second field of view image.

[0022] In some embodiments, the image display method further includes: based on a third operation from the endoscope assembly, display a position marker at the current position of the cursor.

[0023] In some embodiments, the image display method further includes: obtain a third field of view image collected by the endoscope, and when the position marker is outside the third field of view image, display a direction identifier in the third field of view image, and the direction identifier represents the orientation relationship between the third field of view image and the position marker.

[0024] For the above-mentioned surgical robot, control method of the surgical robot, and image display method, when the master doctor is in the disengaged state, the master doctor cannot give instructions on the surgical image, and the assistant doctor beside the patient can give instructions on the surgical image. During the surgical operation by the master doctor, when the endoscope is not being manipulated and there is an instruction need, the assistant doctor beside the patient can also give instructions on the surgical image. Therefore, the problem that the master doctor cannot give instructions on the surgical image when in the disengaged state, or that the assistant doctor beside the patient cannot directly give instructions on the image when the master doctor is performing the surgical operation is solved. On the premise of solving the above problems, the assistant doctor beside the patient can operate the hand control component to complete the instruction on the surgical image, which is simple and convenient; all the above operations are completed by the assistant doctor beside the patient, which can ensure the continuity of the operation, and further ensure the continuity of the communication process, and no third party is required to participate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of a surgical robot;

[0026] Figure 2 is a schematic diagram of a mechanical system beside the patient of the surgical robot;

[0027] Figure 3 is a schematic diagram of an assembly composed of an endoscope assembly and an instrument driver;

[0028] Figure 4 is Figure 3 a sectional view of the shown assembly;

[0029] Figure 5 is a schematic diagram of the endoscope assembly and the instrument driver in a disassembled state;

[0030] Figure 6 is a partial sectional view of the endoscope assembly;

[0031] Figure 7 is a schematic diagram before the cursor is activated and before it moves;

[0032] Figure 8 is a schematic diagram after the cursor moves;

[0033] Figure 9 is a schematic diagram of marking the selected position;

[0034] Figure 10 is a schematic diagram of the positional relationship between the position mark and the current field of view image;

[0035] Figure 11 is a flowchart of a first embodiment of an image display method;

[0036] Figure 12 is a flowchart of a second embodiment of an image display method;

[0037] Figure 13 It is a flowchart of a third embodiment of an image display method. Specific embodiments

[0038] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0039] The terms used in the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in the present application should have the ordinary meanings understood by those of ordinary skill in the art to which the present application pertains. The terms "first", "second", and similar terms used in the specification and claims of the present application do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms "a" or "an" and the like do not denote a quantity limitation, but mean that there is at least one. "Plurality" or "several" means two or more. Unless otherwise indicated, terms such as "front", "rear", "lower", and / or "upper" are for convenience of description only and are not limited to one position or a spatial orientation. The terms "comprising" or "including" and the like mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalents, and do not exclude other elements or items. The terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. The singular forms "a", "the", and "said" used in the specification and claims of the present application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0040] See Figure 1 、 Figure 2 and Figure 3, this application discloses a surgical robot. The surgical robot includes a doctor's console 30, a mechanical system 50 beside the patient, an image processing device 40, and a signal processing device. The doctor's console 30 and the image processing device 40 may each include a display device. The mechanical system 50 beside the patient may include an endoscope assembly 1, an endoscope 4, and an instrument driver 2. The signal processing device of the surgical robot may be a separate hardware device with a software program or a software and hardware device integrated into the doctor's console 30, the mechanical system 50 beside the patient, or the image processing device. The mechanical system 50 includes several robotic arms 501. Each robotic arm 501 includes several connecting arms, and adjacent connecting arms move with specific degrees of freedom. The connecting arm at the end of the robotic arm is an instrument-holding arm, and the instrument driver 2 is mounted on the instrument-holding arm. The endoscope 4 is assembled on the endoscope assembly 1 (also referred to as an endoscope adapter). Combining with Figure 3 and Figure 4 , in some cases, the endoscope assembly 1 and the instrument driver 2 are isolated by a sterile adapter 3.

