Surgical tool installation method, surgical robot system and related device

Abstract

The invention discloses a surgical tool installation method, a surgical robot system, electronic equipment and a computer readable storage medium. The surgical tool installation method comprises the steps that when it is detected that a surgical tool and a manipulator assembly are in a buckled and unassembled state at the initial position, the manipulator assembly is controlled to be pushed towards an inlet assembly to an assembly area, and the distance between the initial position and the inlet assembly is larger than or equal to a first preset distance; the distance between the surgical tool and the inlet assembly in the assembly area is smaller than or equal to a second preset distance; and if it is detected that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, the manipulator assembly is controlled to continue to be propelled, so that the surgical tool assembled on the manipulator assembly is propelled out of the inlet assembly. The mounting efficiency of the surgical tool can be improved.

Description

Technical Field

[0001] This application relates to the field of surgical instrument installation, and more particularly to a surgical instrument installation method, a surgical robot system, an electronic device, and a computer-readable storage medium. Background Technology

[0002] Surgical robot systems are widely used in various surgeries. They offer advantages such as accurate positioning, stable operation, high dexterity, large working range, and immunity to radiation and infection. These advantages help improve the precision of surgical procedures, allowing surgeons to perform operations in the most comfortable state. This is of great value in improving surgical success rates and reducing patient suffering. A surgical robot system includes a manipulator assembly for mounting surgical tools and an inlet assembly. The surgical tools can be inserted into the patient's body through the inlet assembly to perform the surgery.

[0003] In related technologies, the surgical tools are assembled directly on top of the manipulator assembly. This may result in the tip of the surgical tool not being aligned with the inlet port of the inlet assembly, requiring reassembly at the top of the manipulator assembly, leading to low efficiency in surgical tool installation. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a surgical tool installation method, a surgical robot system, an electronic device, and a computer-readable storage medium. The technical solutions are as follows:

[0005] According to a first aspect of this application, a method for installing surgical tools is provided, for installing surgical tools onto a surgical robot system, the surgical robot system including a manipulator assembly and an inlet assembly; the method includes:

[0006] When it is detected that the surgical tool and the manipulator assembly are engaged and not assembled in the initial position, the manipulator assembly is controlled to advance towards the inlet assembly to the assembly area. The distance between the initial position and the inlet assembly is greater than or equal to a first preset distance, and the distance between the surgical tool and the inlet assembly in the assembly area is less than or equal to a second preset distance.

[0007] If it is detected that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, the manipulator assembly is controlled to continue advancing so that the surgical tool assembled with the manipulator assembly is advanced to the outside of the inlet assembly.

[0008] According to a second aspect of this application, a surgical robot system is provided, the system comprising:

[0009] Manipulator assembly, which can be used to mount surgical instruments;

[0010] Entry component;

[0011] A control device, which detects that the surgical tool and the manipulator assembly are engaged but not assembled in the initial position, controls the manipulator assembly to advance towards the entrance assembly to the assembly area, and controls the manipulator assembly to continue advancing when it detects that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, so that the surgical tool assembled with the manipulator assembly is advanced to the outside of the entrance assembly, wherein the distance between the initial position and the entrance assembly is greater than or equal to a first preset distance, and the distance between the surgical tool and the entrance assembly in the assembly area is less than or equal to a second preset distance.

[0012] According to a third aspect of this application, an electronic device is provided, the electronic device comprising:

[0013] processor;

[0014] Memory used to store processor-executable instructions;

[0015] The processor is configured to implement the method as described in the first aspect.

[0016] According to a fourth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method as described in the first aspect.

