Sterile pouch installation system, sterile pouch installation method, equipment and surgical robot system

Abstract

The invention relates to a sterile bag installation system, a sterile bag installation method, equipment and a surgical robot system. The installation system comprises position detection modules which are installed at all installation positions of the sterile bag and used for obtaining detection signals at the installation positions; the control module is used for determining a target mounting position based on the sterile bag mounting process and generating mounting preparation indication information corresponding to the target mounting position; under the condition that the detection signal represents that the sterile bag is installed at the target installation position, installation completion indication information corresponding to the target installation position is generated; and the indication information output module is used for outputting installation preparation indication information or installation completion indication information corresponding to the target installation position. By adopting the method, the conditions that the sterile bag is difficult to install, the learning curve is long and the sterile bag is damaged during installation in the sterile bag installation process can be avoided.

Description

Technical Field

[0001] This application relates to the field of intelligent medical technology, and in particular to a sterile bag installation system, sterile bag installation method, equipment and surgical robot system. Background Technology

[0002] Teleoperated surgical robots, such as those used in natural orifice surgery, neurosurgery, and laparoscopy, present challenges due to the complex and intersecting nature of their various joints. This makes the process of attaching sterile bags more complicated, leading to a longer learning curve for operators and the possibility of errors in attaching the sterile bags. Furthermore, incorrect attachment of the sterile bags during surgery can prolong the operation time.

[0003] Therefore, there is an urgent need for a method to solve the problems of difficult aseptic bag installation, long learning curve, and damage during aseptic bag installation. Summary of the Invention

[0004] Therefore, it is necessary to provide a sterile bag installation system, method, equipment, and surgical robot system that can solve the problems of difficult sterile bag installation, long learning curve, and damage during sterile bag installation.

[0005] In a first aspect, this application provides a sterile bag installation system, the system comprising:

[0006] A position detection module is installed at each installation position of the sterile bag, and the position detection module is used to acquire the detection signal at the installation position;

[0007] The control module is used to determine the target installation position based on the aseptic bag installation process, generate installation preparation indication information corresponding to the target installation position, and generate installation completion indication information corresponding to the target installation position when the detection signal indicates that the aseptic bag has been installed at the target installation position.

[0008] The instruction information output module is used to output installation preparation instruction information or installation completion instruction information corresponding to the target installation location.

[0009] In one embodiment, the indication information output module includes at least one of an indication device and a display device installed at each of the installation locations.

[0010] In one embodiment, the control module includes:

[0011] The terminal unit is used to determine the target installation location based on the aseptic bag installation process and generate first installation preparation instruction information corresponding to the target installation location;

[0012] A signal control unit is configured to, upon receiving a first installation preparation instruction, output the first installation preparation instruction to the indicator device installed at the target installation location; and, upon receiving a detection signal indicating that the sterile bag has been installed at the target installation location, generate a first installation completion instruction and output the first installation completion instruction to the indicator device installed at the target installation location.

[0013] In one optional embodiment, the terminal unit is further configured to generate second installation preparation indication information corresponding to the target installation position, output the second installation preparation indication information to the display device; and receive a detection signal transmitted by the signal control unit, and when the detection signal indicates that the sterile bag has been installed at the target installation position, generate second installation completion indication information corresponding to the target installation position, and output the second installation completion indication information to the display device.

[0014] In one embodiment, the indicating device is an indicator light, and the installation preparation indication information and the installation completion indication information are different display states of the indicator light, respectively.

[0015] In one embodiment, the installation site of the sterile bag includes the element under test; the position detection module is further configured to generate a detection signal indicating that the installation is complete when the element under test is detected.

[0016] In one embodiment, the position detection module includes at least one of an input / output shorting module, a Hall effect sensor module, and an optical sensor module.

[0017] In one embodiment, when the sterile bag is a parallel arm sterile bag, the target installation position includes at least one of the instrument channel isolation plate installation position, the instrument isolation plate installation position, and the sealing port installation block installation position;

[0018] When the sterile bag is a tandem arm sterile bag, the target installation position includes at least one of the instrument channel isolation plate installation position from the operating device, the arm hanging mounting block installation position, and the sealing port mounting block installation position.

[0019] Secondly, this application also provides a method for installing a sterile bag, the method comprising:

[0020] The target installation location is determined based on the aseptic bag installation process, and installation preparation instruction information corresponding to the target installation location is output.

[0021] Acquire the detection signal collected by the position detection module corresponding to the target installation position;

[0022] When the detection signal indicates that the sterile bag has been installed at the target installation position, the installation preparation instruction information or installation completion instruction information corresponding to the target installation position is output.

