Endoscope inversion control method, device and endoscopic surgery robot

Abstract

This application relates to the field of medical device control technology, specifically to an endoscope flipping control method, device, and laparoscopic surgical robot. The method includes activating an endoscope control mode in response to a first operation; the endoscope control mode is used to adjust the field of view of the endoscope; in the endoscope control mode, in response to a first flipping operation, controlling the endoscope to flip 180°; the first flipping operation is used to indicate that the rotation angle of the wrist rotation joint of the master hand handle is greater than a first angle; the rotation angle is the angle between the initial position and the final position of the wrist rotation joint; and exiting the endoscope control mode in response to a second operation. This application combines the flipping function of the endoscope with the rotation function of the master wrist rotation joint, allowing the surgeon to conveniently and efficiently perform the flipping operation of the endoscope without leaving the master hand operation or the endoscope's field of view, thus avoiding affecting the continuity of the surgery and consequently the surgeon's operating experience.

Description

Technical Field

[0001] This application relates to the field of medical device control technology, specifically to an endoscope flipping control method, device, and laparoscopic surgical robot. Background Technology

[0002] In modern minimally invasive surgery, laparoscopic surgical robots have become one of the core diagnostic and treatment devices. With their advantages such as precise operation control, flexible instrument movement and high-definition magnified vision, they are widely used in various minimally invasive surgeries such as urology, general surgery, gynecology and thoracic surgery, effectively reducing surgical trauma, shortening postoperative recovery time for patients, and improving the safety and effectiveness of surgical treatment.

[0003] The core components of a laparoscopic surgical robot include a surgeon's carriage, a patient carriage, an endoscope system, and surgical instruments. The endoscope system acts as the surgeon's "eyes" for observing the surgical area inside the patient's body, directly determining the clarity of the surgical field. To adapt to the requirements of different surgical procedures, laparoscopic surgical robots are typically compatible with two types of endoscopes: 0° and 30°. The 30° endoscope, due to its offset field of view from the endoscope's extension direction, allows the surgeon to rotate it during surgery according to the required surgical field, thus achieving a wider range of visual coverage. This is particularly suitable for observing concealed areas such as the sides and bottom of the surgical area, and is more widely used in complex minimally invasive surgeries.

[0004] To achieve the flipping of the 30° endoscope, related technologies allow the surgeon to click a flip icon on the touchscreen on the surgeon's trolley. However, in practice, the surgeon must first stop operating the main handpiece, move their head out of the observation window, remove their hand from the main handpiece, and then operate the flip icon on the touchscreen. After the flip is complete, the surgeon must readjust their head position and grip the main handpiece again to continue the surgery. Clearly, the existing procedure is cumbersome, time-consuming, and affects the surgeon's concentration, disrupting the "flow" state and significantly interfering with the efficiency of the surgical procedure. Summary of the Invention

[0005] This application provides an endoscope flipping control method, device, and laparoscopic surgical robot to solve the technical problems in the prior art where the endoscope flipping operation is cumbersome and affects the surgeon's experience.

[0006] The first aspect of this application provides an endoscope tilting control method applied to a laparoscopic surgical robot. The laparoscopic surgical robot includes a master handle mounted on a surgeon's control platform and an endoscope detachably mounted on a surgical arm mounted on a patient's surgical platform. The method includes: In response to the first operation, the endoscope control mode is activated; the endoscope control mode is used to adjust the field of view of the endoscope. In endoscope control mode, in response to the first flip operation, the endoscope is controlled to flip 180°; the first flip operation is used to indicate that the rotation angle of the wrist rotation joint of the master handle is greater than a first angle; the rotation angle is the angle between the initial position and the final position of the wrist rotation joint. In response to the second operation, exit the endoscope control mode.