[0041] See Figure 6 and Figure 4 , the endoscope assembly 1 includes a hand-operated control component 11 and a transmission component 12. The hand-operated control component 11 is connected to the transmission component 12. There is no limit to how they are connected, as long as the transmission component 12 can be actuated when the hand-operated control component 11 is operated. In the embodiment of this application, the transmission component 12 and the hand-operated control component 11 are connected by a connecting shaft 110. The structure of the hand-operated control component 11 is also not limited, as long as it can drive the transmission component 12. In the embodiment of this application, the hand-operated control component 11 is a knob.

[0042] See Figure 4 and Figure 5 , the instrument driver 2 includes an input component 21, a motor 22, and a detection device (not shown in the figure). The instrument driver 2 includes a detection device, mainly referring to the part of the detection device responsible for detecting signals is arranged in the instrument driver 2, and parts such as signal transmission can be arranged in the instrument driver 2 or other components. The input component 21 is connected to the transmission component 12. In this embodiment, because there is a sterile adapter 3, the input component 21 and the transmission component 12 are connected through the sterile adapter drive disk 31 of the sterile adapter 3. When the hand-operated control component 11 actuates the transmission component 12, the input component 21 can be actuated by the transmission component 12 and act on the rotor of the motor 22. For example, when the hand-operated control component 11 is a knob, rotating the knob can cause the transmission component 12 to rotate. The rotation of the transmission component 12 drives the input component 21 to rotate, and the rotation of the input component 21 drives the motor 22 to rotate. The detection device can detect the rotation angle of the rotor of the motor 22 and generate a detection signal.

[0043] The signal processing device is configured to establish a cursor movement instruction in response to the detection signal. The display device is communicatively connected to the signal processing device; and is configured to receive the cursor movement instruction and display the position state of the cursor after movement.

[0044] As follows, in combination with Figure 7 and Figure 8 , the process of the assistant doctor moving the cursor to indicate the surgical image is described as follows:

[0045] When the master doctor is in the clutch state (such as during surgical preparation) and unable to control the surgical robot to indicate the required position, the assistant doctor can indicate the required position. The process is described as follows: The assistant doctor activates the cursor. Of course, the cursor can be activated and displayed only when the position needs to be indicated, or it can be displayed when the endoscope 4 captures the field of view image. In either case, the coordinates after the cursor 5 is displayed can correspond to the O1 point as shown in Figure 7 . After the cursor 5 is displayed, the assistant doctor applies an operation to the hand control operation component 11. The hand control operation component 11 actuates the transmission component 12. The transmission component 12 drives the input component 21, causing the input component 21 to drive the motor 22 to rotate. The detection device detects the rotation angle of the rotor of the motor 22 and generates a detection signal. The signal processing device establishes a cursor movement instruction. After the display device receives the cursor movement instruction, it displays the position state of the cursor 5 after movement. Comparing Figure 8 and Figure 7 it can be seen that the cursor 5 is moved to point E.

[0046] When the master doctor can control the attitude adjustment of the robotic arm and there is an indication requirement when the endoscope is not being manipulated, the assistant doctor can operate the hand control operation component 11 to adjust the position of the cursor 5 to indicate the image.

[0047] In summary, when the master doctor is in the clutch state, he cannot indicate the surgical image, and the assistant doctor can indicate the surgical image. During the surgical operation of the master doctor, when the endoscope is not being manipulated and there is an indication requirement, the assistant doctor can also indicate the surgical image. Therefore, the problem that the master doctor cannot indicate the surgical image in the clutch state or the assistant doctor cannot directly indicate the image during the master doctor's surgical operation is solved. On the premise of solving the above problems, the assistant doctor can operate the hand control operation component 11 to complete the indication of the surgical image. The operation is simple and convenient; the above operations are all completed by the assistant doctor, which can ensure the continuity of the operation, and further ensure the continuity of the communication process, and no third party is required to participate.

[0048] Based on the function of the manual operation component 11 described above, the structure of the manual operation component 11 is not limited. For example, the manual operation component 11 is a rotatable joystick.