[0017] The technical solution provided in this application, at an initial position where the distance to the inlet component is greater than or equal to a first preset distance, first only engages the surgical tool with the manipulator component, but does not assemble it. After engaging, the manipulator component is then controlled to advance towards the inlet component to an assembly area where the distance to the inlet component is less than or equal to a second preset distance. That is, the assembly area is closer to the inlet component, and the assembly process is completed here. This does not affect the assembly and ensures that the front end of the surgical tool can be aligned with the inlet component, so as to efficiently install the surgical tool into the inlet component and put it into a driveable state, thereby improving the efficiency of surgical tool installation.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0020] Figure 1aThis is a schematic diagram of the structure of a surgical robot system according to an embodiment of this application;

[0021] Figure 1b This is a schematic diagram of the structure of a surgical robot system according to an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the structure of a surgical robot system according to an embodiment of this application;

[0023] Figure 3a This is a schematic diagram of a surgical tool installation scenario according to an embodiment of this application;

[0024] Figure 3b This is a schematic diagram of a surgical tool installation scenario according to an embodiment of this application;

[0025] Figure 3c This is a schematic diagram of a surgical tool installation scenario according to an embodiment of this application;

[0026] Figure 4 This is a flowchart illustrating a surgical tool installation method according to this application;

[0027] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art should fall within the scope of protection of this application.

[0029] Figure 1a A schematic diagram of a surgical robot system A is shown. See also Figure 1a The surgical robot system A may include a console 1 and an auxiliary robot system 2. The console 1 may include a display device for showing the surgical instrument environment and a processor. The display device has an observation window (also called a stereoscopic display) for the doctor to observe, and the processor is used for information processing and program execution. In addition, the console 1 may also include some or all of the following: an operation control mechanism, armrests, and control switches (not shown in the figure). The actions of the operation control mechanism correspond to the actions of the surgical instruments; by controlling the operation control mechanism, the position of the surgical instruments can be adjusted. The armrests are used to support the doctor's arms. The control switches can be conveniently touched or pressed by hand or foot for various functional operations, completing human-machine interaction.

[0030] The assisted robot system 2 includes several manipulator components 211, each on which a surgical tool can be mounted. The surgical tool can move under the drive of the manipulator component 211. The surgical tool may be a surgical instrument or an image acquisition device, such as an endoscope (e.g., a 3D endoscope) detachably mounted on the manipulator component. The images acquired by the image acquisition device (e.g., surgical footage) can be displayed on the display device of the control console 1. It is understood that the image acquisition device disclosed herein may also be of other types. Each manipulator component 211 may share a single robotic arm 21, or each may correspond to a separate robotic arm 21. The robotic arm 21 includes several connecting arms, with adjacent connecting arms moving relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 21 to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the instrument).

[0031] Optionally, the surgical robot system A described above may further include an image processing system 3. The image processing system 3 includes a display device (e.g., a screen) that can display images acquired by the image acquisition device. The image acquisition device can acquire images and send them to the image processing system 3, so that the display device included in the image processing system 3 can display the acquired images. The image acquisition device can send the acquired images directly or via the console 1 to the image processing system 3. The image acquisition device can perform image processing (e.g., decoding) on ​​the acquired images using its own processor or via the processor of the image processing system 3. The processed images can also be sent to other image processing devices for further image processing (e.g., noise reduction, contrast enhancement, sharpness improvement, etc.).

[0032] by Figure 1b An example of the assistive robot system 2 shown is included, which includes a plurality of manipulator components 211 that can share a single robotic arm 21. Surgical instruments 4 can be mounted on the manipulator components 211. The assistive robot system 2 may also include an inlet component 5 through which the surgical instruments 4 can enter the patient’s body to perform surgery.