[0007] A second aspect of this application provides an endoscope tilting control device, comprising: The mode control module is configured to activate the endoscope control mode in response to the first operation; the endoscope control mode is used to adjust the field of view of the endoscope. The flip control module is configured to, in endoscope control mode, control the endoscope to flip 180° in response to a first flip operation; the first flip operation is used to indicate that the rotation angle of the wrist rotation joint of the master handle is greater than a first angle; the rotation angle is the angle between the initial position and the final position of the wrist rotation joint. The mode control module is also configured to exit the endoscope control mode in response to a second operation.

[0008] A third aspect of this application provides a laparoscopic surgical robot, comprising: The doctor control platform is equipped with a master hand handle. The patient surgical platform has an endoscope detachably mounted on its surgical arm; A controller configured to perform the endoscope tilting control method described in the first aspect.

[0009] The fourth aspect of this application provides a computer program product that, when run on a computer, causes the computer to execute the endoscope flipping control method provided in this application.

[0010] The technical solution provided in this application can achieve at least the following beneficial effects: The solution provided in this application, in the endoscopic control mode, combines the endoscope's flipping function with the rotation function of the main wrist joint, allowing the doctor to conveniently and efficiently perform the flipping operation of the endoscope without leaving the main hand or moving it out of the endoscopic field of view, thus avoiding affecting the continuity of the surgery and consequently the doctor's operating experience. Attached Figure Description

[0011] Figure 1 A schematic diagram of the structure of the doctor control platform in an exemplary embodiment of this application is shown; Figure 2 A schematic diagram of a rotatable joint on a doctor's control platform is shown in an exemplary embodiment of this application; Figure 3A flowchart of an endoscope tilting control method in an exemplary embodiment of this application is shown; Figure 4 The display interface in the endoscope control mode is shown in an exemplary embodiment of this application; Figure 5 This diagram illustrates the principle of endoscope rotation control via wrist rotation joint rotation in an exemplary embodiment of this application. Figure 6 An exploded flowchart of step S200 in an endoscope tilt control method according to an exemplary embodiment of this application is shown; Figure 7 This illustration shows a doctor operating a finger clutch in an exemplary embodiment of this application; Figure 8 A flowchart of an endoscope tilting control method in an exemplary embodiment of this application is shown; Figure 9 This illustrates a display interface with superimposed prompt information in the endoscope control mode of an exemplary embodiment of this application; Figure 10 A flowchart illustrating the repositioning of the wrist rotation joint in an endoscopic tilt control method according to an exemplary embodiment of this application is shown. Figure 11 This application illustrates two reset principle diagrams for the wrist rotation joint in an exemplary embodiment. Figure 12 A structural diagram of an endoscope tilting control device in an exemplary embodiment of this application is shown.

[0012] Explanation of reference numerals in the attached figures: 01-Main handpiece; 02-Function pedal; 03-Endoscope control pedal; 04-Observation window; 05-Handrail touchscreen; 011-Opening and closing joint; 012-018-Sub-joint; 1201 - Mode control module; 1202 - Flip control module; 1203 - Reset module; 1204 - Display module. Detailed Implementation

[0013] 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 clearly and completely described 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 of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0014] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0015] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0016] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two connected entities do not establish a connection relationship through a transitional structure, but are connected solely by a connecting structure to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0017] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0018] In recent years, laparoscopic surgical robots have become an indispensable and highly valuable intelligent tool in minimally invasive surgical practice. Working in synergy with robotic arms and imaging technology, laparoscopic surgical robots provide precise and effective support for complex laparoscopic surgical scenarios such as urinary system tumor resection, gynecological disease treatment, thoracic and abdominal organ surgery, and gastrointestinal interventional procedures, and are widely used in multiple specialties.

[0019] Laparoscopic surgical robots typically consist of a surgeon control platform, a patient operating platform, and an imaging platform. Surgeons can sit on the surgeon control platform, viewing two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope placed inside the patient, and manipulating the robotic arm on the patient operating platform, along with the surgical instruments or laparoscope attached to that arm. The robotic arm essentially simulates a human arm, and the surgical instruments simulate a human hand; both provide surgeons with a range of movements mimicking the human wrist while filtering out hand tremors.