[0049] See Figure 4 , Figure 5 and Figure 6 , as Figure 6 shown, the manual operation component 11 includes a first manual operation component 111 and a second manual operation component 112. As Figure 5 shown, the transmission component 12 includes a first transmission component 121 and a second transmission component 122. The input component 21 includes a first input component 211 and a second input component (not shown in the figure). However, from Figure 5 it can be known the connection relationships between the first input component 211 and the second input component and the first transmission component 121 and the second transmission component 122 respectively from the number of the adapter drive disks 31 of the sterile adapter 3. The motor 22 includes a first motor 221 and a second motor (not shown in the figure). For the instrument driver, in addition to the motor 22 connected to the manual operation component 11, it further includes an endoscope drive motor 231 for driving the endoscope 4 and an endoscope input component 241. Correspondingly, the sterile adapter 3 includes an adapter drive disk 31 connected to the endoscope input component 241. The endoscope assembly 1 includes an endoscope drive disk 13 connected to the adapter drive disk 31. The endoscope drive disk 13 is connected to the endoscope 4. In this way, the endoscope drive motor 231 drives the endoscope input component 241, and then through the drive of the adapter drive disk 31 and the endoscope drive disk 13, the endoscope 4 is driven. The detection device includes a first detection device and a second detection device.

[0050] The first manual operation component 111 can be actuated by an external force and act on the first transmission component 121. The first input component 211 can be actuated by the first transmission component 121 and act on the rotor of the first motor 221. The external force is the acting force for manipulating the first manual operation component 111. For example, when the first manual operation component 111 is a knob, the external force is the force for rotating the knob. The first detection device can detect the rotation angle of the rotor of the first motor 221 and generate a first detection signal. The second manual operation component 112 can be actuated by an external force (the external force is as described above) and act on the second transmission component 122. The second input component 222 can be actuated by the second transmission component 122 and act on the rotor of the second motor. The second detection device can detect the rotation angle of the rotor of the second motor and generate a second detection signal. The signal processing device responds to the first detection signal sent by the first detection device, establishes a coordinate axis conversion instruction for controlling the cursor and sends it to the display device. The coordinate axis conversion instruction is used to select the coordinate axis. For example, Figure 7and Figure 8 The X-axis is selected. The signal processing device responds to the second detection signal sent by the second detection device, establishes a numerical change instruction for the cursor and sends it to the display device. The numerical change instruction of the cursor corresponds to the distance that the cursor moves along the selected coordinate axis. The cursor movement instruction includes the coordinate axis conversion instruction and the numerical change instruction. In this way, by the selected coordinate axis and the movement of the cursor along the selected coordinate axis, the cursor is moved to the position on the selected coordinate axis. If movement is required on all of the X, Y, and Z axes, in one implementation, the corresponding coordinate axes are successively selected and the cursor is moved along the selected coordinate axes. In this way, the cursor is moved to the indicated position through three operations.

[0051] With the above settings, since the manual operation component 11 includes a first manual operation component 111 and a second manual operation component 112; the transmission component 12 includes a first transmission component 121 and a second transmission component 122; the input component 21 includes a first input component 211 and a second input component; the motor 22 includes a first motor 221 and a second motor; the detection device includes a first detection device and a second detection device, in this way, by combining the selection of the coordinate axis and the movement along the coordinate axis to move the cursor to indicate the surgical image, the operation is simple and convenient, and the continuity of the operation can be ensured. Furthermore, the continuity of the communication process can be ensured, and no third party is required to participate.

[0052] In some embodiments, the manual operation component further includes a third manual operation component and a third transmission component, and the third manual operation component is connected to the third transmission component. The instrument driver includes a third motor, a third detection device, and a third input component. When the third manual operation component actuates the third transmission component, the third input component can be actuated by the third transmission component and act on the rotor of the third motor, and the third detection device can detect the rotation angle of the rotor of the third motor and generate a third detection signal. The signal processing device responds to the third detection signal sent by the third detection device, establishes a position marking instruction for the cursor and sends it to the display device.

