Control device of flexible mechanical arm and flexible mechanical arm system

Abstract

The invention is suitable for the technical field of medical instruments, and provides a control device of a flexible mechanical arm and a flexible mechanical arm system. The flexible mechanical arm control device comprises a left side flexible arm control module which is connected with a left side flexible mechanical arm and used for collecting left hand action data of a user, generating a first control instruction for the left side flexible mechanical arm according to the left hand action data and controlling the left side flexible mechanical arm based on the first control instruction; and the right side flexible arm control module is connected with a right side flexible mechanical arm and used for collecting right hand action data of the user, generating a second control instruction for the right side flexible mechanical arm according to the right hand action data and controlling the right side flexible mechanical arm based on the second control instruction. Data, control and the like of the left-side flexible mechanical arm and the right-side flexible mechanical arm do not interfere with each other, the operation real-time performance of the flexible mechanical arm is improved, and the problem of operation delay of the flexible mechanical arm is effectively solved.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and in particular relates to a control device for a flexible robotic arm and a flexible robotic arm system. Background Art

[0002] With the continuous advancement of medical technology, minimally invasive surgery has been widely used in the field of surgery due to its advantages of less trauma and faster recovery. Flexible robotic arms (or flexible surgical arms) are key instruments in minimally invasive surgery. Compared with traditional rigid robotic arms, they have the advantages of high flexibility and high precision. These advantages enable flexible robotic arms to perform precise operations in small and complex spaces (such as human cavities), greatly improving the success rate and safety of difficult surgeries. However, the flexible robotic arms in related technologies have obvious operation delays, which will seriously affect the user's hand-eye coordination and increase surgical risks. Summary of the Invention

[0003] In view of this, an embodiment of the present application provides a control device for a flexible robotic arm and a flexible robotic arm system to solve the technical problem in the related art that the flexible robotic arm has obvious operation delay.

[0004] In a first aspect, an embodiment of the present application provides a flexible robotic arm control device, comprising:

[0005] a left flexible arm control module, connected to the left flexible robotic arm, configured to collect left hand motion data of the user, generate a first control instruction for the left flexible robotic arm based on the left hand motion data, and control the left flexible robotic arm based on the first control instruction;

[0006] The right flexible arm control module is connected to the right flexible robotic arm, and is used to collect the user's right hand motion data, generate a second control instruction for the right flexible robotic arm according to the right hand motion data, and control the right flexible robotic arm based on the second control instruction.

[0007] In an optional implementation of the first aspect, the left flexible arm control module includes:

[0008] a left-hand operation unit connected to the left-hand processing unit, for generating left-hand motion data in response to a user's left-hand motion, and sending the left-hand motion data to the left-hand processing unit;

[0009] The left processing unit is connected to the terminal device and the left driving unit, and is used to receive the left hand motion data, process the left hand motion data to obtain a first control instruction for the left flexible robotic arm, and send the first control instruction to the left driving unit;

[0010] The left driving unit is used to receive and execute the first control instruction to drive the various joints and end tools of the left flexible robotic arm to perform corresponding operations, and to feedback the first execution information corresponding to the first control instruction to the left processing unit, so that the left processing unit can feedback the first execution information to the terminal device.

[0011] In an optional implementation of the first aspect, the left flexible arm control module further includes a left force feedback unit provided on the left flexible robotic arm;

[0012] The left force feedback unit is connected to the left processing unit, and is used to collect first force information of each joint and end tool of the left flexible robotic arm during operation, and send the first force information to the left processing unit;

[0013] The left-hand processing unit is further configured to receive the first force information, process the first force information to generate a first force feedback instruction, and send the first force feedback instruction to the left-hand operation unit;

[0014] The left-hand operation unit is further configured to receive the first force feedback instruction and, in response to the first force feedback instruction, provide corresponding resistance perception for the user's left hand.