[0023] In one embodiment, determining the target installation location based on the aseptic bag installation process and outputting installation preparation instruction information corresponding to the target installation location includes:

[0024] When the aseptic bag installation has started, a first target installation position is determined based on the aseptic bag installation process, and a first installation preparation instruction information corresponding to the first target installation position is output.

[0025] If the aseptic bag installation has not started, the current target installation position is determined based on the target installation position corresponding to the previous installation completion indication information and the aseptic bag installation process, and the current installation preparation indication information corresponding to the current target installation position is output.

[0026] In one embodiment, the output of installation preparation instruction information corresponding to the target installation location includes at least one of the following:

[0027] The installation preparation instruction information is output through the indicator device installed at the target installation location;

[0028] The installation preparation instruction information corresponding to the target installation location is output through the display device;

[0029] The output of the installation completion indication information corresponding to the target installation location includes at least one of the following:

[0030] The installation completion indication information corresponding to the target installation location is output by the indicating device installed at the target installation location;

[0031] The installation completion indication information corresponding to the target installation location is output through the display device.

[0032] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in any of the above embodiments.

[0033] Fourthly, this application also provides a surgical robot system, which includes the sterile bag installation system in any of the above embodiments.

[0034] The aforementioned sterile bag installation system, method, equipment, and surgical robot system include a position detection module, a control module, and an indication information output module. The position detection module is installed at the sterile bag installation location, allowing it to determine whether the sterile bag installation is complete by detecting signals at each location. It can also determine the target installation location based on the sterile bag installation process and generate installation preparation indication information corresponding to that location. Furthermore, when the detection signal indicates that the sterile bag is installed at the target location, it generates installation completion indication information corresponding to that location. The indication information output module then outputs the installation preparation or completion indication information generated by the control module, indicating the upcoming and completed installation locations to the operator. This improves the operator's installation efficiency and accuracy, thereby avoiding difficulties in sterile bag installation, long learning curves, and damage during installation. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram illustrating an application scenario of a surgical robot system in one embodiment;

[0037] Figure 2 This is a schematic diagram of a slave operating device in one embodiment;

[0038] Figure 3 This is a schematic diagram of the slave operating device in another embodiment;

[0039] Figure 4 This is a schematic diagram of a sterile bag installation system in one embodiment;

[0040] Figure 5 This is a scene diagram of a sterile bag installation system in one embodiment;

[0041] Figure 6 This is a schematic diagram of a parallel arm aseptic bag installation scenario in one embodiment;

[0042] Figure 7 This is a schematic diagram of a tandem arm sterile bag installation scenario in one embodiment;

[0043] Figure 8 This is a schematic diagram of the installation and testing of the instrument isolation plate in one embodiment;

[0044] Figure 9 This is a schematic diagram of the display device in one embodiment;

[0045] Figure 10 A schematic diagram of the electrical system for aseptic bag installation in one embodiment;

[0046] Figure 11 This is a flowchart illustrating a method for installing aseptic bags in one embodiment;

[0047] Figure 12 This is a schematic diagram of the aseptic bag installation process in one embodiment;

[0048] Figure 13 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] For easier understanding, please refer to [link / reference]. Figure 1 The diagram illustrates an application scenario of a surgical robot system exemplified in this application. The surgical robot system of this embodiment includes a master operating device 100 (i.e., the master control unit) and a slave operating device 200 (i.e., the slave control unit) controlled by the master operating device 100.

[0051] The master operating device 100 has a control input device that can send control commands to the slave operating device 200 according to the movements of the hands and / or feet of the operating object, so as to drive and adjust the posture of the robotic arm assembly 210 of the slave operating device 200, and drive the actuator of the robotic arm assembly 210 to perform corresponding surgical operations.

[0052] like Figure 2 and Figure 3As shown, the operating device 200 includes a robotic arm assembly 210 for performing surgical actions, a drive device 220 for driving the robotic arm assembly 210 according to control commands, and a base 230 for supporting the drive device 220. The robotic arm assembly 210 includes at least one robotic arm 211, which can specifically refer to a flexible robotic arm, a rigid robotic arm, or a combination of both. The end of each robotic arm 211 can be loaded with an instrument for performing different or the same surgical operations. Surgical operations that can be performed by the instrument include, but are not limited to, clamping, cutting, scissing, suturing, electrocautery, or electrocoagulation. For example, the instrument can be any of the following types, including but not limited to needle forceps, scissors, grippers, and clamping clamps. Needle forceps are generally used for clamping, suturing, and knotting operations; scissors are generally used for cutting sutures, dissecting, and cutting operations; grippers are generally used for grasping and pulling operations; and clamping clamps are generally used in conjunction with ligation clips for ligation.