[0053] See Figure 9 and will Figure 9 and Figure 8 Compare and describe the above embodiments: If you want to save or mark the current position indicated by the cursor for later viewing or further communication, etc., mark the position of the cursor. Figure 8 Schematically shows the situation where the current position of the cursor 5 is not marked. Figure 9The position corresponding to the cursor 5 is marked with a black triangle. Any method can be used to let the on-site doctor and / or the master doctor know that this position has been marked, not limited to the aforementioned method of changing the shape of the cursor through color change. The coordinates corresponding to the marked cursor are stored.

[0054] As set above, by the on-site doctor operating the third hand control component to mark the current position, it is not only convenient for further communication, etc. Since the aforementioned operation is implemented by the on-site doctor, the operation is simple and convenient, which can ensure the continuity of the operation. Furthermore, it can ensure the continuity of the communication process and does not require the participation of a third party.

[0055] See Figure 8 and Figure 9 As described above, the signal processing device responds to the fourth detection signal sent by the third detection device, establishes a coordinate conversion instruction for controlling the position of the cursor, and converts the coordinates of the cursor in the endoscope coordinate system of the endoscope into coordinates in the absolute coordinate system according to the coordinate conversion instruction. The absolute coordinate system: a three-dimensional Cartesian coordinate system established with the base of the on-site robot as the origin, which is fixed relative to the base of the on-site robot and does not move during normal surgery. The endoscope coordinate system is a three-dimensional Cartesian coordinate system established with the center of the endoscope image as the origin, which is fixed at the endoscope lens, fixed relative to the field of view image of the endoscope, and moves with the endoscope. In Figure 8 and Figure 9 The coordinates in the endoscope coordinate system are represented by E, and the coordinates in the absolute coordinate system are represented by P. According to the mapping relationship between the absolute coordinate system and the endoscope coordinate system, the coordinates of the cursor 5 in the absolute coordinate system can be determined. The endoscope 4 will move to generate multiple field of view images. For example, the current scene (referred to as the first scene), the corresponding moved scenes are referred to as the second scene and the third scene. The first scene: the endoscope coordinate system is E1; the second scene: the endoscope coordinate system is E2; the third scene: the endoscope coordinate system is E3. In each scene, there is a mapping relationship between the coordinate system of the endoscope in each scene and the absolute coordinate system.

[0056] As set above, by the on-site doctor manipulating the third hand control component to implement coordinate conversion, the manipulation is convenient and can ensure the continuity of the operation. Furthermore, it can ensure the continuity of the communication process.

[0057] See Figure 5 and Figure 3 and in combination with Figure 7, the endoscope assembly 1 (also referred to as an endoscope adapter) includes a housing 14, and the housing 14 includes a through hole 141 that communicates the interior of the housing 14 with the exterior of the endoscope assembly 1. The hand-operated control member 11 includes an operating portion 113; a part of the operating portion 113 extends out of the through hole 141. The structure of the operating portion 113 is not limited to a single circle of saw teeth as shown in the figure. As long as the hand-operated control member 11 can be operated, it is not limited to a single circle of saw teeth as shown in the figure.

[0058] With the above arrangement, since the hand-operated control member 11 includes an operating portion 113 and a part of the operating portion 113 extends out of the through hole 141, the structure of the endoscope assembly 1 is compact, facilitating the operation of the hand-operated control member 11.

[0059] In a second aspect, the present application also discloses a control method for a surgical robot. The surgical robot includes an endoscope assembly 1, an instrument driver 2, a signal processing device, and a display device. The endoscope assembly 1 includes a first hand-operated control member 111, a first transmission member 121 actuated by the first hand-operated control member 111, a second hand-operated control member 112, and a second transmission member 122 actuated by the second hand-operated control member 112. The instrument driver 2 includes a first input member 211, a first motor 221, a first detection device, a second input member, a second motor, and a second detection device. The first input member 211 can be actuated by the first transmission member 121 and act on the rotor of the first motor 221. The first detection device can detect the rotation angle of the rotor of the first motor and generate a first detection signal. The second input member can be actuated by the second transmission member 122 and act on the rotor of the second motor, and the second detection device can detect the rotation angle of the rotor of the second motor and generate a second detection signal. The signal processing device can receive the first detection signal from the first detection device and the second detection signal from the second detection device. The display device is communicatively connected to the signal processing device.