[0015] In an optional implementation of the first aspect, the left flexible arm control module further includes:

[0016] a left-hand operation mode adjustment unit, connected to the left-hand processing unit, configured to receive a first operation mode adjustment instruction from the terminal device or the left-hand operation unit, and send the first operation mode adjustment instruction to the left-hand processing unit;

[0017] The left processing unit is specifically used to process the left hand motion data according to the first target operation mode indicated by the first operation mode adjustment instruction to obtain the first control instruction corresponding to the first target operation mode; the first target operation mode is a fine operation mode or a normal operation mode. When the amplitudes of the left hand movements are the same, the operation amplitude of the left flexible robotic arm indicated by the first control instruction corresponding to the fine operation mode is smaller than the operation amplitude of the left flexible robotic arm indicated by the first control instruction corresponding to the normal operation mode.

[0018] In an optional implementation of the first aspect, the right flexible arm control module includes:

[0019] a right-hand operation unit connected to the right-hand processing unit, for generating right-hand motion data in response to a user's right-hand motion, and sending the right-hand motion data to the right-hand processing unit;

[0020] The right processing unit is connected to the terminal device and the right driving unit, and is used to receive the right-hand motion data, process the right-hand motion data to obtain a second control instruction for the right flexible robotic arm, and send the second control instruction to the right driving unit;

[0021] The right driving unit is used to receive and execute the second control instruction to drive the various joints and end tools of the right flexible robotic arm to perform corresponding operations, and to feedback the second execution information corresponding to the second control instruction to the right processing unit, so that the right processing unit can feedback the second execution information to the terminal device.

[0022] In an optional implementation of the first aspect, the right flexible arm control module further includes a right force feedback unit provided on the right flexible robotic arm;

[0023] The right force feedback unit is connected to the right processing unit, and is used to collect second force information of each joint and end tool of the right flexible robotic arm during operation, and send the second force information to the right processing unit;

[0024] The right processing unit is further configured to receive the second force information, process the second force information to generate a second force feedback instruction, and send the second force feedback instruction to the right-hand operation unit;

[0025] The right-hand operation unit is further configured to receive the second force feedback instruction and, in response to the second force feedback instruction, provide corresponding resistance perception for the user's right hand.

[0026] In an optional implementation of the first aspect, the right flexible arm control module further includes:

[0027] a right-side operation mode adjustment unit, connected to the right-side processing unit, configured to receive a second operation mode adjustment instruction from the terminal device or the right-hand operation unit, and send the second operation mode adjustment instruction to the right-side processing unit;

[0028] The right-side processing unit is specifically used to process the right-hand motion data according to the second target operation mode indicated by the second operation mode adjustment instruction to obtain the second control instruction corresponding to the second target operation mode; the second target operation mode is a fine operation mode or a normal operation mode. When the amplitude of the right-hand motion is the same, the operation amplitude of the right-side flexible robotic arm indicated by the second control instruction corresponding to the fine operation mode is smaller than the operation amplitude of the right-side flexible robotic arm indicated by the second control instruction corresponding to the normal operation mode.

[0029] In an optional implementation of the first aspect, the left-hand processing unit is further configured to feed back the left-hand motion data to the terminal device.

[0030] In an optional implementation of the first aspect, the right processing unit is further configured to feed back the right hand motion data to the terminal device.

[0031] In the second aspect, an embodiment of the present application provides a flexible robotic arm system, including a terminal device, a flexible robotic arm control device, a left flexible robotic arm, and a right flexible robotic arm; the flexible robotic arm control device is connected to the terminal device, the left flexible robotic arm, and the right flexible robotic arm; the flexible robotic arm control device is the flexible robotic arm control device described in any optional implementation method of the first aspect above.

[0032] The flexible robotic arm control device and flexible robotic arm system provided by the embodiments of the present application have the following beneficial effects:

[0033] The flexible robotic arm control device provided in the embodiment of the present application is configured to set up a left flexible arm control module and a right flexible arm control module independently of each other, and collect the user's left hand motion data through the left flexible arm control module, generate a first control instruction for the left flexible robotic arm according to the left hand motion data, and control the left flexible robotic arm based on the first control instruction, and collect the user's right hand motion data through the right flexible arm control module, generate a second control instruction for the right flexible robotic arm according to the right hand motion data, and control the right flexible robotic arm based on the second control instruction, so that the data and control of the left flexible robotic arm and the right flexible robotic arm do not interfere with each other, thereby improving the real-time operation of the left flexible robotic arm and the right flexible robotic arm, and effectively solving the operation delay problem of the flexible robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 A schematic structural diagram of a flexible robotic arm system provided in an embodiment of the present application;