[0053] Optionally, continue as follows Figure 1 As shown, the surgical robot system also includes a display device 400, which acquires surgical field images of the cavity (referring to the patient's body cavity) captured by the endoscope, performs image processing on the surgical field images, and transmits them to a first display device of the display device 400 and / or a second display device (not shown) of the main operating device 100 for display, so that the patient can observe the surgical field images. The surgical field images include, but are not limited to, the type and number of instruments, their position and orientation within the body cavity, the target organ or tissue to be operated on, and the morphology of surrounding blood vessels, etc. Furthermore, an endoscope for assisting in acquiring images within the surgical field can be mounted on one of the robotic arms 211 of the robotic arm assembly 210 of the operating device 200, and then displayed through the first and / or second display devices. It should be understood that the images displayed by the display device 400 can be two-dimensional or three-dimensional. The endoscopes can include various endoscopes used in surgery, such as thoracoscopes, arthroscopes, and rhinoscopes.

[0054] Optionally, the surgical robot system also includes a support device 300 (e.g., an operating table) for supporting the surgical subject during surgery. The support device 300 may also be replaced with other surgical platforms depending on the type of surgery, and this embodiment is not limited to this.

[0055] It should be noted that, Figures 1 to 3 This is merely an example. Surgical robot systems are not limited to the device structures or quantities shown in the figures above, and can be adjusted accordingly for other application scenarios, such as adding or removing components. Figure 1 The equipment in the system can be adjusted in terms of quantity or structure.

[0056] In this application, the sterile bag 800 is installed on the aforementioned operating device 200. The sterile bag 800 isolates the operating device 200 from the parts that may come into contact with the human body. To address the difficulties in installing the sterile bag 800, the long learning curve, and the potential damage during installation, this application provides a sterile bag installation system. In one exemplary embodiment of this application, such as... Figure 4 As shown, the sterile bag 800 system includes a position detection module 500, a control module 600, and an indication information output module 700.

[0057] The position detection module 500 is installed at each installation position of the sterile bag 800, for example, at each installation position of the sterile bag 800 from the operating device 200. The position detection module 500 acquires the detection signal at the installation position. Specifically, when the sterile bag 800 is successfully installed at the installation position, the position detection module 500 can acquire a valid detection signal; if the sterile bag 800 is not installed at the installation position, the position detection module 500 cannot acquire a valid detection signal.

[0058] The control module 600 determines the target installation position based on the installation process of the sterile bag 800 and generates installation preparation indication information corresponding to the target installation position; and generates installation completion indication information corresponding to the target installation position when the detection signal indicates that the sterile bag 800 has been installed at the target installation position.

[0059] The installation completion indication information indicates that the target installation location has been completed. This information is generated by the control module 600 based on a valid signal detected by the position detection module 500. The installation preparation indication information indicates the next target installation location, i.e., the next target installation location confirmed based on the aseptic bag 800 installation process. Specifically, when the aseptic bag 800 installation has begun, the installation preparation indication information is generated based on the aseptic bag 800 installation process. During the aseptic bag 800 installation process, i.e., after the first installation location has been completed, the installation preparation indication information is generated based on the aseptic bag 800 installation process and the previous installation completion indication information. For example, the previous installation process is determined based on the previous installation completion indication information, and then generated based on the aseptic bag 800 installation process and the determined previous installation process.

[0060] The instruction information output module 700 is used to output installation preparation instruction information or installation completion instruction information corresponding to the target installation location. The instruction information output module 700 includes at least one of an instruction device and a display device 400 installed at each installation location.

[0061] Optionally, the indicating device is an indicator light, and the installation preparation indication information and installation completion indication information are different display states of the indicator lights. The display state may include at least one of color, refresh rate, and number of displays. For example, when the display state is refresh rate, all indicator lights are off when not installed; when the installation preparation indication information is output, the indicator lights flash; and when the installation completion indication information is output, the indicator lights are constantly on. In other embodiments, when the display state is color, all indicator lights are off when not installed; when the installation preparation indication information is output, the indicator lights display a first color; and when the installation completion indication information is output, the indicator lights display a second color. In other embodiments, each installation location may include at least two indicator lights. When not installed, all indicator lights are off. When an installation preparation indication is output, the number of indicator lights displayed at the corresponding installation location is a first number. When an installation completion indication is output, the number of indicator lights displayed at the corresponding installation location is a second number. For example, taking two indicator lights at each installation location as an example, when not installed, both indicator lights are off. When an installation preparation indication is output, one indicator light is illuminated. When an installation completion indication is output, both indicator lights are illuminated. It should be noted that the above embodiments are only illustrative examples, and those skilled in the art can also set other indicator light states to represent different installation states (not installed, ready to install, and installed).