[0033] In related technologies, when performing surgery using a surgical robot system, surgical instruments need to enter the patient's body through an inlet component. In scenarios involving the installation of surgical instruments, the surgical instrument is first directly interlocked and assembled with the manipulator component at its top position. Then, the manipulator component is advanced towards the inlet component until the tip of the surgical instrument is aligned with its entry port. However, because the top of the manipulator component is initially far from the entry port, the tip of the surgical instrument may not align with the entry port when it is advanced further after assembly. This necessitates returning to the top of the manipulator component for reassembly, resulting in inefficient surgical instrument installation. A specific scenario will illustrate this below. Please refer to [link to documentation]. Figure 1b In this specific scenario, when performing surgery on a patient, the surgical tool 4 needs to enter the patient's body through an opening made in the patient's body. The opening can often be formed by making an incision in the patient's body or by directly utilizing the patient's natural passages. Taking an incision as an example, when making the opening, the inlet component 5 can be placed at the patient's incision site so that the surgical tool 4 can enter the patient's body from the outside through the inlet component 5. The inlet component 5 can support the simultaneous insertion of one or more surgical tools (such as surgical instruments or image acquisition devices). When the surgical tool 4 is not engaged and assembled with the manipulator component 211, the manipulator component 211 is located at the top position, which is the position where the manipulator component 211 is furthest from the inlet component 5. However, in related technologies, the surgical tool 4 and the manipulator component 211 are directly engaged and assembled at this top position, and then the manipulator component 211 is controlled to be pushed towards the inlet component 5 so that the surgical tool 4 can enter the human body through the inlet component 5, for example, through tissues such as the chest and abdominal wall, and perform surgical operations in place of the human hand under the drive of the manipulator component 211.

[0034] It is worth noting that the above description of a scenario for installing surgical instruments is merely an illustrative example. In actual applications, other scenarios for installing surgical instruments may exist, and no specific limitations are made for these scenarios.

[0035] In the specific scenario described above, the top position is far from the inlet port of the inlet component 5. When the surgical tool 4 is installed at the top position and then pushed into the inlet component 5, the tip (i.e. the front end) of the surgical tool 4 may not be aligned with the inlet port of the inlet component 5. This results in the need to control the manipulator component 211 to return to the top position in order to reassemble the surgical tool 4 into the manipulator component 211, leading to low efficiency in surgical tool installation.

[0036] Based on this, see Figure 2As shown, when the control device 11 of this application detects that the surgical tool and the manipulator assembly 211 are in an interlocked but unassembled state at the initial position, it controls the manipulator assembly 211 to advance towards the entrance assembly 5 to the assembly area. When it detects that the surgical tool is successfully assembled with the manipulator assembly 211 in the assembly area, it controls the manipulator assembly 211 to continue advancing so that the surgical tool assembled with the manipulator assembly 211 is advanced to the outside of the entrance assembly 5. The distance between the initial position and the entrance assembly 5 is greater than or equal to a first preset distance, and the distance between the surgical tool and the entrance assembly 5 in the assembly area is less than or equal to a second preset distance.

[0037] The technical solution provided in this application embodiment first engages the surgical tool and the manipulator component at an initial position where the distance from the inlet component is greater than or equal to a first preset distance, but not yet assembled. After engaging, the manipulator component is then controlled to advance towards the inlet component to an assembly area where the distance from the inlet component is less than or equal to a second preset distance. That is, the assembly area is closer to the inlet component, and the assembly process is completed here. This does not affect the assembly and ensures that the front end of the surgical tool can be aligned with the inlet component, so as to efficiently install the surgical tool onto the inlet component and put it into a driveable state, thereby improving the efficiency of surgical tool installation.

[0038] As an example, the surgical tool and manipulator assembly 211 being in a locked but unassembled state can mean that the manipulator assembly 211 is only fastened to the surgical tool, and the surgical tool and manipulator assembly 211 are still in a disengaged mode. That is, the surgical tool is not engaged with the manipulator assembly 211. In the locked but unassembled state, the manipulator assembly 211 cannot directly drive the surgical tool. However, because the surgical tool is fastened to the manipulator assembly 211, the manipulator assembly 211 can drive the surgical tool to move synchronously when it is pushed towards the inlet assembly 5 or retracted in the opposite direction of the inlet assembly 5. As another example, the surgical tool and manipulator assembly 211 being successfully assembled can mean that the surgical tool and manipulator assembly 211 are disengaged from the disengaged mode and successfully engaged, and the manipulator assembly 211 can directly drive the surgical tool.

[0039] The surgical instrument and manipulator assembly 211 being in an engaged and unassembled state in the initial position can be detected in various ways. As an example, the manipulator assembly 211 may include a sensor, and the detection of this engaged and unassembled state can be based on the sensor's sensing information. This sensor can be implemented in various ways; as an example, it could be a Hall sensor or other types of sensors, without specific limitations.