[0036] Figure 2 A schematic structural diagram of a flexible robotic arm system provided in another embodiment of the present application;

[0037] Figure 3 A schematic structural diagram of a flexible robotic arm system provided in yet another embodiment of the present application;

[0038] Figure 4 A schematic structural diagram of a flexible robotic arm system provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0039] The following embodiments are only used to more clearly illustrate the technical solutions of the present application and are therefore only used as examples and are not intended to limit the scope of protection of the present application.

[0040] In the description of the embodiments of the present application, the technical terms "include", "comprise", "have" and any variations thereof mean "including but not limited to", unless otherwise specifically emphasized. In the description of the embodiments of the present application, unless otherwise specified, the technical term "multiple" refers to two or more than two, and the technical terms "at least one" and "one or more" refer to one, two or more. The technical terms "first" and "second" are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. The technical term "and / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships, such as A and / or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0041] As discussed in the background, conventional flexible robotic arms not only experience significant operational delays, severely impacting the user's hand-eye coordination, but also prevent the user from accurately sensing the force applied to the end, which can easily lead to tissue damage or operational failure. Furthermore, they are unable to balance both fine and rough manipulation, resulting in low overall operational efficiency and difficulty maintaining high precision across diverse surgical scenarios. These drawbacks increase the risk of misoperation and reduce operational safety.

[0042] In view of this, the present invention first provides a flexible robotic arm system. The flexible robotic arm system can be applied in clinical medicine (such as in endoscopic surgery) or other fields. The present invention does not limit the application field of the flexible robotic arm system.

[0043] For example, Figure 1 This is a schematic diagram of the structure of a flexible robotic arm system provided in an embodiment of the present application. Figure 1 As shown, the flexible robotic arm system may include a terminal device 10 , a flexible robotic arm control device 20 , a left flexible robotic arm 30 , and a right flexible robotic arm 40 .

[0044] Exemplarily, the terminal device 10 may be an electronic device such as a desktop computer, a laptop computer, a tablet computer, or a mobile phone. The embodiment of the present application does not specifically limit the specific type of the terminal device 10.

[0045] For example, the left flexible robotic arm 30 and the right flexible robotic arm 40 may each include multiple joints, and the movements of each joint may be controlled by flexible metal wires or flexible metal lines. Furthermore, an operating tool may be mounted at the end of each flexible robotic arm 30 and the end of each flexible robotic arm 40. The operating tool may be a surgical tool. For example, the surgical tool may be a scissor, a forceps, or a tweezers, or may be an electrosurgical tool.

[0046] In actual application, a communication connection can be established between the flexible robotic arm control device 12 and the terminal device 11, the left flexible robotic arm 30, and the right flexible robotic arm 40. The communication connection can be a wired communication connection (for example, a connection based on a serial communication interface) or a wireless communication connection (for example, a connection based on a wireless local area network). The embodiment of the present application does not limit the communication connection method between the flexible robotic arm control device 12 and the terminal device 11, the left flexible robotic arm 30, and the right flexible robotic arm 40.

[0047] Optionally, the terminal device 10 can be used to send various instructions to the flexible robotic arm control device 20, or can be used to receive various data fed back by the flexible robotic arm control device 20.

[0048] Exemplarily, the terminal device 10 may send an opening instruction, a closing instruction, an initialization instruction, or an operation mode adjustment instruction to the flexible robotic arm control device 20. Among them, the opening instruction may be used to control the flexible robotic arm control device 20 to enter the working state from the shutdown state or the standby state. The closing instruction may be used to control the flexible robotic arm control device 20 to enter the shutdown state from the working state. The initialization instruction may be used to control the flexible robotic arm control device 20 to perform an initialization operation. The operation mode adjustment instruction may be used to control the flexible robotic arm control device 20 to adjust the operation mode of the left flexible robotic arm 30 or the right flexible robotic arm 40. Exemplarily, the above-mentioned operation modes may include a fine operation mode and a normal operation mode.