[0062] The display device 400 can be any type of display screen. In this embodiment, in order to reduce the introduction of devices, the display device 400 reuses the display device 400 in the surgical robot system, that is, the image device in the surgical robot system.

[0063] Combination Figure 5 As shown, Figure 5 This is a scenario diagram of a sterile bag installation system in one embodiment. In this embodiment, it includes a main operating device 100, a slave operating device 200, a display device 400, and a hospital bed 900. During the operation, the patient sits on the hospital bed 900. The slave operating device 200 is equipped with instruments and a sterile bag 800. The sterile bag 800 is isolated from the parts of the slave operating device 200 that may come into contact with the patient. The slave operating device 200 is equipped with an indicator device to guide the installation of the sterile bag 800. The display device 400 can interactively display the installation status and next steps of the sterile bag 800 in real time, guiding the operator to apply the sterile bag 800. The main operating device 100 serves as the surgical operation input platform and surgical visual display.

[0064] In one alternative embodiment, when the sterile bag 800 is a parallel-arm sterile bag 800, the target installation position includes at least one of the instrument channel isolation plate installation position 205, the instrument isolation plate 802 installation position, and the sealing port installation block installation position located on the operating device 200; when the sterile bag 800 is a tandem-arm sterile bag 800, the target installation position includes at least one of the instrument channel isolation plate installation position 205, the arm-mounted installation block plate installation position, and the sealing port installation block installation position located on the operating device 200.

[0065] Combination Figure 6 As shown, Figure 6 This is a schematic diagram of a parallel arm sterile bag installation scenario in one embodiment. The sterile bag 800 includes an instrument channel isolation plate 801, an instrument isolation plate 802, and a sealing interface mounting block 803. The operating device 200 includes an instrument channel isolation plate mounting position 205, an instrument isolation plate mounting position on the robotic arm assembly 210, and a sealing interface mounting block mounting position 206 at the tail end of the robotic arm assembly 210 where the overall rotating module is mounted. A first indicator light 201 is installed at the instrument channel isolation plate mounting position 205, a second indicator light 202 is installed at the robotic arm assembly 210 instrument isolation plate mounting position, and a third indicator light 203 is installed at the sealing interface mounting block mounting position 206. In this embodiment, the first indicator light 201, the second indicator light 202, and the third indicator light 203 can be used to output installation preparation or installation completion indication information.

[0066] In this embodiment, the installation process of the sterile bag 800 is a process of fitting the sterile bag 800 from front to back. First, the first indicator light 201 flashes to output an installation preparation indication, guiding the sterile bag 800 and the instrument isolation plate 802 to the instrument channel isolation plate installation position 205. After installation, the first indicator light 201 remains constantly lit to output an installation completion indication. Second, the second indicator light 202 flashes to output an installation preparation indication, guiding the instrument isolation plate 802 to the instrument isolation plate installation position of the robotic arm assembly 210. After installation, the second indicator light 202 remains constantly lit to output an installation completion indication. Finally, the third indicator light 203 flashes to output an installation preparation indication, guiding the sealing interface installation block 803 to the sealing interface installation block installation position 206. After installation, the third indicator light 203 remains constantly lit to output an installation completion indication. Simultaneously, throughout the entire sterile bag 800 installation process, the display device 400 dynamically displays the sterile bag 800 operation steps in real time, guiding and prompting the operator's actions, enabling the operator to install the sterile bag 800 more accurately.

[0067] Combination Figure 7 As shown, Figure 7This is a schematic diagram of a tandem arm sterile bag 800 installation scenario in one embodiment. The sterile bag 800 on the tandem arm includes an instrument channel isolation plate 811, an arm-mounting block 812, and a sealing interface mounting block 813. The operating device 200 includes an instrument channel isolation plate mounting position, an arm-mounting block mounting position located in the middle of the tandem robotic arm assembly 210, and a sealing interface mounting block mounting position located at the tail end of the tandem robotic arm assembly 210. A fourth indicator light 207 is provided at the instrument channel isolation plate mounting position, a fifth indicator light 208 is provided at the arm-mounting block mounting position, and a sixth indicator light 209 is provided at the sealing interface mounting block mounting position. In this embodiment, the fourth indicator light 207, the fifth indicator light 208, and the sixth indicator light 209 can be used to output installation preparation indication information or installation completion indication information. The sterile bag 800 installation guidance method in this embodiment is similar to the sterile sleeve installation guidance method of the parallel arm in the previous embodiment, using the fourth indicator light 207, the fifth indicator light 208, the sixth indicator light 209, and the display device 400 to guide the installation of the sterile bag 800.

