Endoscope robot

Abstract

The invention provides an endoscope robot. The endoscope robot comprises a mechanical arm and an endoscope. An adjustable fixing structure is arranged at the tail section of the mechanical arm, and the adjustable fixing structure is used for adjusting and fixing the posture of the endoscope relative to the tail section of the mechanical arm. The adjustable fixing structure is arranged at the tail section of the mechanical arm, the position and angle of the endoscope are maintained and adjusted through the mechanical arm, the requirement for maintaining the posture of the endoscope for a long time and the requirement for adjusting the posture of the endoscope are met, and the mechanical arm can adjust the posture of the endoscope in a large range; and the adjustable fixing structure can finely adjust the pose of the endoscope in a small range, so that the use convenience is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an endoscopic robot. Background Technology

[0002] Neurosurgical endoscopy is a minimally invasive surgical technique that uses an endoscope to access the brain or spinal cord through a small incision to treat various neurological diseases. Endoscopic surgery requires the cooperation of two surgeons: one performs the surgical procedure, while the other holds the endoscope and adjusts its angle. Both surgeons need extensive training to achieve seamless coordination. The instability of the endoscope, especially during prolonged periods, places a significant workload on the surgeon and further degrades its stability.

[0003] Currently, existing technologies offer several methods for fixing endoscopes, such as fixing the endoscope to the distal end of an articulated arm or robotic arm. While these methods can stably fix the endoscope for extended periods, adjusting its position / angle typically requires resetting the articulated arm or robotic arm and reinstalling the endoscope. This adjustment process is complex and time-consuming. Furthermore, directly adjusting the robotic arm's position without disassembling the endoscope can easily cause the endoscope to compress or collide with human tissue, posing a risk of injury.

[0004] To address the shortcomings of existing technologies where adjusting the position / angle of the endoscope is complex and can easily cause accidental injury to the patient, this invention provides an endoscopic robot. Summary of the Invention

[0005] This invention provides an endoscopic robot to address the shortcomings of existing technologies where the process of adjusting the position / angle of the endoscope is complex and can easily cause accidental injury to the patient.

[0006] This invention provides an endoscope robot, comprising: a robotic arm and an endoscope;

[0007] The distal end of the robotic arm is provided with an adjustable fixing structure, which is used to adjust and fix the posture of the endoscope relative to the distal end of the robotic arm.

[0008] Furthermore, the adjustable fixing structure includes a support member and a ball head structure. The ball head structure has a channel for the endoscope to pass through and can rotate within the support member to adjust the position of the endoscope.

[0009] Optionally, the carrier includes a first clamping member and a second clamping member. The first clamping member and the second clamping member are respectively provided with a support surface adapted to the ball head structure. In the locked state, the support surfaces of the first clamping member and the second clamping member cooperate with each other to clamp the ball head structure.

[0010] Optionally, the support member is a housing, the inner wall of the housing has a support surface adapted to the ball head structure, the ball head structure is disposed inside the housing, and the housing is also provided with an opening for the endoscope to pass through.

[0011] Optionally, the adjustable fixing structure further includes a locking member for fixing the ball head structure relative to the carrier after the endoscope is adjusted to the desired position.

[0012] Optionally, it may also include a processing module and a navigation module;

[0013] The navigation module can track a first reference frame set on the endoscope to determine the position of the endoscope;

[0014] The processing module determines whether to output a prompt signal based on the positional relationship between the endoscope and the preset boundary.

[0015] Furthermore, the processing module performs the following method:

[0016] Obtain the first transformation relationship between the navigation coordinate system and the medical imaging coordinate system;

[0017] Based on the first transformation relationship, the preset boundary in the medical image coordinate system and the position of the endoscope determined by the navigation module are transformed to the same coordinate system;

[0018] In this coordinate system, the positional relationship between the endoscope and the preset boundary determines whether to output an alarm prompt.

[0019] Optionally, it also includes an output module. When the user manually adjusts the endoscope's position using the adjustable fixing structure, if the processing module determines that the distance between the endoscope and the preset boundary is less than a preset distance threshold, it controls the output module to output corresponding prompt information.

[0020] Optionally, when the user adjusts the endoscope's position by dragging the robotic arm, if the processing module determines that the distance between the endoscope and the preset boundary is less than a preset distance threshold, it controls the robotic arm to output corresponding movement resistance.