[0049] It should be noted that in the fine operation mode, the left flexible robotic arm 30 or the right flexible robotic arm 40 can perform fine operations with a relatively small amplitude under the control of the flexible robotic arm control device 20. In the normal operation mode, the left flexible robotic arm 30 or the right flexible robotic arm 40 can perform coarse operations with a relatively large amplitude under the control of the flexible robotic arm control device 20. This enables the flexible robotic arm system to take into account both fine and coarse operations, thereby maintaining high operational accuracy in different surgical scenarios, thereby reducing the risk of misoperation of the flexible robotic arm and improving the operational safety of the flexible robotic arm.

[0050] For example, the terminal device 10 may receive left-hand motion data, right-hand motion data, first execution information, second execution information, first force information, and second force information fed back by the flexible robotic arm control device 20. It should be noted that the specific meanings of the left-hand motion data, right-hand motion data, first execution information, second execution information, first force information, and second force information may be referred to in the relevant descriptions in subsequent embodiments and will not be described in detail here.

[0051] In an optional implementation, the flexible robotic arm control device 20 may include a left flexible arm control module 201 and a right flexible arm control module 202.

[0052] The left flexible arm control module 201 can be connected to the terminal device 10 and the left flexible robotic arm 30. The left flexible arm control module 201 can be used to collect the user's left hand motion data, generate a first control instruction for the left flexible robotic arm 30 based on the left hand motion data, and control the left flexible robotic arm 30 based on the first control instruction to map the user's left hand motion to the left flexible robotic arm 30.

[0053] For example, the left flexible arm control module 201 may control the left flexible robotic arm 30 in the above manner upon receiving the first start instruction from the terminal device 10. The first start instruction may be used to control the left flexible arm control module 201 to enter a working state.

[0054] The right flexible arm control module 202 can be connected to the terminal device 10 and the right flexible robotic arm 40. The right flexible arm control module 202 can be used to collect the user's right hand motion data, generate a second control instruction for the right flexible robotic arm 40 based on the right hand motion data, and control the right flexible robotic arm 40 based on the second control instruction to map the user's left hand motion to the right flexible robotic arm 40.

[0055] For example, the right flexible arm control module 202 may control the right flexible robotic arm 40 in the above manner upon receiving the second start instruction from the terminal device 10. The second start instruction may be used to control the right flexible arm control module 202 to enter a working state.

[0056] From the above, it can be seen that the flexible robotic arm control device provided by this embodiment sets up a left flexible arm control module and a right flexible arm control module that are independent of each other, and collects the user's left hand motion data through the left flexible arm control module, generates a first control instruction for the left flexible robotic arm according to the left hand motion data, and controls the left flexible robotic arm based on the first control instruction, and collects the user's right hand motion data through the right flexible arm control module, generates a second control instruction for the right flexible robotic arm according to the right hand motion data, and controls the right flexible robotic arm based on the second control instruction, so that the data and control of the left flexible robotic arm and the right flexible robotic arm do not interfere with each other, thereby improving the real-time operation of the left flexible robotic arm and the right flexible robotic arm, and effectively solving the operation delay problem of the flexible robotic arm.

[0057] Figure 2 This is a structural diagram of a flexible robotic arm system provided in another embodiment of the present application. Figure 2 As shown, Figure 1 Compared with the corresponding embodiment, the left flexible arm control module 201 in this embodiment may include a left hand operation unit 2011, a left processing unit 2012 and a left driving unit 2013.

[0058] The left-hand operation unit 2011 may be connected to the left-hand processing unit 2012. The left-hand operation unit 2011 may be configured to generate left-hand motion data in response to a user's left-hand motion, and send the left-hand motion data to the left-hand processing unit 2012.

[0059] The left-side processing unit 2012 can be connected to the terminal device 10 and the left-side driving unit 2013. The left-side processing unit 2012 can be configured to receive left-hand motion data, process the left-hand motion data to obtain a first control instruction for the left flexible robotic arm 30, and send the first control instruction to the left-side driving unit 2013. For example, upon receiving a first start instruction from the terminal device 10, the left-side processing unit 2012 can receive left-hand motion data from the left-hand operating unit 2011.