[0068] In one alternative embodiment, the installation site of the sterile bag 800 includes the element under test 8021; the position detection module 500 is also used to generate a detection signal indicating that the installation is complete when the element under test 8021 is detected.

[0069] In the case where the sterile bag 800 is a parallel-arm sterile bag 800, the mounting location of the sterile bag 800 includes at least one of the instrument channel isolation plate 801, the instrument isolation plate 802, and the sealing port mounting block 803. In the case where the sterile bag 800 is a tandem-arm sterile bag 800, the mounting location of the sterile bag 800 includes at least one of the instrument channel isolation plate 811, the arm-hanging mounting block 812, and the sealing port mounting block 813. A test element 8021 can be provided at the aforementioned mounting location. The position detection module 500 can detect the test element 8021, and upon detection of the test element 8021, generates an installation completion detection signal, which is referred to as a valid signal above.

[0070] In some optional embodiments, the position detection module 500 is typically in a closed or dormant state. After the target installation position is determined based on the aseptic bag 800 installation process, the position detection module 500 at the target installation position can be woken up. This allows the woken position detection module 500 to periodically detect whether there is a measured element 8021. After detecting the measured element 8021, it outputs a valid signal. After outputting the valid signal, the position detection module 500 continues to be closed or dormant. Thus, the position detection module 500 at the unreached installation position or the already installed installation position determined based on the aseptic bag 800 installation process is in a closed or dormant state. Only the position detection module 500 at the installation position that is being prepared or is being installed is woken up, thereby achieving the purpose of energy saving.

[0071] In one optional embodiment, the position detection module 500 includes at least one of an input / output shorting module, a Hall sensor module, and an optical sensor module, without being specifically limited herein.

[0072] For ease of understanding, the following is combined Figure 8 As shown, Figure 8 This is a schematic diagram illustrating the installation and testing of the instrument isolation plate 802 in one embodiment. In this embodiment, a position detection module 500 is installed in the drive module 204, and the component under test 8021 is installed in the instrument isolation plate 802 of the sterile bag 800. When the position detection module 500 detects the component under test 8021, it indicates that the instrument isolation plate 802 is successfully installed. Consequently, the indicator light at the installation position of the instrument isolation plate 802 changes from flashing to solid light, indicating that the instrument channel isolation plate 801 is successfully installed. The installation and testing principle of the instrument channel isolation plate 801 and the sealing interface mounting block 803 is the same.

[0073] In one alternative embodiment, the control module 600 may include a terminal module and a signal control unit.

[0074] The terminal unit is used to determine the target installation location based on the aseptic bag 800 installation process and generate the first installation preparation instruction information corresponding to the target installation location.

[0075] The signal control unit is used to output the first installation preparation instruction information to the indicator device installed at the target installation location when it receives the first installation preparation instruction information; and to generate the first installation completion instruction information and output the first installation completion instruction information to the indicator device installed at the target installation location when the detection signal indicates that the sterile bag 800 has been installed at the target installation location.

[0076] When the indicator information output module 700 only includes an indicator device, the terminal module can determine the target installation position based on the aseptic bag 800 installation process, generate the first installation preparation indicator information corresponding to the target installation position, and send the first installation preparation indicator information to the signal control unit. Thus, the signal control unit can control the indicator device at the corresponding target installation position to output the first installation preparation indicator information based on the first installation preparation indicator information, such as the corresponding indicator light turning into a flashing state.

[0077] In addition, the signal control unit can also acquire the detection signals output by each position detection module 500. The detection signals can carry installation position information, thereby generating the first installation completion indication information of the indicator device at the corresponding target installation position. Based on the first installation completion indication information, the indicator device at the corresponding target installation position can be controlled to output the first installation completion indication information, such as the corresponding indicator light becoming constantly lit.