[0021] Optionally, the processing module further obtains a second transformation relationship between the robotic arm coordinate system and the navigation coordinate system. The process of obtaining the second transformation relationship can be implemented in any of the following ways:

[0022] The distal end of the robotic arm is equipped with a second reference frame. Based on the position of the second reference frame tracked by the navigation module and its position in the robotic arm's coordinate system, a second transformation relationship is determined; or...

[0023] The robotic arm's distal end is connected to a registration probe that collects at least three patient feature points. Based on the positions of these patient feature points in the robotic arm coordinate system and the navigation coordinate system, a second transformation relationship is determined; or...

[0024] The robotic arm is equipped with a positioning mark at its end. The robotic arm and the navigation module respectively determine the spatial position of the positioning mark under at least three robotic arm postures, which is used to determine the second transformation relationship.

[0025] Furthermore, it also includes a navigation probe, the navigation module detects the pose of the navigation probe and sends it to the processing module;

[0026] The processing module generates control commands based on the pose of the navigation probe and the second conversion relationship, and controls the movement of the robotic arm to move the pose indicated by the endoscope.

[0027] The endoscopic robot provided by this invention has at least the following beneficial effects:

[0028] 1. The end of the robotic arm is equipped with an adjustable fixing structure. The position and angle of the endoscope are maintained and adjusted by the robotic arm, which meets the needs of maintaining the endoscope posture for a long time and adjusting the endoscope position. The robotic arm can adjust the endoscope position over a wide range, while the adjustable fixing structure can make small and precise adjustments to the endoscope position, improving the ease of use.

[0029] 2. It provides a carrier in the form of a clamp or a carrier in the form of a housing, which, together with a locking component or a damping structure, can flexibly unlock / fix the ball head structure to meet the user's needs.

[0030] 3. The processing module also controls the output prompt signal when the endoscope reaches the preset boundary, which improves the safety of adjusting the endoscope's position.

[0031] 4. In some implementations, the navigation module tracks the positioning marks set on the endoscope, which can determine the position of the endoscope in real time. The processing module then determines whether the position of the endoscope has reached the preset boundary, thus improving the safety of the endoscope adjustment process.

[0032] 5. In some implementations, users can adjust the endoscope's position by dragging the robotic arm. If the endoscope reaches the boundary during the adjustment process, it will provide resistance feedback and give a clear warning signal, thus improving the user's operating experience.

[0033] 6. It provides a mode of "adjusting the endoscope position using navigation probes", which makes the operation more flexible and can reduce the errors and risks caused by human hand tremors. In addition, the endoscopic robot can reuse the navigation module and navigation probe of the "surgical navigation system", which expands the system functions with a simple structure. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is one of the structural schematic diagrams of an endoscopic robot provided by the present invention;

[0036] Figure 2 This is one of the schematic diagrams of an adjustable fixing structure for an endoscopy robot provided by the present invention;

[0037] Figure 3 This is a second schematic diagram of an adjustable fixing structure for an endoscopy robot provided by the present invention;

[0038] Figure 4 This is the third schematic diagram of an adjustable fixing structure for an endoscope robot provided by the present invention.

[0039] Figure 5 This is the fourth schematic diagram of an adjustable fixing structure for an endoscopy robot provided by the present invention;

[0040] Figure 6 This is the second structural schematic diagram of an endoscopy robot provided by the present invention.

[0041] Figure label:

[0042] 100. Processing module; 200. Robotic arm; 300. Endoscope; 400. Navigation module;

[0043] 210. Adjustable fixing structure; 211. Bearing component; 212. Ball head structure; 213. Channel; 214. Locking component; 215. Sleeve;

[0044] 2111, First clamping member; 2112, Second clamping member; 2113, Locking structure. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0046] The following is combined Figures 1-6 The endoscopic robot of the present invention is described. Figure 1 This is one of the structural schematic diagrams of an endoscopic robot provided by the present invention, such as... Figure 1 As shown, the endoscopic robot includes a robotic arm 200 and an endoscope 300. The distal end of the robotic arm 200 is provided with an adjustable fixing structure 210, which is used to adjust and fix the posture of the endoscope 300 relative to the distal end of the robotic arm 200.

[0047] Specifically, the robotic arm 200 can be fixed to the operating table, the ground, the wall of the hospital bed, the ceiling, etc. The robotic arm 200 includes multiple articulated arms, and its end articulated arm is provided with an adjustable fixing structure 210. The adjustable fixing structure 210 is used to fix the position and posture of the endoscope 300. The position and posture of the endoscope 300 in the adjustable fixing structure 210 can be adjusted, and the endoscope 300 is fixed after being adjusted to the required posture.