[0060] The left driving unit 2013 can be used to receive and execute the first control instruction to drive the various joints and end tools of the left flexible robotic arm 30 to perform corresponding operations, and to feedback the first execution information corresponding to the first control instruction to the left processing unit 2012, so that the left processing unit 2012 can feedback the first execution information to the terminal device 10.

[0061] Optionally, the left-hand operation unit 2011 may include a left-hand operation component. The left-hand operation component may be provided with a left-hand motion sensor. Based on this, when the user operates the left-hand operation component, the left-hand motion sensor may collect the user's left-hand motion and generate left-hand motion data.

[0062] For example, the left-hand operating component can be a physical operating component (e.g., a left-hand operating handle) or a virtual operating component based on a virtual reality (VR) device. For example, the left-hand motion sensor can include an inertial sensor, a position sensor, and a pressure sensor. The embodiments of this application do not limit the specific type of the left-hand operating component or the specific structure of the left-hand motion sensor.

[0063] Optionally, the left-hand processing unit 2012 may also be configured to feed back left-hand motion data and first execution information to the terminal device 10 .

[0064] Exemplarily, the left processing unit 2012 may be a micro-controller unit (MCU) or a field-programmable gate array (FPGA).

[0065] Exemplarily, the left driving unit 2013 may include a left servo motor.

[0066] Exemplarily, the first execution information may be used to indicate the execution status of the first control instruction, for example, may be used to indicate whether the first control instruction has been completely executed.

[0067] Optionally, the right flexible arm control module 202 in this embodiment may include a right-hand operation unit 2021, a right-hand processing unit 2022, and a right-hand driving unit 2023.

[0068] The right-hand operation unit 2021 may be connected to the right-hand processing unit 2022. The right-hand operation unit 2021 may be configured to generate right-hand motion data in response to a user's right-hand motion, and send the right-hand motion data to the right-hand processing unit 2022.

[0069] The right processing unit 2022 can be connected to the terminal device 10 and the right driving unit 2023. The right processing unit 2022 can be used to receive right-hand motion data, process the right-hand motion data to obtain a second control instruction for the right flexible robotic arm 40, and send the second control instruction to the right driving unit 2023. For example, the right processing unit 2022 can receive right-hand motion data from the right-hand operation unit 2021 when receiving the second opening instruction from the terminal device 10.

[0070] The right driving unit 2023 can be used to receive and execute the second control instruction to drive the various joints and end tools of the right flexible robotic arm 40 to perform corresponding operations, and feedback the second execution information corresponding to the second control instruction to the right processing unit 2022, so that the right processing unit 2022 can feedback the second execution information to the terminal device 10.

[0071] Optionally, the right-hand operation unit 2021 may include a right-hand operation component. The right-hand operation component may be provided with a right-hand motion sensor. Based on this, when the user operates the right-hand operation component, the right-hand motion sensor may collect the user's right-hand motion and generate right-hand motion data.

[0072] For example, the right-hand operating component can be a physical operating component (such as a right-hand operating handle) or a virtual operating component based on a VR device. For example, the right-hand motion sensor can include an inertial sensor, a position sensor, and a pressure sensor. The embodiments of this application do not limit the specific type of the right-hand operating component or the specific structure of the right-hand motion sensor.

[0073] Optionally, the right processing unit 2022 may also be configured to feed back right-hand motion data and second execution information to the terminal device 10 .

[0074] Exemplarily, the right processing unit 2022 may be an MCU or an FPGA, etc.

[0075] Exemplarily, the right driving unit 2023 may include a right servo motor.

[0076] Exemplarily, the second execution information may be used to indicate the execution status of the second control instruction, for example, may be used to indicate whether the second control instruction has been completely executed.

[0077] From the above, it can be seen that the flexible robotic arm system provided in this embodiment can ensure that the operations such as command reception, data collection and data feedback of the left flexible robotic arm and the right flexible robotic arm do not interfere with each other, thereby improving the real-time operation of the left flexible robotic arm and the right flexible robotic arm, and effectively solving the operation delay problem of the flexible robotic arm.