[0060] The control method for the surgical robot includes:

[0061] Apply a first operation to the first manual operation component 111 to generate the first detection signal. The main function of the first operation is to enable the first motor 221 to rotate, and ultimately achieve the first detection signal. The first operation is determined according to the structure of the first manual operation component 111. In this embodiment, the first manual operation component 111 is a knob, and the first operation is to rotate the first manual operation component 111. The signal processing device receives the first detection signal, establishes an instruction for converting the coordinate axis of the control cursor, and sends it to the display device, and the cursor of the display device switches to the selected coordinate axis. The coordinate axis conversion instruction is as described above and is used to select one of the X-axis, Y-axis, and Z-axis.

[0062] Apply a second operation to the second manual operation component 112 to generate the second detection signal. For the introduction of the second operation, reference can be made to the introduction of the first operation. The signal processing device receives the second detection signal, establishes an instruction for the numerical change of the cursor, and sends it to the display device, and the cursor of the display device moves along the direction of the selected coordinate axis. The instruction for the numerical change of the cursor is as described above.

[0063] With the above settings, only the doctor beside the patient needs to operate the first manual operation component 111 and the second manual operation component 112 to move the cursor to the communication position, which solves the problem that the master doctor cannot indicate the surgical image in the clutch state, or when the master doctor is performing a surgical operation, the doctor beside the patient cannot directly indicate the image. Moreover, the control of the surgical robot is simple and convenient, and is all completed by the doctor beside the patient, which can ensure the continuity of the operation. Furthermore, it can ensure the continuity of the communication process and does not require the participation of a third party.

[0064] In a further embodiment, the surgical robot further includes: a third manual operation component, a third transmission component, a third input part, a third motor, and a third detection device. The third manual operation component and the third transmission component are arranged on the endoscope assembly; the third manual operation component can be actuated by an external force and act on the third transmission component. The third motor, the third detection device, and the third input component are arranged on the instrument driver. The third input component can be actuated by the third transmission component and act on the rotor of the third motor. The third detection device can detect the rotation angle of the rotor of the third motor and generate a third detection signal. The control method of the surgical robot further includes: applying a third operation to the third manual operation component to generate the third detection signal, and the signal processing device generates a marking instruction according to the third detection signal to mark the current position of the cursor of the display device. It can be compared with Figure 9 and Figure 8 Compare, Figure 9It can be understood that the display device displays the current position marker of the cursor. The current cursor is filled with black so that the side doctor and / or the master doctor can know that the current position of the cursor has been marked.

[0065] As set above, by operating the third hand control operation component to mark the current position of the cursor, the control of the surgical robot is simple, convenient, and all completed by the side doctor, which can ensure the continuity of the operation. Furthermore, it can ensure the continuity of the communication process and does not require the participation of a third party.

[0066] In a further embodiment, the control method of the hand-controlled robot further includes: applying a fourth operation to the third hand control operation component to cause the third detection device to generate a coordinate conversion instruction. Although the objects of the fourth operation and the third operation are both the third hand control operation component, as long as the two are different and can be discriminated by software. The signal processing device receives the coordinate conversion instruction, and according to the conversion relationship between the endoscope coordinate system and the absolute coordinate system, converts the coordinates of the cursor in the endoscope coordinate system of the endoscope into the coordinates in the absolute coordinate system, and stores the coordinates of the cursor in the absolute coordinate system.

[0067] As set above, by applying a fourth operation through the third hand control operation component, the coordinates of the cursor in the endoscope coordinate system are converted into the coordinates in the absolute coordinate system and stored. The control of the surgical robot is simple, convenient, and all completed by the side doctor, which can ensure the continuity of the operation. Furthermore, it can ensure the continuity of the communication process and does not require the participation of a third party.