[0020] The patient operating platform (also known as a patient trolley) is a device placed next to the patient's operating table. It is used to mount endoscopes, surgical instruments, and other actuators, and receives control signals from the physician's control platform to drive the endoscopes and surgical instruments to perform corresponding actions. To accommodate existing handheld endoscopes in the hospital, an endoscope connector can be designed, which can be detachably installed on the surgical arm of the patient trolley. The endoscope connector is used to connect the endoscope and provide signal transmission and power support.

[0021] An imaging platform (image trolley) typically includes one or more video displays with video image capture capabilities and for displaying surgical instruments in the captured images. It can process the acquired images and display the processed images on the video displays for doctors and assistants to observe.

[0022] See Figure 1 The physician control platform is the control console in the laparoscopic surgical robot, primarily consisting of an observation window (04) for the physician to view the intraoperative field of vision transmitted by the endoscope, a master hand (01) for the physician to control the movement of surgical instruments or the endoscope on the patient carriage via signal transmission, a touchscreen armrest (05) for setting equipment parameters and triggering some equipment functions, an endoscope control pedal (03) for switching endoscope control modes, controlling the start and stop of the endoscope, mode switching, etc., and other function pedals (02). Typically, there are two master hands (01), each capable of controlling different surgical instruments or endoscopes.

[0023] To achieve master / slave control of surgical instruments or endoscopes by the master hand, in some embodiments, see [link to relevant documentation]. Figure 2 The doctor's control platform (main device) can be equipped with multiple rotatable joints, including sub-joints for controlling one or more mechanical degrees of freedom of movement and an opening / closing joint 011. The opening / closing joint 011 can have two finger sleeves positioned opposite each other, one for the doctor to insert their thumb and the other for the doctor to insert their middle finger, thereby changing the angle of the opening / closing joint through the doctor's pinching motion. The sub-joints, depending on their location, can be specifically divided into position joints (…). Figure 2 Neutron joint 012, sub-joint 013 and sub-joint 014), posture joint ( Figure 2Neutron joint 015, sub-joint 016 and sub-joint 017) and redundant joints ( Figure 2 Neutron joint 018), the movement of the position joint directly causes displacement of the instrument end, the movement of the posture joint only changes the posture of the instrument end, the redundant joint is used to connect the position joint and the posture joint to realize sub-motion following, and plays a role in avoiding singularities and increasing configuration.

[0024] Understandably, a torque output unit (e.g., a motor) can be set at each rotatable joint to apply rotational torque. In master-slave or endoscope control mode, each joint can have a holding torque to maintain the joint at a specific angle, which facilitates keeping the posture consistent with the surgical instrument actuator.

[0025] It should be noted that the control of the sub-joints of the master hand involved in the method provided in this application embodiment mainly targets the wrist rotation joint (corresponding to...). Figure 2 The description of the sub-joint 017 should be understood as follows: when the wrist rotation joint is subjected to the method provided in the embodiments of this application, other sub-joints can be maintained at a specific angle based on the holding torque, so as not to cause changes in the position of the endoscope or other postures except for the flipping action.

[0026] To adapt to the requirements of different surgical procedures, laparoscopic surgical robots are routinely compatible with two types of endoscopes: 0° endoscopes and 30° endoscopes. The core difference between the two endoscopes lies in the angle between the lens plane and the central axis of the endoscope: the lens plane of the 0° endoscope is perpendicular to the central axis of the endoscope, and its field of view is consistent with the extension direction of the endoscope, making it suitable for observing the surgical area directly in front; the lens plane of the 30° endoscope forms a 30° angle with the central axis of the endoscope (not perpendicular to the central axis), and its field of view is offset from the extension direction of the endoscope, enabling a wider field of view coverage, especially suitable for observing hidden areas such as the sides and bottom of the surgical area, and is more widely used in complex minimally invasive surgeries.