[0040] Whether the manipulator component 211 is in the initial position or the assembly area can be detected in a variety of ways. As an example, the manipulator component 211 may include a drive component, and whether the manipulator component 211 is in the aforementioned initial position or the aforementioned assembly area can be detected based on the encoder information of the drive component of the manipulator component 211.

[0041] As another example, the current position of the manipulator component 211 can be determined by the encoder information of the drive component of the manipulator component 211. The initial position can correspond to a first preset encoder information, and the critical position point of the assembly area can correspond to a second preset encoder information. When the encoder information represented by the current position of the manipulator component 211 matches the first preset encoder information, it can be determined that the manipulator component 211 is in the initial position. When the encoder information represented by the current position of the manipulator component 211 matches the second preset encoder information, it can be determined that the manipulator component 211 is in the assembly area. It is worth noting that the above description of the method for determining the current position of the manipulator component 211 is only an exemplary demonstration. In practical applications, other determination methods are not excluded. For example, the current position of the manipulator component 211 can be determined by the sensing information of the Hall sensor. The specific method for determining the current position of the manipulator component 211 is not limited.

[0042] The control device 11 can detect whether the surgical tool and the manipulator assembly 211 are successfully assembled in various ways. As an example, the manipulator assembly 211 may include a drive assembly, which may include several motors. The control device 11 can determine whether the surgical tool is stalled relative to the manipulator assembly 211 based on the encoder and current detection of each motor. If stalling is detected, it is determined that the surgical tool and the manipulator assembly 211 are successfully engaged, that is, the surgical tool and the manipulator assembly 211 are successfully assembled. At this time, the drive assembly of the manipulator assembly 211 can directly drive the surgical tool to rotate. If stalling is not detected, it is determined that the surgical tool and the manipulator assembly 211 are not engaged, that is, the surgical tool and the manipulator assembly 211 are not assembled. At this time, the drive assembly cannot drive the surgical tool to rotate.

[0043] Surgical tools can take many specific forms. As an example, a surgical tool may include surgical instruments or image acquisition devices. As another example, an image acquisition device may include devices such as an endoscope or a laparoscope.

[0044] The configuration of the control device 11 can have various specific implementations. As an example, the control device 11 can be integrated into... Figure 1a The console 1 shown can also be integrated into Figure 1a The auxiliary robot system 2 shown can also be integrated into other main devices. Of course, the implementation of this application is not limited to this.

[0045] The first preset distance can be implemented in several ways. As an example, the distance between the initial position and the inlet component 5 can be the first preset distance, which is less than or equal to the maximum achievable distance between the manipulator component 211 and the inlet component 5, and greater than the length of the surgical tool. A distance greater than the length of the surgical tool ensures that when the surgical tool is engaged with the manipulator component, it is not affected by the inlet component, thus preventing the surgical tool from bending or deforming due to obstruction by the inlet component. As another example, the first preset distance can also be equal to the maximum achievable distance between the manipulator component 211 and the inlet component 5, that is, the initial position relative to the inlet component 5 is at the top position that the manipulator component 211 can be in. This allows the surgical tool to avoid the influence of the inlet component 5 to the greatest extent possible when engaged with the manipulator component 211. Simultaneously, the top position makes it as convenient as possible for the surgeon to engage the surgical tool with the manipulator component 211.

[0046] In order to ensure that the surgical tool is as close as possible to the inlet component 5 when it is assembled with the manipulator assembly 211 in the assembly area, so that the front end of the surgical tool, i.e. the end closer to the inlet component 5, can be more easily aligned with the inlet of the inlet component 5 during the assembly process, thereby facilitating the safe and efficient entry of the surgical tool into the inlet component 5, the present application embodiment makes the distance between the surgical tool and the inlet component 5 in the assembly area less than or equal to a second preset distance.