[0068] In a third aspect, taking the display device as the object, refer to Figure 11 , an embodiment of the present application also discloses an image display method. The image display method includes:

[0069] S1: Obtain the first field of view image collected by the endoscope and display the first field of view image; in this step, there can be any method for how the image obtained by the endoscope 4 is transmitted to the display device, and the obtained first field of view image can refer to Figure 7 as shown.

[0070] S1: Based on the first operation from the endoscope assembly, display a three-dimensional coordinate system and a cursor in the first field of view image, and the selected coordinate axis is highlighted; in this image display method, the endoscope assembly can be the endoscope assembly as shown in Figures 3 to 6 , or it can also be an endoscope assembly with a different structure. The highlighting can be achieved in any way as long as the selected coordinate axis can be distinguished from other coordinate axes. For example, if the selected coordinate axis is the X axis, the extension and / or thickness of the X axis are made different from those of the Y axis and the Z axis to achieve the highlighting.

[0071] S3: Based on the second operation from the endoscope assembly, the cursor moves along the direction of the selected coordinate axis.

[0072] Compare Figure 7 and Figure 8 , the cursor 5 moves from the initial position O1 along the selected coordinate axis to point E. Of course, as described above, if all three coordinate axes need to be moved, then it is necessary to move along each coordinate axis; if only one coordinate axis needs to be moved, then only move along that coordinate axis.

[0073] With the above settings, due to the said image display method, only the doctor beside the patient needs to operate to perform the display. The image display is convenient, which can ensure the continuity of the image display and the continuity of communication between the master doctor and the doctor beside the patient.

[0074] See Figure 7 , the first field of view image is displayed based on the endoscope coordinate system, and the initial position of the cursor 5 is located at the origin O1 of the endoscope coordinate system. Of course, in some embodiments, the initial position may not be the origin O1.

[0075] With the above settings, since the initial position of the cursor 5 is located at the origin O1 of the endoscope coordinate system, in this way, the moving distance of the cursor is shorter, and in subsequent coordinate conversions, the coordinate conversion is more convenient and the algorithm is more convenient.

[0076] The endoscope will move, and correspondingly, new field of view images will be generated (such as the first scene, the second scene, the third scene, etc. as described above). Therefore, the image display method further includes, when the endoscope moves from the position corresponding to the first field of view image, acquiring the second field of view image collected by the endoscope corresponding to the moved position, and based on the first operation, displaying the initial position of the cursor and the selected coordinate axis highlighted in the second field of view image. Subsequently, based on the second operation, the cursor moves along the direction of the selected coordinate axis. The second field of view image is relative to the image before the endoscope moves, and is the field of view image generated after the endoscope moves. The position where the endoscope moves corresponds to different scenes, generating different field of view images. In the first scene, the endoscope coordinate system is E1, in the second scene, the endoscope coordinate system is E2, and so on. In the Nth scene, the endoscope coordinate system is En. It can be understood by referring to the foregoing that the second field of view image is displayed based on the endoscope coordinate system, and the initial position of the cursor 5 is located at the origin of the endoscope coordinate system corresponding to the second field of view image. For example, if the current second field of view image is the field of view image of the second scene, then the initial position of the cursor 5 is the origin of the endoscope coordinate system E2. Similarly, if the current second field of view image is the field of view image of the third scene, then the cursor 5 is located at the origin of the endoscope coordinate system E3.

[0077] With the above settings, since the initial position of the cursor 5 is at the origin of the endoscope coordinate system corresponding to the second field of view image, the distance the cursor moves is shorter, and in subsequent coordinate conversions, the coordinate conversion is more convenient and the algorithm is more convenient.