[0048] In this embodiment, the endoscope 300 is a rigid endoscope used for medical testing and treatment. It mainly enters sterile tissues and organs of the human body or enters sterile cavities of the human body through surgical incisions, such as the abdominal cavity and thoracic cavity.

[0049] Overall, the robotic arm 200 can adjust the pose of the adjustable fixation structure (and endoscope) over a wide range. For example, the robotic arm can be adjusted so that the adjustable fixation structure is roughly located near the target area. Then, when needed, the pose of the endoscope can be further adjusted in a smaller range and with finer precision through the adjustable fixation structure to adapt to changes in the surgical area and observe different tissue regions.

[0050] This embodiment uses an adjustable fixing structure at the end of the robotic arm to fix the endoscope, which can maintain the endoscope's position and posture for a long time and stably, saving the doctor's physical strength. Furthermore, when the endoscope's posture needs to be adjusted during the operation, the adjustable fixing structure can be used to flexibly and precisely adjust the endoscope's posture, improving the ease of use.

[0051] Reference Figure 2Based on the previous embodiment, in one embodiment, the adjustable fixing structure 210 includes a support member 211 and a ball head structure 212. The ball head structure 212 is provided with a channel 213 for the endoscope 300 to pass through. The ball head structure 212 can rotate within the support member 211 to adjust the position of the endoscope 300. After reaching the desired position, the support member 211 and the ball head structure 212 are fixed relative to each other.

[0052] In the adjustable fixing structure provided in this embodiment, the ball head structure can rotate in the carrier to flexibly adjust the position and direction of the endoscope. After adjusting to the desired position, it can be fixed, which improves the convenience of use.

[0053] Reference Figure 3 , Figure 4 Based on the previous embodiment, in one embodiment, the carrier 211 includes a first clamping member 2111 and a second clamping member 2112, the second clamping member 2112 being able to be fastened to the first clamping member 2111. The opposite sides of the first clamping member 2111 and the second clamping member 2112 are respectively provided with support surfaces adapted to the ball head structure 212, and the first clamping member 2111 and the second clamping member 2112 are also respectively provided with openings for the endoscope 300 to pass through.

[0054] In the locked state, the supporting surfaces of the first clamping member 2111 and the second clamping member 2112 cooperate to clamp the ball head structure 212, fixing the position and orientation of the endoscope 300. In the unlocked state, the arc surfaces of the two clamping members are released, at which point the ball head structure 212 can be rotated to adjust the position and orientation of the endoscope 300.

[0055] Furthermore, in one embodiment, the first clamping member 2111 is fixedly connected to the end segment of the robotic arm 200, specifically, it can be directly connected to the end segment of the robotic arm 200, or it can be connected via an adapter. One end of the second clamping member 2112 is hinged to one end of the first clamping member 2111, and the second clamping member 2112 can rotate around the hinge axis. In the locked state, the second clamping member 2112 is engaged with the first clamping member 2111, and the other end of the second clamping member 2112 is locked to the first clamping member 2111 by a locking structure 2113, for example, by screws / bolts, or by snap-fits. Of course, locking can also be achieved at other locations around the engagement surfaces of the first clamping member 2111 and the second clamping member 2112. The locking force can be adjusted by adjusting the tightening depth of the screws / bolts.

[0056] In another embodiment, the first clamping member 2111 is fixedly connected to the end of the robotic arm 200, and the second clamping member 2112 is detachably fastened to the first clamping member 2111. When it is necessary to lock the ball head structure 212 between the first clamping member 2111 and the second clamping member 2112, locking is achieved by at least two locking structures 2113 around the fastening surface of the second clamping member 2112 and the first clamping member 2111. These locking structures 2113 are preferably evenly distributed around the fastening surface.

[0057] In another embodiment, the first clamping member 2111 is fixedly connected to the end segment of the robotic arm 200, and the second clamping member 2112 is detachably fastened to the first clamping member 2111. The difference from the previous embodiment is that the main bodies of both the first clamping member 2111 and the second clamping member 2112 are hemispherical shells, and their mating surfaces form a threaded connection. The inner wall of the shell is used to clamp the ball-shaped structure 212. Of course, the hemispherical shell also has an opening for the endoscope to pass through.