[0047] The second preset distance can be implemented in several ways. As one example, the second preset distance can be related to the length of the surgical tool. As another example, the distance between the surgical tool and the inlet component 5 can refer to the distance between the end of the surgical tool furthest from the inlet component 5 and the inlet component 5 when the surgical tool is attached to the manipulator component 211. In this case, the longer the surgical tool, the larger the second preset distance; the shorter the surgical tool, the smaller the second preset distance. It is understood that the second preset distance needs to be greater than or equal to the length of the surgical tool. As another example, the distance between the surgical tool and the inlet component 5 can also refer to the distance between the geometric center of the surgical tool itself and the inlet component 5 when the surgical tool is attached to the manipulator component 211. In this case, the longer the surgical tool, the larger the second preset distance; the shorter the surgical tool, the smaller the second preset distance.

[0048] As another example, the second preset distance may also be independent of the length of the surgical tool; for example, the distance between the surgical tool and the inlet component 5 may also refer to the distance between the front end of the surgical tool, i.e. the end closest to the inlet component 5, and the inlet component 5 when the surgical tool is attached to the manipulator component 211. In this case, the length of the surgical tool does not affect the size of the second preset distance.

[0049] It is worth noting that the above description of the first preset distance and the second preset distance is only an illustrative example. In actual applications, there may be other specific implementations of the first preset distance and the second preset distance, which are not limited in this respect.

[0050] Considering that there may be assembly failures when assembling surgical instruments with manipulator components in the assembly area, such as the surgical instrument itself malfunctioning or the manipulator component being damaged, the surgical instrument should be prevented from being pushed further into the inlet component to avoid affecting normal surgical operations or damaging the surgical instrument or inlet component.

[0051] To address this issue, as an example, if the control device 11 detects that the surgical tool fails to assemble with the manipulator assembly 211 in the assembly area, it will prevent the manipulator assembly 211 from continuing to advance into the inlet assembly 5. As another example, the control device 11 can detect whether the surgical tool and manipulator assembly 211 have failed to assemble: if the manipulator assembly 211 includes a drive assembly containing several motors, the control device 11 can determine whether the surgical tool is stalling relative to the manipulator assembly 211 based on the encoders and current detection of each motor. If no stalling is detected, it is determined that the surgical tool and manipulator assembly 211 are not engaged, i.e., the surgical tool and manipulator assembly 211 have failed to assemble, and in this case, the drive assembly cannot drive the surgical tool to rotate.

[0052] As another example, when the control device 11 detects that the surgical tool fails to assemble with the manipulator assembly 211 in the assembly area, it can also generate a prompt message to prompt the user to remove the surgical tool from the manipulator assembly 211 so as not to affect the installation of other surgical tools.

[0053] The prompt message can be displayed to the user in various ways. As an example, the prompt message can be an audio prompt, which can be emitted by the auxiliary robot system where the manipulator component is located, or by other devices; there is no specific limitation in this regard. As another example, the prompt message can also be a screen prompt, which can be displayed on a display device associated with the manipulator component or on other devices; there is no specific limitation in this regard.

[0054] As an example, when the control device 11 detects that the manipulator assembly 211 has entered the assembly area, it can restrict the manipulator assembly 211 from continuing to advance into the entry assembly 5, so as to avoid the manipulator assembly 211 leaving the assembly area before the manipulator assembly 211 is fully assembled with the surgical tool, thus affecting the assembly process.

[0055] As another example, if the control device 11 detects that the surgical tool has been successfully assembled with the manipulator assembly 211 in the assembly area, the restriction on the manipulator assembly 211 to continue advancing into the entry assembly 5 is lifted. That is, after the manipulator assembly 211 enters the assembly area and completes the assembly process with the surgical tool, the restriction on the manipulator assembly 211 is lifted so that the manipulator assembly 211 can leave the assembly area and continue advancing into the entry assembly 5.

[0056] As another example, if the control device 11 detects that the surgical tool fails to assemble with the manipulator assembly 211 in the assembly area, it maintains the restriction that the manipulator assembly 211 should continue to advance into the entry assembly 5. That is, after the manipulator assembly 211 advances into the assembly area, it needs to be restricted from continuing to advance into the entry assembly 5. If the manipulator assembly 211 fails to successfully complete the assembly process with the surgical tool, the restriction will not be lifted to prevent the manipulator assembly 211 from leaving the assembly area.