[0078] In one optional embodiment, when the instruction information output module 700 further includes a display device 400, the terminal unit is further configured to generate second installation preparation instruction information corresponding to the target installation position, output the installation preparation instruction information corresponding to the second target installation position to the display device 400; and receive a detection signal transmitted by the signal control unit, and when the detection signal indicates that the sterile bag 800 has been installed at the target installation position, generate second installation completion instruction information corresponding to the target installation position, and output the second installation completion instruction information to the display device 400.

[0079] Specifically, the second installation preparation indication information is also used to output to the display device 400 to provide a prompt to the operator; in addition, the terminal unit can also receive the detection signal transmitted by the signal control unit, and when the detection signal indicates that the sterile bag 800 has been installed at the target installation position, it generates a second installation completion indication information corresponding to the target installation position, so that the display device 400 can display the second installation completion indication information at the corresponding installation position. For ease of understanding, combined with Figure 9 As shown, Figure 9This is a schematic diagram of the display device 400 in one embodiment. This embodiment uses the installation scenario of a parallel arm sterile bag 800 as an example. In this embodiment, the sterile bag 800 installation process is a process of fitting the sterile bag 800 from front to back. First, the first installation step in the display interface is displayed according to the first display state to output the second installation preparation instruction information, guiding the sterile bag 800 and the instrument isolation plate 802 to be installed at the instrument channel isolation plate installation position 205. After installation, the first installation step is displayed according to the second display state to output the second installation completion instruction information. Second, the second installation step is displayed according to the first display state to output the second installation preparation instruction information, guiding the instrument isolation plate 802 to be installed at the instrument isolation plate installation position of the robotic arm assembly 210. After installation, the second installation step is displayed according to the second display state to output the second installation completion instruction information. Finally, the third installation step displays the second installation preparation instruction information according to the first display state, guiding the sealing interface mounting block 803 to the sealing interface mounting block installation position 206. After installation, the third installation step displays the second installation completion instruction information according to the second display state. The first and second display states are different display states, which may include display color, display frame, etc., and are not specifically limited here.

[0080] For ease of understanding, the following is combined Figure 10 As shown, Figure 10 This is a schematic diagram of the electrical system for installing a sterile bag 800 in one embodiment. In this embodiment, the electrical system comprises position detection modules 500 installed at various installation locations, measured components 8021 at each installation location of the sterile bag 800, indicator lights, a signal control unit, a terminal unit, an image processing unit, and a display device 400. The working principle of this electrical system is as follows: Each position detection module 500 determines whether the measured component 8021 is detected. If detected, it generates a valid signal and outputs it to the signal control unit. Upon receiving the valid signal, the signal control unit generates a first installation completion indication message for the indicator light at the target installation location corresponding to the position detection module 500, controlling the indicator light to change from flashing to constant illumination, indicating that the connection of that part of the sterile bag 800 is complete. Furthermore, the signal control unit transmits the valid signal to the terminal unit, which then transmits it to the image processing unit of the image system. The image processing unit instructs the display device 400 to dynamically display a second installation completion indication message via a UI, such as displaying the installation progress of the sterile bag 800, enabling operators to more accurately complete the installation of the sterile bag 800.

[0081] Furthermore, it should be noted that the terminal unit can determine the next target installation location based on the aseptic bag 800 installation process, and thus generate first installation preparation indication information based on the target installation location. This first installation preparation indication information can be sent to the signal control unit, so that the signal control unit controls the indicator light at the corresponding target installation location to output the first installation preparation indication information. In addition, the terminal unit also generates second installation preparation indication information based on the target installation location. This second installation preparation indication information can be sent to the image processing unit of the image system, and the image processing unit will instruct the display device 400 dynamic UI to display the next target installation process.

[0082] In one exemplary embodiment, this application also provides a surgical robot system, which includes the sterile bag installation system of any of the above embodiments.

[0083] In one exemplary embodiment, such as Figure 11 As shown, a method for installing a sterile bag is provided, including the following steps S1102 to S1106. Wherein:

[0084] S1102: Determine the target installation location based on the aseptic bag 800 installation process, and output the installation preparation instruction information corresponding to the target installation location.

[0085] In one optional embodiment, the target installation position is determined based on the aseptic bag 800 installation process, and installation preparation indication information corresponding to the target installation position is output. This includes: when the aseptic bag 800 installation has started, determining a first target installation position based on the aseptic bag 800 installation process, and outputting first installation preparation indication information corresponding to the first target installation position; when the aseptic bag 800 installation has not started, determining the current target installation position based on the target installation position corresponding to the previous installation completion indication information and the aseptic bag 800 installation process, and outputting current installation preparation indication information corresponding to the current target installation position.