[0078] See Figure 12 and in combination with Figure 9 and Figure 8 , based on the third operation from the endoscope assembly, a position marker 6 is displayed at the current position of the cursor. Figure 8 The current position of the cursor in Figure 9 is not marked, Figure 9 and the cursor in

[0079] is filled with black and has been marked. In

[0080] See Figure 10 and Figure 13 , the image display method further includes: S5: Obtain the third field of view image collected by the endoscope. When the position marker 6 is outside the third field of view image, a direction identifier 7 is displayed in the third field of view image, and the direction identifier 7 represents the orientation relationship between the third field of view image and the position marker 6.

[0081] In this step, the third field of view image is a new field of view image generated after the endoscope moves, and can also be understood as the aforementioned second field of view image. In this image display method, as described in step S6: After obtaining the third field of view image, it is determined whether the position marker 6 is within the field of view of the third field of view image. If it is, the position marker 6 is directly displayed. If not, when it is necessary to communicate the position of the position marker again, the field of view of the endoscope needs to be adjusted. At this time, the adjustment of the field of view can be achieved according to the direction identifier 7.

[0082] With the above settings, by displaying the direction identifier in the third field of view image, and the direction identifier represents the orientation relationship between the third field of view image and the position marker 6, it is convenient to adjust the field of view of the endoscope.

[0083] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A surgical robot, characterized in that, The surgical robot includes: An endoscope assembly, the endoscope assembly including a hand-operated control component and a transmission component, the hand-operated control component being connected to the transmission component; An instrument driver, the instrument driver including an input component, a motor, and a detection device, the input component being connected to the transmission component, and in the case where the hand-operated control component actuates the transmission component, the input component can be actuated by the transmission component and act on the rotor of the motor; the detection device can detect the rotation angle of the rotor of the motor and generate a detection signal; A signal processing device configured to establish a cursor movement instruction in response to the detection signal; A display device, the display device being communicatively connected to the signal processing device; configured to receive the cursor movement instruction and display the position state of the cursor after movement.

2. The surgical robot according to claim 1, wherein The hand-operated control component includes a first hand-operated control component and a second hand-operated control component; the transmission component includes a first transmission component and a second transmission component; the input component includes a first input component and a second input component; the motor includes a first motor and a second motor; the detection device includes a first detection device and a second detection device; The first hand-operated control component can be actuated by an external force and act on the first transmission component, the first input component can be actuated by the first transmission component and act on the rotor of the first motor; the first detection device can detect the rotation angle of the rotor of the first motor and generate a first detection signal; The second hand-operated control component can be actuated by an external force and act on the second transmission component, the second input component can be actuated by the second transmission component and act on the rotor of the second motor; the second detection device can detect the rotation angle of the rotor of the second motor and generate a second detection signal; The signal processing device, in response to the first detection signal sent by the first detection device, establishes a coordinate axis conversion instruction for controlling the cursor and sends it to the display device; the signal processing device, in response to the second detection signal sent by the second detection device, establishes a numerical change instruction for the cursor and sends it to the display device; the cursor movement instruction includes the coordinate axis conversion instruction and the numerical change instruction.

3. The surgical robot according to claim 1 or 2, characterized in that, The hand-operated control component further includes a third hand-operated control component and a third transmission component, the third hand-operated control component being connected to the third transmission component; The instrument driver includes a third input component, a third motor, and a third detection device, and in the case where the third hand-operated control component actuates the third transmission component, the third input component can be actuated by the third transmission component and act on the rotor of the third motor, the third detection device can detect the rotation angle of the rotor of the third motor and generate a third detection signal; The signal processing device, in response to the third detection signal sent by the third detection device, establishes a position marking instruction for the cursor and sends it to the display device.

4. The surgical robot according to claim 3, wherein The signal processing device, in response to a fourth detection signal sent by the third detection device, establishes a coordinate conversion instruction, and according to the coordinate conversion instruction, converts the coordinates of the cursor in the endoscope coordinate system into coordinates in the absolute coordinate system.

5. The surgical robot according to claim 1, characterized in that, The endoscope assembly includes a housing, the housing includes a through hole, and the through hole communicates the interior of the housing and the exterior of the endoscope assembly; the hand-operated control member includes an operation portion; a part of the operation portion extends out of the through hole.