[0058] Reference Figure 5 Based on the foregoing embodiments, in some embodiments, the carrier 211 is a housing, the inner wall of the housing has a support surface that cooperates with the ball head structure 212, the housing is also provided with an opening for the endoscope 300 to pass through, the ball head structure 212 is located inside the housing, and in the installed state, the endoscope 300 passes through the channel 213 of the ball head structure 212 and the housing opening of the carrier 211. Figure 4 The diagram shows the support member 211 as an annular spherical shell with openings at both the top and bottom. The ball head structure 212 can rotate within the shell to adjust the position and orientation of the channel 213. After adjustment to the desired position and orientation, the ball head structure 212 is locked by a locking member 214 to prevent further rotation. The locking member 214 can be, for example, a screw, which can be installed into a threaded hole on the shell to press and lock the ball head structure 212. Alternatively, the locking member 214 can be, for example, a pin, which can be inserted into the gap between the shell and the ball head structure 212 to lock the ball head structure 212.

[0059] Based on any embodiment, in one embodiment, the adjustable fixing structure 210 is a damped adjustable fixing structure, which can adjust the position of the endoscope 300 when the applied force is greater than a set threshold, and lock the endoscope 300 when the applied force is less than or equal to the set threshold.

[0060] The difference from the previous embodiments is that this embodiment does not require a locking structure. Specifically, the contact surface between the support member 211 and the ball head structure 212 has a certain resistance. When the force used to rotate the ball head structure 212 is greater than this resistance, the ball head structure 212 can be rotated to adjust the position and orientation of the endoscope 300. When the force used to rotate the ball head structure 212 is less than this resistance, the ball head structure 212 is automatically locked, which can stably maintain the position and orientation of the endoscope 300. Preferably, this resistance is greater than the weight of the endoscope 300, for example, it is set to 2 times, 3 times, 4 times, etc., the weight of the endoscope.

[0061] Still refer to Figure 3 , Figure 4 Based on any embodiment, in one embodiment, the adjustable fixing structure 210 further includes a sleeve 215, which is installed within the channel of the ball head structure 212 and is used to install the endoscope. This avoids direct contact between the endoscope and the ball head structure 212, protecting the endoscope surface. It should also be noted that for a specific adjustable fixing structure 210, the channel diameter provided by the ball head structure 212 is fixed. By using sleeves with different inner diameters installed in this channel, different specifications and models (different diameters) of endoscopes can be adapted. In other embodiments, the channel provided by the ball head structure 212 can be specially designed so that a certain model of endoscope can be directly installed in its channel.

[0062] Reference Figure 6 Based on the foregoing embodiments, in some embodiments, a navigation module 400 is also included;

[0063] The navigation module 400 can track the first reference frame set on the endoscope 300 to determine the position of the endoscope 300;

[0064] The processing module 100 determines whether to output a prompt signal based on the positional relationship between the endoscope 300 and the preset boundary.

[0065] Specifically, the endoscope 300 is also equipped with a first reference frame, on which the markings can be tracked by the navigation module 400, thereby determining the spatial pose of the endoscope 300 in conjunction with a fixed connection relationship. The navigation module 400 can be an electromagnetic navigation module, in which case the markings on the first reference frame are electromagnetic positioning markings; the navigation module 400 can also be an optical navigation module, in which case the markings on the first reference frame are active or passive optical markings.

[0066] The processing module 100 adopts a general computer architecture, which may include a memory and a processor. The processor executes the computer program stored in the memory to process data. Specific processing includes, for example, receiving and processing the spatial position data of the first reference frame transmitted by the navigation module 400 to obtain the spatial position data of the endoscope 300, or directly receiving the spatial position data of the endoscope 300 processed by the navigation module 400. Then, it determines whether to output a prompt signal based on the spatial position of the endoscope 300 and a preset boundary. If the distance between the endoscope 300 and the preset boundary is less than a distance threshold, a prompt signal is output. In a specific endoscopic scenario, a doctor places an observation sheath at a location on the skull. The endoscope penetrates the observation sheath to image the target area. The endoscope can move within the observation sheath, adjusting its position and angle to observe different target areas. In this scenario, the area within the observation sheath is the safe operating range of the endoscope 300, and corresponding movement boundaries are set according to the inner wall of the observation sheath. More specifically, the position of the motion boundary can be determined based on the surgical plan. For example, if the position of the observation sheath is planned in the patient model, and the observation sheath is placed in the corresponding position according to the surgical plan before the endoscopic surgery, the motion boundary can be set directly based on the observation sheath in the patient model. The position of the motion boundary can also be determined by intraoperative navigation. For example, if the observation sheath is placed directly at a certain location on the patient before the endoscopic surgery, the spatial position of the observation sheath can be determined through 3D imaging, optical / electromagnetic navigation, etc., and the motion boundary can be set accordingly. Based on this, by setting a distance threshold, a prompt signal is output when the distance between the endoscope and the preset boundary is less than the threshold, providing a certain safety margin for the operation. Of course, the above-mentioned distance threshold can also be set to zero, meaning that the prompt signal is only output when the endoscope reaches the preset boundary. During the actual adjustment of the endoscope 300, multiple distance thresholds can also be set. For example, when the distance between the endoscope 300 and the preset boundary is less than the first distance threshold, the display is controlled to output a character prompt and the speaker to output a sound prompt; when the distance between the endoscope 300 and the preset boundary is less than the second distance threshold, the robotic arm is controlled to output movement resistance.