[0057] The control device 11 can limit the continued advancement of the manipulator assembly 211 towards the inlet assembly 5 in various ways. As an example, the control device 11 can apply resistance to the manipulator assembly 211 to limit its advancement towards the inlet assembly 5. It is understood that the applied resistance is a force acting on the manipulator assembly 211 in the opposite direction to the inlet assembly 5. As another example, the control device 11 can also reduce the thrust applied to the manipulator assembly 211 to limit its advancement towards the inlet assembly 5. It is understood that this thrust is the force originally applied to the manipulator assembly 211 to propel it towards the inlet assembly 5; by reducing this thrust, the advancement of the manipulator assembly 211 can be limited. It is worth noting that the above descriptions of methods for limiting the advancement of the manipulator assembly 211 towards the inlet assembly 5 are merely illustrative. In practical applications, other limiting methods may exist, and no specific limitation is made.

[0058] If the control device 11 restricts the manipulator assembly 211 from continuing to advance towards the inlet assembly 5 by applying resistance to the manipulator assembly 211, the resistance can be applied in various ways. For example, the control device 11 can first determine the degree of deviation of the manipulator assembly 211 from the critical position point of the assembly area when it passes through the critical position point, and then apply resistance to the manipulator assembly 211 that is adapted to the degree of deviation. The applied resistance can increase as the degree of deviation increases. It is understood that the assembly area is a region of a certain length between the manipulator assembly 211 and the inlet assembly 5, and the boundary point of this region near the initial position of the manipulator assembly 211 is the aforementioned critical position point. When the manipulator assembly 211 advances from its initial position towards the inlet assembly 5, it will inevitably pass through this critical position point first upon entering the assembly area.

[0059] If the control device 11 limits the continued advancement of the manipulator assembly 211 toward the inlet assembly 5 by reducing the thrust applied to the manipulator assembly 211, the thrust applied to the manipulator assembly 211 can be reduced in various ways. As an example, the control device 11 can first determine the degree of deviation of the manipulator assembly 211 from the critical position point of the assembly area when it passes the critical position point of the assembly area, and then reduce the thrust applied to the manipulator assembly 211 according to the degree of deviation. The degree of reduction of the thrust can increase as the degree of deviation increases.

[0060] The following is combined Figure 3a , Figure 3b , Figure 3c The following is an exemplary description of a specific installation scenario for the surgical tools according to an embodiment of this application:

[0061] like Figure 3a , Figure 3b As shown, when the control device 11 detects that the surgical instrument 4 and the manipulator assembly 211 are engaged but not assembled in the initial position 6, it controls the manipulator assembly 211 to advance towards the inlet assembly 5 to the assembly area 7, as shown. Figure 3b and Figure 3c As shown, when the control device 11 detects that the surgical tool 4 is successfully assembled with the manipulator assembly 211 in the assembly area 7, it controls the manipulator assembly 211 to continue advancing so that the surgical tool 4 assembled with the manipulator assembly 211 is advanced to the outside of the inlet assembly 5.

[0062] The surgical robot system described in this application can be of various types. As an example, the surgical robot system described above can be a single-port surgical robot system. As another example, the surgical robot system described above can be a single-port surgical robot system or a multi-port surgical robot system. Therefore, the specific type of surgical robot system is not limited.

[0063] As an example, taking the aforementioned surgical robot system as a single-port surgical robot system, and considering that the number of inlet components 5 can be only one, and the auxiliary robot system 2 can include only one robotic arm 21, the drive components for a single operating hip in a single-port surgical robot system are more compact and complex than those in a multi-port surgical robot system, in order to drive multiple surgical tools in a confined space. Furthermore, to avoid the inlet components obstructing the installation of surgical tools and to maximize the space available for installation, the drive components are often concentrated at the distal end, away from the inlet components, and telescopic linear drive components are used to guide the surgical tools into the inlet components. This results in a longer distance between the distal end and both ends of the inlet components, which facilitates the design of longer surgical tools and the use of drive components with longer strokes, increasing the stroke of the surgical tools and the space they can reach.