[0086] The installation preparation instruction information is used to indicate the next target installation location, that is, the target installation location that needs to be installed next, as confirmed by the aseptic bag 800 installation process. Specifically, when the aseptic bag 800 installation begins, the installation preparation instruction information is generated based on the aseptic bag 800 installation process; during the aseptic bag 800 installation process, i.e., after the first installation location has been installed, the installation preparation instruction information is generated based on the aseptic bag 800 installation process and the previous installation completion instruction information. For example, the previous installation process is determined based on the previous installation completion instruction information, and then generated based on the aseptic bag 800 installation process and the determined previous installation process.

[0087] S1104: Acquire the detection signal collected by the position detection module 500 corresponding to the target installation position.

[0088] The position detection module 500 is installed at each installation position of the sterile bag 800, for example, at each installation position of the sterile bag 800 from the operating device 200. The position detection module 500 acquires the detection signal at the installation position. Specifically, when the sterile bag 800 is successfully installed at the installation position, the position detection module 500 can acquire a valid detection signal; if the sterile bag 800 is not installed at the installation position, the position detection module 500 cannot acquire a valid detection signal.

[0089] S1106: When the detection signal indicates that the sterile bag 800 has been installed at the target installation position, output the installation preparation instruction information or installation completion instruction information corresponding to the target installation position.

[0090] Specifically, the target installation location is determined based on the aseptic bag 800 installation process, and installation preparation indication information corresponding to the target installation location is generated; and when the detection signal indicates that the aseptic bag 800 has been installed at the target installation location, installation completion indication information corresponding to the target installation location is generated.

[0091] The installation completion indication information is used to indicate that the installation at the target installation location is complete. The installation completion indication information is generated by the control module 600 based on the valid signal when the position detection module 500 detects the valid signal.

[0092] The instruction information output module 700 is used to output installation preparation instruction information or installation completion instruction information corresponding to the target installation location.

[0093] The above-described sterile bag installation method outputs installation preparation or completion indication information corresponding to the target installation position generated by the control module 600 through the indication information output module 700. This prompts the operator to the installation position to be installed and the completed installation position, improving the operator's installation efficiency and accuracy. This avoids situations where the sterile bag 800 is difficult to install, has a long learning curve, or is damaged during installation.

[0094] In one optional embodiment, outputting installation preparation indication information corresponding to the target installation location includes at least one of the following: outputting installation preparation indication information through an indication device installed at the target installation location; outputting installation preparation indication information corresponding to the target installation location through a display device 400; outputting installation completion indication information corresponding to the target installation location includes at least one of the following: outputting installation completion indication information corresponding to the target installation location through an indication device installed at the target installation location; outputting installation completion indication information corresponding to the target installation location through a display device 400.

[0095] The instruction information output module 700 is used to output installation preparation instruction information or installation completion instruction information corresponding to the target installation location. The instruction information output module 700 includes at least one of an instruction device and a display device 400 installed at each installation location. Specific limitations on the instruction device and display device 400, as well as the limitations on the output method, can be found above and will not be repeated here.

[0096] For ease of understanding, the following is combined Figure 12 As shown, Figure 12 This is a schematic diagram of the aseptic bag 800 installation process in one embodiment.

[0097] First, the display device 400 displays the first installation step of the sterile bag 800 and the indicator light at the corresponding first installation position in the operating device 200 flashes to output installation preparation indication information. After the control module 600 determines that the sterile bag 800 at the first installation position is installed, the display device 400 displays the second installation step of the sterile bag 800, the indicator light at the corresponding first installation position in the operating device 200 remains on to output installation completion indication information, and the indicator light at the corresponding second installation position in the operating device 200 flashes to output installation preparation indication information. After determining that the sterile bag 800 at the second installation position is installed, the display device 400 displays the third installation step of the sterile bag 800, the indicator light at the corresponding second installation position in the operating device 200 remains on to output installation completion indication information, and the indicator light at the corresponding third installation position in the operating device 200 flashes to output installation preparation indication information. The above steps are repeated until the sterile bag 800 at the last installation position is installed, the display device 400 displays that the sterile bag 800 is installed, and the indicator lights at each installation position remain on.

[0098] Optionally, after the sterile bag 800 is installed, the operator can confirm the installation of the sterile bag 800 on the display device 400, thereby turning off the sterile bag 800 installation guide UI on the display device 400 and turning off all indicator lights on the operating device 200.