[0067] In another endoscopic surgical scenario, the endoscope is inserted directly into the target area to acquire images, requiring the setting of preset boundaries based on the patient's medical images. For example, in transnasal endoscopic surgery, the nasal cavity is the operating space of the endoscope. A patient model is reconstructed based on the patient's medical images, and the aforementioned preset boundaries are set in the patient model according to the nasal cavity.

[0068] This embodiment uses an adjustable fixing structure at the end of the robotic arm to fix the endoscope, which can maintain the endoscope's position and posture stably for a long time, saving the doctor's physical strength. When the endoscope's posture needs to be adjusted during the operation (for example, when it is necessary to observe certain adjacent parts of the current area), the adjustable fixing structure can be used to flexibly and conveniently adjust the endoscope's posture. At the same time, by tracking the endoscope's position through the navigation module and combining it with preset boundaries, it can accurately determine whether the endoscope has exceeded the boundaries during the adjustment process, which can greatly improve the safety of the use process.

[0069] Based on any embodiment, in one embodiment, the processing module 100 performs the following method:

[0070] Obtain the first transformation relationship between the navigation coordinate system and the medical imaging coordinate system;

[0071] According to the first transformation relationship, the preset boundary in the medical image coordinate system and the position of the endoscope 300 determined by the navigation module 400 are transformed to the same coordinate system;

[0072] In this coordinate system, the positional relationship between the endoscope 300 and the preset boundary is used to determine whether to output an alarm prompt. If the position of the endoscope 300 reaches the preset boundary, an alarm prompt is output.

[0073] Specifically, a registration process is performed before surgery, which establishes the transformation relationship between the medical imaging space and the real space. After obtaining the registration relationship (first transformation relationship), the position of the endoscope 300 can be transformed into the medical imaging coordinate system. Based on the positional relationship between the endoscope 300 and the preset boundary in the medical imaging coordinate system, it is determined whether the endoscope 300 has reached the preset boundary. Alternatively, the preset boundary in the medical imaging coordinate system can be transformed into the navigation coordinate system, and then, based on the positional relationship between the endoscope 300 and the preset boundary in the navigation coordinate system, it is determined whether the endoscope 300 has reached the boundary. Or, the position of the endoscope 300 and the preset boundary can be transformed into other coordinate systems, such as the bed coordinate system / robotic arm coordinate system. In this unified coordinate system, it is determined whether the endoscope 300 has reached the preset boundary. If the preset boundary is reached, an alarm prompt is output, for example, through a character prompt on the display or through an audio prompt via a speaker.

[0074] In this embodiment, when necessary, the user can manually adjust the ball head structure to make the endoscope reach the desired position and orientation. During the adjustment process, the navigation module can monitor the position and orientation of the endoscope in real time, and provide prompts when it reaches the boundary to avoid adjusting beyond the boundary. After adjusting to the desired pose, the ball head structure is locked to stably maintain the pose of the endoscope.

[0075] Based on any embodiment, in one embodiment, an output module is also included. When the user manually adjusts the pose of the endoscope 300 through the adjustable fixing structure 210, if the processing module 100 determines that the distance between the endoscope 300 and the preset boundary is less than a preset distance threshold, the output module is controlled to output a prompt message.

[0076] Specifically, when needed, the user can manually adjust the adjustable fixing structure 210 to bring the endoscope 300 to the desired position and orientation. During the adjustment process, the navigation module 400 can monitor the position and orientation of the endoscope 300 in real time. When it determines that the endoscope 300 has reached the preset boundary, it outputs prompt information through the output module, such as a buzzer, a speaker, a flashing indicator light, or a text prompt on the display screen. After receiving the prompt information, the user will operate more cautiously. Alternatively, the user can combine the relative positional relationship between the endoscope 300 and the preset boundary / patient model displayed on the display screen to more accurately control the direction and adjustment amount of the endoscope 300, preventing the endoscope 300 from exceeding the preset boundary. After the endoscope 300 is adjusted to the desired pose, the ball head structure 212 can be locked. In this state, the robotic arm 200 and the adjustable fixing structure 210 can maintain the pose of the endoscope 300 stably for a long time.