[0078] Figure 3 This is a structural diagram of a flexible robotic arm system provided in another embodiment of the present application. Figure 3 As shown, Figure 2 Compared with the corresponding embodiment, the left flexible arm control module 201 in this embodiment may further include a left force feedback unit 2014 provided on the left flexible robotic arm 30 .

[0079] The left force feedback unit 2014 can be connected to the left processing unit 2012. The left force feedback unit 2014 can be used to collect first force information of each joint and end tool of the left flexible robotic arm 30 during operation, and send the first force information to the left processing unit 2012.

[0080] Based on this, the left-hand processing unit 2012 can also be used to receive the first force information, process the first force information to generate a first force feedback instruction, and send the first force feedback instruction to the left-hand operation unit 2011. The left-hand operation unit 2011 can also be used to receive the first force feedback instruction and, in response to the first force feedback instruction, provide corresponding resistance perception for the user's left hand.

[0081] For example, the left force feedback unit 2014 may include first force sensors respectively provided on each joint and end tool of the left flexible robotic arm 30. Based on this, the left force feedback unit 2014 may collect first force values ​​of the corresponding joints or end tool via each first force sensor, and combine the first force values ​​of all joints and end tool into first force information, i.e., the first force information is multi-dimensional force information.

[0082] Optionally, the left processing unit 2012 can also be used to feed back the first force information to the terminal device 10.

[0083] The first force feedback instruction can be used to instruct the left-hand operating unit 2011 to feed back the first force information to the user through the left-hand operating unit 2011, so that the user can accurately perceive the force of the end tool of the left flexible robotic arm 30, thereby achieving accurate perception of the end force of the left flexible robotic arm 30.

[0084] Optionally, the right flexible arm control module 202 in this embodiment may further include a right force feedback unit 2024 provided on the right flexible robotic arm 40 .

[0085] The right force feedback unit 2024 can be connected to the right processing unit 2022. The right force feedback unit 2024 can be used to collect the second force information of each joint and end tool of the right flexible robotic arm 40 during operation, and send the second force information to the right processing unit 2022.

[0086] Based on this, the right processing unit 2022 can also be used to receive the second force information, process the second force information to generate a second force feedback instruction, and send the second force feedback instruction to the right hand operation unit 2021. The right hand operation unit 2021 can also be used to receive the second force feedback instruction and, in response to the second force feedback instruction, provide corresponding resistance perception to the user's right hand.

[0087] For example, the right force feedback unit 2024 may include second force sensors respectively provided on each joint and end tool of the right flexible robotic arm 30. Based on this, the right force feedback unit 2024 may collect the second force value of the corresponding joint or end tool through each second force sensor, and combine the second force values ​​of all joints and end tool into second force information, that is, the second force information is multi-dimensional force information.

[0088] Optionally, the right processing unit 2022 can also be used to feed back second force information to the terminal device 10.

[0089] The second force feedback instruction can be used to instruct the right-hand operating unit 2021 to feed back the second force information to the user through the right-hand operating unit 2021, so that the user can accurately perceive the force condition of the end tool of the right flexible robotic arm 30, thereby achieving accurate perception of the end force of the right flexible robotic arm 30.

[0090] It can be seen from the above that the flexible robotic arm system provided in this embodiment can achieve accurate perception of the end forces of the left flexible robotic arm and the right flexible robotic arm.

[0091] Figure 4 This is a structural diagram of a flexible robotic arm system provided in another embodiment of the present application. Figure 4 As shown, Figure 2 or Figure 3 Compared with the corresponding embodiment, the left flexible arm control module 201 in this embodiment may further include a left operation mode adjustment unit 2015 .

[0092] The left operation mode adjustment unit 2015 can be connected to the left processing unit 2012. The left operation mode adjustment unit 2015 can be used to receive a first operation mode adjustment instruction from the terminal device 10 or the left-hand operation unit 2011, and send the first operation mode adjustment instruction to the left processing unit 2012.