[0064] As an example, the surgical equipment required for a surgical robot system may also include a sterile adapter assembly, which can be fitted between the drive assembly of the manipulator assembly and the surgical instrument to achieve sterile isolation. As another example, when the sterile adapter assembly is installed onto the drive assembly, the control device 11 can automatically detect the sterile adapter assembly and execute an adaptation process, which may include rotating the motor of the drive assembly to engage and couple the drive assembly with the sterile adapter assembly. It is understood that the steps for installing the surgical instrument as described in any of the above embodiments can be performed after the installation of the sterile adapter assembly is completed.

[0065] As an example, before entering the inlet assembly 5, the surgical tool 4 can pass through a tool guide. The tool guide can be positioned near the inlet port of the inlet assembly 5. When multiple surgical tools are present, the tool guide can guide each surgical tool to enter the inlet assembly 5 in a straight line, avoiding conflicts during insertion and keeping the surgical tools bundled together. As another example, after the tip of the surgical tool has fully entered the tool guide, the manipulator assembly and the surgical tool can be considered to have entered the assembly area, where the surgical tool can remain and the assembly process can proceed.

[0066] Corresponding to the above embodiments of the surgical robot system, this application also provides a method for installing surgical tools onto a surgical robot system, the surgical robot system including a manipulator assembly and an inlet assembly; see also Figure 4 As shown, the method includes the following steps:

[0067] S401. When it is detected that the surgical tool and the manipulator assembly are engaged and not assembled in the initial position, the manipulator assembly is controlled to advance towards the inlet assembly area.

[0068] The initial position is greater than or equal to the first preset distance from the inlet component, and the surgical tool in the assembly area is less than or equal to the second preset distance from the inlet component.

[0069] S402. If it is detected that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, the manipulator assembly is controlled to continue advancing so that the surgical tool assembled with the manipulator assembly is advanced to the outside of the inlet assembly.

[0070] As an example, the distance between the initial position and the entry component is the first preset distance, which is less than or equal to the maximum achievable distance between the manipulator component and the entry component, and greater than the length of the surgical tool; the second preset distance is related to the length of the surgical tool.

[0071] As an example, the method further includes: if it is detected that the surgical tool fails to assemble with the manipulator assembly in the assembly area, then prohibiting the manipulator assembly from continuing to advance into the entry assembly.

[0072] As an example, the method further includes: when the manipulator component is detected to have entered the assembly area, restricting the manipulator component from continuing to advance toward the entry component.

[0073] As an example, the method further includes: if it is detected that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, then the restriction on the manipulator assembly to continue advancing into the entry assembly is lifted.

[0074] As an example, the method further includes: if it is detected that the surgical tool fails to assemble with the manipulator assembly in the assembly area, then maintaining a restriction on the manipulator assembly continuing to advance into the entry assembly.

[0075] As an example, limiting the manipulator assembly from continuing to advance toward the inlet assembly includes: applying resistance to the manipulator assembly to limit its further advance toward the inlet assembly, or

[0076] Reduce the thrust applied to the manipulator assembly to limit its further advance toward the inlet assembly.

[0077] As an example, applying resistance to the manipulator assembly includes: determining the degree of deviation of the manipulator assembly from the critical position point when it passes through the assembly area; and applying resistance to the manipulator assembly in accordance with the degree of deviation, wherein the resistance can increase as the degree of deviation increases.

[0078] As an example, the manipulator assembly includes a sensor, and the surgical tool and the manipulator assembly are in an initial position of being engaged and unassembled, which is detected by the following method: based on the sensing information of the sensor, it is detected that the surgical tool and the manipulator assembly are in an initial position of being engaged and unassembled.

[0079] As an example, the manipulator assembly includes a drive assembly, and whether the manipulator assembly is in the initial position or the assembly area is detected by detecting whether the manipulator assembly is in the initial position or the assembly area based on encoder information of the drive assembly.