[0077] Based on any embodiment, in one embodiment, when the user adjusts the pose of the endoscope 300 by dragging the robotic arm 200, if the processing module 100 determines that the distance between the endoscope 300 and the preset boundary is less than a preset distance threshold, it controls the robotic arm 200 to output movement resistance.

[0078] Specifically, in some situations, such as when a significant adjustment of the endoscope 300's position and orientation is required, or when adjusting the ball head structure 212 alone is insufficient to adjust the endoscope 300 to the desired orientation (the endoscope may encounter a preset boundary during the adjustment process), the user needs to drag the robotic arm 200 to adjust the endoscope 300's orientation. During the adjustment process, the navigation module 400 can monitor the position and orientation of the endoscope 300 in real time. If the processing module 100 determines that the distance between the endoscope 300 and the preset boundary is less than a distance threshold, it controls the robotic arm 200 to output movement resistance. The user can intuitively feel the movement resistance to understand the position and status of the endoscope 300. Alternatively, the user can combine the relative positional relationship between the endoscope 300 and the preset boundary / patient model displayed on the screen to more accurately control the direction and amount of adjustment of the endoscope 300, preventing the endoscope 300 from exceeding the preset boundary. In one embodiment, the distance threshold is zero, and the robotic arm 200 is locked when the endoscope 300 reaches the preset boundary (i.e., the output movement resistance exceeds the range of dragging force that a person can apply to the robotic arm). Furthermore, in conjunction with the aforementioned embodiment that sets multiple distance thresholds, different movement resistances are set when the distance between the endoscope 300 and the preset boundary is less than different distance thresholds, so that the movement resistance output by the robotic arm 200 is greater the closer the endoscope 300 is to the preset boundary.

[0079] Based on any embodiment, in some embodiments, the processing module 100 also obtains a second transformation relationship between the robotic arm coordinate system and the navigation coordinate system. Establishing a transformation relationship between the robotic arm coordinate system and the navigation coordinate system can support more functions. For example, based on the transformation relationship, the position of the preset boundary in the robotic arm coordinate system can be determined, the robotic arm motion trajectory can be better planned, and the movement resistance can be output more timely. For another example, in a scenario of autonomously adjusting the pose of an endoscope, the target position in the navigation coordinate system is first transformed to the robotic arm coordinate system according to the second transformation relationship. In the robotic arm coordinate system, the endoscope at the end of the robotic arm is coarsely adjusted to near the target position, and then the endoscope is precisely adjusted to the target position in the navigation coordinate system.

[0080] Based on the endoscopic robot structure of this application, the following are some methods for obtaining the second transformation relationship:

[0081] Method 1: A second reference frame is provided at the end of the robotic arm. The position of the second reference frame and its position in the robotic arm coordinate system are tracked by the navigation module 400 to determine the second transformation relationship.

[0082] Specifically, in a given robotic arm posture, the position of the second reference frame at the end of the robotic arm in the robotic arm coordinate system can be calculated. The navigation module 400 can track the markers on the second reference frame to obtain its position in the navigation coordinate system. Based on this, a second transformation relationship between the robotic arm coordinate system and the navigation coordinate system can be calculated according to the positions of the second reference frame in the two coordinate systems. It is understood that the second reference frame includes at least three optical markers that can be tracked by the optical-based navigation module 400 to determine its position and orientation in the navigation coordinate system; or, the second reference frame includes at least two electromagnetic markers that can be tracked by the electromagnetic-based navigation module 400 to determine its position and orientation in the navigation coordinate system.

[0083] Method 2: The robotic arm is connected to a registration probe to collect at least 3 patient feature points. Based on the positions of the patient feature points in the robotic arm coordinate system and the navigation coordinate system, a second transformation relationship is determined.