[0093] Based on this, the left processing unit 2012 can be specifically used to process the left hand motion data according to the first target operation mode indicated by the first operation mode adjustment instruction to obtain a first control instruction corresponding to the first target operation mode. The first target operation mode can be a fine operation mode or a normal operation mode. It should be noted that, when the amplitude of the left hand motion is the same, the operation amplitude of the left flexible robotic arm 30 indicated by the first control instruction corresponding to the fine operation mode is smaller than the operation amplitude of the left flexible robotic arm 30 indicated by the first control instruction corresponding to the normal operation mode.

[0094] Optionally, the right flexible arm control module 202 in this embodiment may further include a right operation mode adjustment unit 2025 .

[0095] The right operation mode adjustment unit 2025 can be connected to the right processing unit 2022. The right operation mode adjustment unit 2025 can be used to receive a second operation mode adjustment instruction from the terminal device 10 or the right operation unit 2022, and send the second operation mode adjustment instruction to the right processing unit 2022.

[0096] Based on this, the right processing unit 2022 can be specifically used to process the right hand motion data according to the second target operation mode indicated by the second operation mode adjustment instruction to obtain a second control instruction corresponding to the second target operation mode. Optionally, the second target operation mode can be a fine operation mode or a normal operation mode. It should be noted that, when the amplitude of the right hand movement is the same, the operation amplitude of the right flexible robotic arm 40 indicated by the second control instruction corresponding to the fine operation mode is smaller than the operation amplitude of the right flexible robotic arm 40 indicated by the second control instruction corresponding to the normal operation mode.

[0097] As can be seen from the above, the flexible robotic arm system provided by this embodiment can enable the left flexible robotic arm to simultaneously handle both fine and rough operations by configuring the left operation mode adjustment unit in the left flexible arm control module; and can enable the right flexible robotic arm to simultaneously handle both fine and rough operations by configuring the right operation mode adjustment unit in the right flexible arm control module. This enables the flexible robotic arm system to maintain high operational accuracy in various surgical scenarios, thereby reducing the risk of misoperation of the flexible robotic arm and improving its operational safety.

[0098] An embodiment of the present application also provides a flexible robotic arm control device, which can be the flexible robotic arm control device 20 in the above-mentioned system embodiment. Therefore, regarding the specific structure and function of the flexible robotic arm control device in the embodiment of the present application, please refer to the relevant description in the above-mentioned system embodiment, which will not be repeated here.

[0099] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0100] It should be noted that, unless otherwise specified, all technical terms used in the embodiments of this application have the same meanings as those commonly understood by those skilled in the art in the technical field of this application. The technical terms used in the embodiments of this application are only used to explain the specific embodiments of this application and are not intended to limit this application.

[0101] The phrase "embodiment" mentioned in the description of the embodiments of the present application means that the specific features, structures, or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive with other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0102] Those skilled in the art will appreciate that the units of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0103] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A flexible robotic arm control device, characterized in that: include: a left flexible arm control module, connected to the left flexible robotic arm, configured to collect left hand motion data of the user, generate a first control instruction for the left flexible robotic arm based on the left hand motion data, and control the left flexible robotic arm based on the first control instruction; The right flexible arm control module is connected to the right flexible robotic arm, and is used to collect the user's right hand motion data, generate a second control instruction for the right flexible robotic arm according to the right hand motion data, and control the right flexible robotic arm based on the second control instruction.

2. The flexible robotic arm control device according to claim 1, characterized in that: The left flexible arm control module includes: a left-hand operation unit connected to the left-hand processing unit, for generating left-hand motion data in response to a user's left-hand motion, and sending the left-hand motion data to the left-hand processing unit; The left processing unit is connected to the terminal device and the left driving unit, and is used to receive the left hand motion data, process the left hand motion data to obtain a first control instruction for the left flexible robotic arm, and send the first control instruction to the left driving unit; The left driving unit is used to receive and execute the first control instruction to drive the various joints and end tools of the left flexible robotic arm to perform corresponding operations, and to feedback the first execution information corresponding to the first control instruction to the left processing unit, so that the left processing unit can feedback the first execution information to the terminal device.