[0027] Because the light-receiving surface of the 30° endoscope is not perpendicular to the central axis of the endoscope and forms a 30° angle with it, the surgeon needs to adjust the orientation of the 30° endoscope during the operation according to the required surgical field of view. This involves rotating the 30° endoscope 180° (upward or downward) to switch the viewing angle and clearly observe surgical tissues in different locations. The rotation function of the endoscope is one of the essential functions of a laparoscopic surgical robot, and its ease of operation and stability directly affect surgical efficiency, the surgeon's experience, and surgical safety.

[0028] Compared to having an assistant control the buttons on the endoscope connector to rotate the endoscope, surgeons prefer to operate it themselves to save communication time and costs. One related technology involves setting an icon for rotating the endoscope on the touchscreen armrest of the surgeon's carriage, which the surgeon clicks to rotate. However, during surgery, if the surgeon needs to rotate the endoscope, they must first stop controlling the primary hand, remove their head from the observation window of the surgeon's carriage, withdraw their hand from the primary hand, locate the rotation icon on the touchscreen armrest, click the rotation icon, and wait for the rotation to complete before repositioning their head and re-grasping the primary hand to continue the procedure. Clearly, this method is not only time-consuming due to its cumbersome process, but more importantly, because the surgeon needs to focus entirely on the surgical field of view within the observation window and the control of the primary hand during the procedure, performing the rotation operation requires the surgeon to frequently switch operating positions and move their head in and out of the observation window, significantly increasing the surgeon's workload, raising the risk of surgical errors, and severely reducing the surgical experience.

[0029] To address the aforementioned issues, this application provides an endoscope flipping control method and apparatus. By linking the 30° endoscope flipping function with the rotation function of the main wrist joint and the endoscope control mode, the flipping function can be conveniently triggered and efficiently executed.

[0030] It should be noted that the flipping action of the endoscope referred to in the embodiments of this application (unless otherwise specified, the endoscope referred to in the embodiments of this application can refer to an endoscope with an angle other than 90° between the light-receiving surface and the optical axis, such as a 30° endoscope) refers to the process of rotating the endoscope 180° around the central axis of the endoscope body while keeping its overall position and orientation unchanged, so that the lens plane of the endoscope switches from one lens orientation to another. This is essentially different from the rotation operation used to adjust the position and orientation of the endoscope in the prior art, and the operation method is also different.

[0031] See Figure 3 The endoscope tilting control method provided in this application embodiment can be configured to execute steps S100-S300.

[0032] S100: In response to the first operation, the endoscope control mode is activated.

[0033] In some embodiments, the first operation may be a contact operation, such as triggering the first operation by the doctor stepping on the endoscope control pedal set on the doctor's cart; in other embodiments, the first operation may also be a flicking, pressing, turning or other arbitrary form of operation performed on any manual operating component on the doctor's control platform.

[0034] In this embodiment, the endoscope control mode is a specific operating mode of the laparoscopic surgical robot, used to adjust the field of view of the endoscope. The laparoscopic surgical robot only enters this mode when the surgeon performs the first operation (e.g., pressing the endoscope control pedal). In the endoscope control mode, the surgeon's operations on the master hand or related operating components will only affect the endoscope (e.g., rotation, flipping, advancing, and retreating of the endoscope). When the laparoscopic surgical robot is not in this mode, the operations on the master hand or related components will only affect the surgical instruments and will not affect the state of the endoscope (i.e., the endoscope remains stationary).

[0035] In some embodiments, before activating the endoscope control mode, once the laparoscopic surgical robot has completed its power-on self-test, the system is operating normally, and the endoscope has been installed and rotated to the zero position, the preparation steps for executing the method of this application can be considered complete. At this point, see [link to relevant documentation]. Figure 4 In addition to displaying the current endoscopic image in the doctor's carriage of the laparoscopic surgical robot (such as the observation window), the endoscope type (such as a 30° endoscope), the surgical arm where the endoscope is located (such as arm 2), and the orientation of the endoscope (such as up or down) can also be overlaid. Based on this state, the endoscope tilting control method provided in this application can be executed with reference to step S100.