[0084] Specifically, a registration probe can be connected to the distal end of the robotic arm before surgery. The robotic arm 200 moves to drive the registration probe to collect at least three patient feature points. These patient feature points include locations such as the corners of the eyes, the tip of the nose, the corners of the mouth, and moles, as well as markers pasted on the patient's skin or implanted in the patient's skull. The navigation module 400 can also collect the positions of the aforementioned patient feature points, for example, through a matching navigation probe, or by sharing the same registration probe with the robotic arm 200. This probe has positioning markers that can be tracked by the navigation module 400. The navigation module 400 determines the spatial point collected by the front end of the registration probe by tracking the positioning markers. In this case, only one registration probe is needed, and the operation of collecting patient feature points is performed only once, simplifying the operation process. The collected patient feature points can also be used for registration with patient feature points in medical images to obtain the transformation relationship between the robotic arm coordinate system / navigation coordinate system and the medical image coordinate system (i.e., registration is completed). Based on the positions of the patient feature points in the robotic arm coordinate system and the navigation coordinate system, a second transformation relationship between the two coordinate systems can be determined.

[0085] Additionally, it should be noted that the registration probe can be installed at the same position as the adjustable fixing structure 210 at the end of the robotic arm. After obtaining the second conversion relationship, the registration probe can be removed, and the adjustable fixing structure 210 can be installed at the end of the robotic arm. Alternatively, a separate installation position can be set for the registration probe at the end of the robotic arm, with the registration probe and the adjustable fixing structure 210 installed at different positions.

[0086] Method 3: A positioning mark is set at the end of the robotic arm. The robotic arm 200 and the navigation module 400 determine the spatial position of the positioning mark under at least three robotic arm postures, which is used to determine the second transformation relationship.

[0087] Specifically, the end effector of the robotic arm is equipped with positioning markers. The robotic arm 200 moves to at least three different postures. The positions of the positioning markers in the robotic arm coordinate system under different postures are known, and the positions of the positioning markers under different postures can also be collected by the navigation module 400. Based on the positions of each set of positioning markers in the robotic arm coordinate system and the navigation coordinate system, the second transformation relationship between the two coordinate systems can be determined.

[0088] Based on the previous embodiment, in one embodiment, the endoscopy robot further includes a navigation probe, and the navigation module 400 detects the pose of the navigation probe and sends it to the processing module 100.

[0089] The processing module 100 generates control commands based on the pose of the navigation probe and the second conversion relationship, and controls the movement of the robotic arm 200 to adjust the pose of the endoscope 300.

[0090] Specifically, in this embodiment, a navigation probe is used to control the position and orientation of the endoscope 300. In one implementation, the navigation probe is placed in the desired pose, the navigation module 400 records the pose of the navigation probe at this time, and then the navigation probe is moved. The processing module 100 converts the recorded probe pose to the robotic arm coordinate system according to the second transformation relationship, and issues a command to control the robotic arm 200 to move and adjust the endoscope 300 to the probe pose in the robotic arm coordinate system. In another implementation, a "pose mapping" between the navigation probe and the endoscope is established. In this state, the position change of the navigation probe will be "mapped" to the endoscope 300. The specific execution process is as follows: the navigation module 400 obtains the pose of the navigation probe and sends the pose to the processing module 100. The processing module 100 calculates the "mapped pose" that the endoscope 300 needs to reach in the robotic arm coordinate system according to the pose and the second transformation relationship, and then controls the robotic arm 200 to move and adjust the endoscope 300 to the "mapped pose". As an equivalent variation, the navigation module 400 obtains the current pose of the navigation probe and calculates the "pose change" of the navigation probe by combining it with its pose at the previous moment. The "pose change" is then sent to the processing module 100 (or the processing module 100 performs the calculation process). The processing module 100 controls the robotic arm 200 to move and adjust the endoscope 300 to realize the "pose change".

[0091] Preferably, in the mapped state, the navigation probe is parallel to the endoscope 300, allowing the user to adjust the navigation probe more intuitively and reducing the difficulty of adjustment. Specifically, after adjusting the orientation of the navigation probe to be the same as that of the endoscope 300, the user can input the command "Establish pose mapping". Upon receiving the command, the processing module 100 can acquire the pose of the navigation probe in real time and adjust the pose of the endoscope 300 accordingly. Alternatively, the user can input the command "Establish pose mapping" in any orientation of the navigation probe. Upon receiving the command, the processing module 100 can control the movement of the robotic arm 200 in conjunction with the second conversion relationship to adjust the orientation of the endoscope 300 to be the same as that of the endoscope 300, as the initial state of "pose mapping".

[0092] This embodiment supports adjusting the endoscope's posture by guiding the robotic arm's movement with a probe, which improves operational convenience and filters out endoscopic imaging instability caused by human hand tremors.

[0093] In another embodiment, the user inputs the target position that the endoscope 300 needs to reach in the medical imaging coordinate system, and then, based on the registration relationship, the position is converted to the navigation coordinate system, and the robotic arm is controlled to move to adjust the endoscope to the target position.