6. A control method for a surgical robot, characterized in that, The surgical robot includes: An endoscope assembly, the endoscope assembly includes a first hand-operated control member, a first transmission member actuated by the first hand-operated control member, a second hand-operated control member, and a second transmission member actuated by the second hand-operated control member; An instrument driver, the instrument driver includes a first input member, a first motor, a first detection device, a second input member, a second motor, and a second detection device; the first input member can be actuated by the first transmission member and act on the rotor of the first motor; the first detection device can detect the rotation angle of the rotor of the first motor and generate a first detection signal; the second input member can be actuated by the second transmission member and act on the rotor of the second motor, and the second detection device can detect the rotation angle of the rotor of the second motor and generate a second detection signal; A signal processing device, the signal processing device can receive the first detection signal of the first detection device and the second detection signal of the second detection device; A display device, the display device is communicatively connected to the signal processing device; The control method of the surgical robot includes: Applying a first operation to the first hand-operated control member to generate the first detection signal; the signal processing device receives the first detection signal, establishes an instruction for coordinate conversion of the control cursor and sends it to the display device, and the cursor of the display device switches to the selected coordinate axis; Applying a second operation to the second hand-operated control member to generate the second detection signal; the signal processing device receives the second detection signal, establishes an instruction for numerical change of the cursor and sends it to the display device, and the cursor of the display device moves along the direction of the selected coordinate axis.

7. The control method of the surgical robot according to claim 6, wherein The surgical robot further includes: a third hand-operated control member and a third transmission member, a third input portion, a third motor, and a third detection device; The third hand-operated control member and the third transmission member are disposed on the endoscope assembly; the third hand-operated control member can be actuated by an external force and act on the third transmission member; The third motor, the third detection device, and the third input member are disposed on the instrument driver, the third input member can be actuated by the third transmission member and act on the rotor of the third motor, and the third detection device can detect the rotation angle of the rotor of the third motor and generate a third detection signal; The control method of the surgical robot further includes: applying a third operation to the third hand-operated control member to generate the third detection signal, and the signal processing device generates a marking instruction according to the third detection signal to mark the current position of the cursor of the display device.

8. The control method of the surgical robot according to claim 7, characterized in that, The control method of the surgical robot further includes: applying a fourth operation to the third hand control operation component to cause the third detection device to generate a coordinate conversion instruction, the signal processing device receiving the coordinate conversion instruction, converting the coordinates of the cursor in the endoscope coordinate system into coordinates in the absolute coordinate system, and storing the coordinates of the cursor in the absolute coordinate system.

9. An image display method, characterized in that, The image display method includes: acquiring a first field of view image collected by the endoscope and displaying the first field of view image; based on a first operation from the endoscope assembly, displaying a three-dimensional coordinate system and a cursor in the first field of view image, and highlighting the axis selected by the first operation; based on a second operation from the endoscope assembly, moving the cursor in the direction of the selected axis.

10. The image display method according to claim 9, wherein The first field of view image is displayed based on the endoscope coordinate system, and the initial position of the cursor is located at the origin of the endoscope coordinate system.

11. The image display method according to claim 9, wherein The image display method further includes: when the endoscope moves from the position corresponding to the first field of view image, acquiring a second field of view image collected by the endoscope corresponding to the moved position, and based on the first operation, displaying the initial position of the cursor and highlighting the selected axis in the second field of view image.

12. The image display method according to claim 11, characterized in that, The second field of view image is displayed based on the endoscope coordinate system, and the initial position of the cursor is located at the origin of the endoscope coordinate system corresponding to the second field of view image.

13. The image display method according to claim 9 or 11, characterized in that, The image display method further includes: based on a third operation from the endoscope assembly, displaying a position marker at the current position of the cursor.

14. The image display method according to claim 13, wherein The image display method further includes: acquiring a third field of view image collected by the endoscope, and when the position marker is outside the third field of view image, displaying a direction identifier in the third field of view image, the direction identifier characterizing the orientation relationship between the third field of view image and the position marker.

Images