[0036] S200: In endoscope control mode, in response to the first flip operation, the endoscope is controlled to flip 180°.

[0037] It should be noted that the flipping operation involves rotating the wrist joint of the master hand handle. For example, the doctor can insert the thumb and middle finger of either hand into the two finger sleeves of the opening and closing joint of the master hand, and by rotating the wrist, the opening and closing joint drives the wrist rotation joint (see...). Figure 2 The sub-joint 017 rotates at a certain angle. When the wrist rotation joint rotates from one position (which can be called the initial rotation position) to another position (which can be called the final rotation position) in one direction (clockwise or counterclockwise), the angle between the initial rotation position and the final rotation position can be used as the basis for determining whether to trigger the control of the endoscope to rotate 180°.

[0038] In some embodiments, when the angle between the initial rotation position and the final rotation position is greater than a preset angle, the step of controlling the endoscope to rotate 180° can be triggered to avoid the endoscope being rotated prematurely due to accidental touch by the doctor, or being rotated again after rotation.

[0039] In some embodiments, the preset angle (first angle) used to determine whether to trigger endoscope rotation can be set from a preset range, for example, it can be set to any angle between 30° and 90°, preferably 60°.

[0040] In some embodiments, see Figure 5 When the preset angle is set to 60°, it can trigger the first rotation operation that controls the endoscope to flip 180°. This can be a 60° rotation of the wrist joint or any rotation operation greater than 60° (e.g., 80°).

[0041] In some embodiments, controlling the endoscope to rotate 180° can be achieved through a power box mounted on the surgical arm. Specifically, when installing a 30° endoscope, the 30° endoscope can first be installed into the endoscope connector, and the quick-connect interface of the endoscope connector can be locked. Then, the endoscope connector with the 30° endoscope is installed onto the power box of one of the surgical arms on the patient trolley. The system controls the motor of the power box to rotate to complete the locking of the endoscope connector, and automatically rotates to the endoscope zero position after locking. As the doctor rotates the wrist joint, the control system connected to the main handheld device can detect the rotation angle of the joint in real time. When the rotation angle reaches a preset angle (e.g., 60°), the control system immediately sends a rotation control signal to the power box where the 30° endoscope is located, triggering the up-and-down rotation operation of the 30° endoscope, thereby realizing the orientation adjustment of the 30° endoscope.

[0042] It should be noted that in this embodiment, since the doctor's operation of the main hand or related components in the endoscope control mode does not affect the surgical instruments, the rotation of the wrist joint is used as the trigger signal for endoscope rotation. This eliminates the need for additional trigger components and does not alter the original core function of the main hand. Once the doctor performs the first operation and enters the endoscope control mode, they do not need to remove their fingers from the finger sleeves of the opening and closing joints or step out of the observation window. Maintaining only a normal surgical posture, the doctor can trigger endoscope rotation by rotating the wrist joint. Compared to traditional endoscope rotation control methods, this completely avoids interruptions to the surgical procedure, significantly improving surgical efficiency. Simultaneously, the doctor can focus entirely on the surgical field and main hand operation, avoiding the impact of switching operations on concentration and reducing the possibility of misoperation.

[0043] S300: In response to the second operation, exit the endoscope control mode.

[0044] In some embodiments, the second operation corresponds to the first operation and is used to exit the endoscopic surgical robot from the endoscope control mode and restore it to the normal surgical mode before the first operation was performed. After exiting the endoscope control mode, the doctor's operation on the main hand or related operating parts affects the surgical instruments and does not affect the endoscope state (the endoscope remains stationary).