[0099] In the above embodiments, the aseptic bag installation system allows operators to more intuitively see the aseptic installation status and steps through a dynamic UI and indicator lights. At the same time, operators can judge the installation status of the step through the status indicator lights and UI instructions, reducing the likelihood of operators being unable to determine whether the installation is successful. This aseptic bag installation system reduces the learning curve for operators, enabling them to quickly master the installation of aseptic bags 800.

[0100] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0101] In one exemplary embodiment, a computer device is provided, which may be the control module 600 mentioned above, and its internal structure diagram may be as follows. Figure 13 The computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for installing sterile bags. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0102] Those skilled in the art will understand that Figure 13 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0103] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0104] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0105] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0106] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0107] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A sterile bag installation system, characterized in that, The system includes: A position detection module is installed at each installation position of the sterile bag, and the position detection module is used to acquire the detection signal at the installation position; The control module is used to determine the target installation position based on the aseptic bag installation process, generate installation preparation indication information corresponding to the target installation position, and generate installation completion indication information corresponding to the target installation position when the detection signal indicates that the aseptic bag has been installed at the target installation position. The instruction information output module is used to output installation preparation instruction information or installation completion instruction information corresponding to the target installation location.

2. The system according to claim 1, characterized in that, The instruction information output module includes at least one of an instruction device and a display device installed at each of the installation locations.

3. The system according to claim 2, characterized in that, The control module includes: The terminal unit is used to determine the target installation location based on the aseptic bag installation process and generate first installation preparation instruction information corresponding to the target installation location; A signal control unit is configured to, upon receiving a first installation preparation instruction, output the first installation preparation instruction to the indicator device installed at the target installation location; and, upon receiving a detection signal indicating that the sterile bag has been installed at the target installation location, generate a first installation completion instruction and output the first installation completion instruction to the indicator device installed at the target installation location.

4. The system according to claim 3, characterized in that, The terminal unit is further configured to generate a second installation preparation indication information corresponding to the target installation position, and output the second installation preparation indication information to the display device; and to receive a detection signal transmitted by the signal control unit, and when the detection signal indicates that the sterile bag has been installed at the target installation position, generate a second installation completion indication information corresponding to the target installation position, and output the second installation completion indication information to the display device.

5. The system according to claim 2, characterized in that, The indicating device is an indicator light, and the installation preparation indication information and the installation completion indication information are different display states of the indicator light, respectively.

6. The system according to claim 1, characterized in that, The installation site of the sterile bag includes the element under test; the position detection module is also used to generate a detection signal indicating that the installation is complete when the element under test is detected.

7. The system according to claim 1, characterized in that, The position detection module includes at least one of an input / output shorting module, a Hall sensor module, and an optical sensor module.

8. The system according to claim 1, characterized in that, When the sterile bag is a parallel arm sterile bag, the target installation position includes at least one of the instrument channel isolation plate installation position, the instrument isolation plate installation position, and the sealing port installation block installation position; When the sterile bag is a tandem arm sterile bag, the target installation position includes at least one of the instrument channel isolation plate installation position from the operating device, the arm hanging mounting block installation position, and the sealing port mounting block installation position.

9. A method for installing aseptic bags, characterized in that, The method includes: The target installation location is determined based on the aseptic bag installation process, and installation preparation instruction information corresponding to the target installation location is output. Acquire the detection signal collected by the position detection module corresponding to the target installation position; When the detection signal indicates that the sterile bag has been installed at the target installation position, the installation preparation instruction information or installation completion instruction information corresponding to the target installation position is output.

10. The method according to claim 9, characterized in that, The process of determining the target installation location based on the aseptic bag installation procedure and outputting installation preparation instruction information corresponding to the target installation location includes: When the aseptic bag installation has started, a first target installation position is determined based on the aseptic bag installation process, and a first installation preparation instruction information corresponding to the first target installation position is output. If the aseptic bag installation has not started, the current target installation position is determined based on the target installation position corresponding to the previous installation completion indication information and the aseptic bag installation process, and the current installation preparation indication information corresponding to the current target installation position is output.

11. The method according to claim 9 or 10, characterized in that, The output installation preparation instruction information corresponding to the target installation location includes at least one of the following: The installation preparation instruction information is output through the indicator device installed at the target installation location; The installation preparation instruction information corresponding to the target installation location is output through the display device; The output of the installation completion indication information corresponding to the target installation location includes at least one of the following: The installation completion indication information corresponding to the target installation location is output by the indicating device installed at the target installation location; The installation completion indication information corresponding to the target installation location is output through the display device.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 9 to 11.

13. A surgical robot system, characterized in that, The surgical robot system includes the sterile bag installation system as described in any one of claims 1 to 8.

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