3. The flexible robotic arm control device according to claim 2, characterized in that: The left flexible arm control module further includes a left force feedback unit provided on the left flexible mechanical arm; The left force feedback unit is connected to the left processing unit, and is used to collect first force information of each joint and end tool of the left flexible robotic arm during operation, and send the first force information to the left processing unit; The left-hand processing unit is further configured to receive the first force information, process the first force information to generate a first force feedback instruction, and send the first force feedback instruction to the left-hand operation unit; The left-hand operation unit is further configured to receive the first force feedback instruction and, in response to the first force feedback instruction, provide corresponding resistance perception for the user's left hand.

4. The flexible robotic arm control device according to claim 2, characterized in that: The left flexible arm control module also includes: a left-hand operation mode adjustment unit, connected to the left-hand processing unit, configured to receive a first operation mode adjustment instruction from the terminal device or the left-hand operation unit, and send the first operation mode adjustment instruction to the left-hand processing unit; The left processing unit is specifically used to process the left hand motion data according to the first target operation mode indicated by the first operation mode adjustment instruction to obtain the first control instruction corresponding to the first target operation mode; the first target operation mode is a fine operation mode or a normal operation mode. When the amplitudes of the left hand movements are the same, the operation amplitude of the left flexible robotic arm indicated by the first control instruction corresponding to the fine operation mode is smaller than the operation amplitude of the left flexible robotic arm indicated by the first control instruction corresponding to the normal operation mode.

5. The flexible robotic arm control device according to claim 1, characterized in that: The right flexible arm control module includes: a right-hand operation unit connected to the right-hand processing unit, for generating right-hand motion data in response to a user's right-hand motion, and sending the right-hand motion data to the right-hand processing unit; The right processing unit is connected to the terminal device and the right driving unit, and is used to receive the right-hand motion data, process the right-hand motion data to obtain a second control instruction for the right flexible robotic arm, and send the second control instruction to the right driving unit; The right driving unit is used to receive and execute the second control instruction to drive the various joints and end tools of the right flexible robotic arm to perform corresponding operations, and to feedback the second execution information corresponding to the second control instruction to the right processing unit, so that the right processing unit can feedback the second execution information to the terminal device.

6. The flexible robotic arm control device according to claim 5, characterized in that: The right flexible arm control module further includes a right force feedback unit provided on the right flexible mechanical arm; The right force feedback unit is connected to the right processing unit, and is used to collect second force information of each joint and end tool of the right flexible robotic arm during operation, and send the second force information to the right processing unit; The right processing unit is further configured to receive the second force information, process the second force information to generate a second force feedback instruction, and send the second force feedback instruction to the right-hand operation unit; The right-hand operation unit is further configured to receive the second force feedback instruction and, in response to the second force feedback instruction, provide corresponding resistance perception for the user's right hand.

7. The flexible robotic arm control device according to claim 5, characterized in that: The right flexible arm control module also includes: a right-side operation mode adjustment unit, connected to the right-side processing unit, configured to receive a second operation mode adjustment instruction from the terminal device or the right-hand operation unit, and send the second operation mode adjustment instruction to the right-side processing unit; The right-side processing unit is specifically used to process the right-hand motion data according to the second target operation mode indicated by the second operation mode adjustment instruction to obtain the second control instruction corresponding to the second target operation mode; the second target operation mode is a fine operation mode or a normal operation mode. When the amplitude of the right-hand motion is the same, the operation amplitude of the right-side flexible robotic arm indicated by the second control instruction corresponding to the fine operation mode is smaller than the operation amplitude of the right-side flexible robotic arm indicated by the second control instruction corresponding to the normal operation mode.

8. The flexible robotic arm control device according to any one of claims 2 to 4, characterized in that: The left-hand processing unit is further configured to feed back the left-hand motion data to the terminal device.

9. The flexible robotic arm control device according to any one of claims 5 to 7, characterized in that: The right side processing unit is further configured to feed back the right hand motion data to the terminal device.

10. A flexible robotic arm system, characterized in that: It includes a terminal device, a flexible robotic arm control device, a left flexible robotic arm and a right flexible robotic arm; the flexible robotic arm control device is connected to the terminal device, the left flexible robotic arm and the right flexible robotic arm; the flexible robotic arm control device is the flexible robotic arm control device as described in any one of claims 1-9.

Images