[0080] As an example, the surgical robot system is a single-port surgical robot system.

[0081] This application also provides an electronic device, such as Figure 5 As shown, the electronic device includes:

[0082] Processor 501;

[0083] Memory 502 is used to store processor-executable instructions;

[0084] The processor 501 is configured to implement the surgical tool mounting method described in any of the embodiments above.

[0085] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the surgical tool installation method described in any of the embodiments above.

[0086] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for installing surgical instruments, characterized in that, A method for mounting surgical instruments onto a surgical robot system, the surgical robot system including a manipulator assembly and an access assembly; the method includes: When it is detected that the surgical tool and the manipulator assembly are engaged and not assembled in the initial position, the manipulator assembly is controlled to advance towards the inlet assembly to the assembly area. The distance between the initial position and the inlet assembly is greater than or equal to a first preset distance, and the distance between the surgical tool and the inlet assembly in the assembly area is less than or equal to a second preset distance. If it is detected that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, the manipulator assembly is controlled to continue advancing so that the surgical tool assembled with the manipulator assembly is advanced to the outside of the inlet assembly.

2. The method according to claim 1, characterized in that, The distance between the initial position and the entry component is the first preset distance, which is less than or equal to the maximum achievable distance between the manipulator component and the entry component, and greater than the length of the surgical tool; the second preset distance is related to the length of the surgical tool.

3. The method according to claim 1, characterized in that, The method further includes: If it is detected that the surgical tool fails to assemble with the manipulator assembly in the assembly area, the manipulator assembly is prohibited from further advancing into the entry assembly.

4. The method according to claim 1, characterized in that, The method further includes: When the manipulator component is detected to have entered the assembly area, the manipulator component is restricted from further advancing toward the entry component.

5. The method according to claim 4, characterized in that, The method further includes: If it is detected that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, the restriction on the manipulator assembly to continue advancing into the entry assembly is lifted.

6. The method according to claim 4, characterized in that, The method further includes: If it is detected that the surgical tool fails to assemble with the manipulator assembly in the assembly area, the restriction on the manipulator assembly continuing to advance into the entry assembly is maintained.

7. The method according to claim 4, characterized in that, The restriction on the manipulator component from further advancing toward the entry component includes: Apply resistance to the manipulator assembly to limit its further advancement toward the inlet assembly, or Reduce the thrust applied to the manipulator assembly to limit its further advance toward the inlet assembly.

8. The method according to claim 7, characterized in that, Applying resistance to the manipulator assembly includes: Determine the degree of deviation of the manipulator assembly from the critical position point when it passes through the critical position point of the assembly area; A resistance is applied to the manipulator assembly that is adapted to the degree of deviation, wherein the resistance increases as the degree of deviation increases.

9. The method according to claim 1, characterized in that, The manipulator assembly includes sensors, and the surgical instrument is initially engaged and unassembled with the manipulator assembly, which is detected by the following method: Based on the sensor's sensing information, it was detected that the surgical tool and the manipulator assembly were in an engaged but unassembled state in their initial positions.

10. The method according to claim 1, characterized in that, The manipulator assembly includes a drive assembly, and whether the manipulator assembly is in the initial position or the assembly area is detected by the following method: Based on the encoder information of the drive component, it is detected whether the manipulator component is in the initial position or the assembly area.

11. The method according to claim 1, characterized in that, The surgical robot system is a single-port surgical robot system.

12. A surgical robot system, characterized in that, include: Manipulator assembly, which can be used to mount surgical instruments; Entry component; A control device, which detects that the surgical tool and the manipulator assembly are engaged but not assembled in the initial position, controls the manipulator assembly to advance towards the entrance assembly to the assembly area, and controls the manipulator assembly to continue advancing when it detects that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, so that the surgical tool assembled with the manipulator assembly is advanced to the outside of the entrance assembly, wherein the distance between the initial position and the entrance assembly is greater than or equal to a first preset distance, and the distance between the surgical tool and the entrance assembly in the assembly area is less than or equal to a second preset distance.

13. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method of any one of claims 1 to 11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.

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