[0094] Specifically, a patient model can be displayed via a display module. The user determines the target position that the endoscope 300 needs to reach on the patient model, thus completing the input of the endoscope target position in the medical image coordinate system. The conversion relationship between the medical image coordinate system and the navigation coordinate system has been established during the registration phase. Based on this, the target position that the endoscope 300 needs to reach can be converted to the navigation coordinate system. Then, the robotic arm 200 is controlled to adjust the endoscope 300 to the target position. During the adjustment process, the navigation module 400 can track the current position of the endoscope 300 through the first reference frame on the endoscope 300, determining whether the target position has been reached, whether the distance to the preset boundary is too close, etc.

[0095] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endoscopic robot, characterized by, The application relates to a medical robot system, comprising: a mechanical arm and an endoscope; an adjustable fixing structure is arranged at the end section of the mechanical arm, and the adjustable fixing structure is used for adjusting and fixing the posture of the endoscope relative to the end section of the mechanical arm.

2. The endoscopic robot of claim 1, wherein, The adjustable fixing structure comprises a carrier and a ball head structure, the ball head structure is provided with a channel for the endoscope to pass through, and the ball head structure can rotate in the carrier to adjust the position and posture of the endoscope.

3. The endoscopic robot of claim 2, wherein, The carrier comprises a first clamping piece and a second clamping piece, the first clamping piece and the second clamping piece are respectively provided with a supporting surface matched with the ball head structure, and in a locked state, the supporting surfaces of the first clamping piece and the second clamping piece cooperatively clamp the ball head structure.

4. The endoscopic robot of claim 2, wherein, The carrier is a shell, the inner wall of the shell is provided with a supporting surface matched with the ball head structure, the ball head structure is arranged in the shell, and the shell is also provided with an opening for the endoscope to pass through.

5. The endoscopic robot of claim 3 or 4, wherein, The adjustable fixing structure further comprises a locking piece, which is used for relatively fixing the ball head structure and the carrier after the endoscope is adjusted to a required position and posture.

6. The endoscopic robot of claim 2, wherein, The application further comprises a processing module and a navigation module; The navigation module can track a first reference frame arranged on the endoscope to determine the position of the endoscope; The processing module determines whether to output a prompt signal according to the positional relationship between the endoscope and a preset boundary.

7. The endoscopic robot of claim 6, wherein, The processing module executes the following method: obtaining a first conversion relationship between a navigation coordinate system and a medical image coordinate system; converting a preset boundary in the medical image coordinate system and the position of the endoscope determined based on the navigation module to the same coordinate system according to the first conversion relationship; determining whether to output an alarm prompt according to the positional relationship between the endoscope and the preset boundary in the coordinate system.

8. The endoscopic robot of claim 7, wherein, The application further comprises an output module, in a mode in which a user manually adjusts the position and posture of the endoscope through the adjustable fixing structure, if the processing module determines that the distance between the endoscope and the preset boundary is less than a preset distance threshold, the processing module controls the output module to output corresponding prompt information.

9. The endoscopic robot of claim 7, wherein, In a mode in which a user adjusts the position and posture of the endoscope by dragging the mechanical arm, if the processing module determines that the distance between the endoscope and the preset boundary is less than a preset distance threshold, the processing module controls the mechanical arm to output corresponding moving resistance.

10. The endoscopic robot of any one of claims 6-9, wherein, The processing module further obtains a second conversion relationship between a mechanical arm coordinate system and a navigation coordinate system, and the process of obtaining the second conversion relationship can be realized by any one of the following modes: The end section of the mechanical arm is provided with a second reference frame, the position of the second reference frame is tracked according to the navigation module, and the second reference frame is arranged in the mechanical arm coordinate system, and the second conversion relationship is determined according to the position of the second reference frame in the mechanical arm coordinate system; or, The end section of the mechanical arm is connected with a registration probe to collect at least three patient feature points, and the second conversion relationship is determined according to the positions of the patient feature points in the mechanical arm coordinate system and the positions of the patient feature points in the navigation coordinate system; or The end section of the mechanical arm is provided with a positioning mark, and the mechanical arm and the navigation module respectively determine the spatial positions of the positioning mark in at least three mechanical arm postures, which are used for determining the second conversion relationship.

11. The endoscopic robot of claim 10, wherein, The navigation module also detects a pose of a navigation probe and sends the pose to the processing module; The processing module generates a control instruction according to the pose of the navigation probe in combination with the second conversion relationship, and controls the mechanical arm to move to the pose indicated by the endoscope.

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