[0045] In some embodiments, the second operation is similar to the first operation and can be a flicking, pressing, twisting, or other arbitrary operation performed on any manual operating component on the endoscope control pedal or the doctor's control platform. It can also be a touch, sliding, or tapping operation performed on a display screen mounted on the doctor's cart. In some preferred embodiments, when the corresponding first operation is a pressing operation on the endoscope control pedal, the second operation can be a releasing operation on the endoscope control pedal. In this case, the doctor can maintain the endoscope control mode by continuously pressing the endoscope control pedal and use foot feedback to determine whether the laparoscopic surgical robot is currently in the endoscope control mode.

[0046] In this embodiment of the application, by combining the scene isolation advantage of the endoscope control mode, a dual triggering logic of "endoscope control mode + wrist rotation joint rotation angle threshold" is designed. In some examples, the flipping function will only be triggered when the doctor presses the endoscope control pedal (enters endoscope control mode) and the rotation angle of the wrist rotation joint reaches a preset angle (such as more than 60°), so as to avoid misoperation and ensure the accuracy and reliability of the triggering logic.

[0047] In endoscopic control mode, to ensure the orientation of each rotatable joint of the master hand aligns with the surgical instrument actuator, a torque output unit can be installed at each rotatable joint to apply rotational torque. This allows each rotatable joint to maintain a specific angle under a certain torque. It is understood that the wrist rotatable joint mentioned in this embodiment also receives a holding torque from the corresponding torque output unit in endoscopic control mode. If a rotational operation is performed on the wrist rotatable joint under this holding torque, the surgeon would have to use a larger rotational force to perform the first rotational operation. Therefore, in some embodiments, to facilitate convenient adjustment of the wrist rotatable joint, the torque applied to the wrist rotatable joint can be adjusted by using a pullable finger clutch located on the master hand (near the opening / closing joint finger sleeve). Specifically, the first rotational operation is divided into a pull-clutch operation that engages the finger clutch and a rotational operation that allows the wrist rotatable joint to rotate under a lower rotational torque; that is, the torque is released before rotation is performed.

[0048] Accordingly, see Figure 6 Step S200 may specifically include: S210: In response to the clutch engagement operation, the holding torque applied to the wrist rotation joint is changed from the initial torque to the rotational torque; the rotational torque is less than the initial torque.

[0049] For details, see Figure 7When the doctor holds the opening and closing joint with their thumb and middle finger, the index finger can be placed loosely on the finger clutch. When it is necessary to rotate the wrist rotation joint, the index finger can be used to pull up the finger clutch. The finger clutch is used to control the torque output unit that applies torque to the wrist rotation joint. When the finger clutch is pulled up, the corresponding torque output unit can significantly reduce the holding torque on the wrist rotation joint, so that the joint can be easily rotated by hand without overcoming a large torque resistance.

[0050] In some embodiments, the rotational torque can be reduced to 10%-20% of the initial torque, or it can be a torque value close to or equal to zero.

[0051] In some embodiments, when the doctor releases the finger clutch from the engaged position, the finger clutch can automatically return to its original position, and the corresponding torque output unit can restore the holding torque on the wrist rotation joint to the initial torque.

[0052] With the finger clutch engaged, step S220 can continue.

[0053] S220: In response to a first rotation operation in which the wrist rotation joint of the master handle is rotated at an angle greater than a first angle, the endoscope is controlled to rotate 180°.

[0054] In this embodiment, the wrist rotation joint is in a low-torque state after the finger clutch is pulled up, making it easier to perform subsequent rotation operations. Since the clutch operation and the rotation operation of the wrist rotation joint in the endoscope control mode do not affect the surgical instruments, the existing device is effectively reused and the original core function is not affected.

[0055] Meanwhile, based on the aforementioned embodiments, this application embodiment designs a triple triggering logic of "endoscope control mode + finger clutch pull-up + joint rotation angle threshold". When the finger clutch is not pulled up, a large force is required to rotate the wrist joint, which can avoid the situation of accidental triggering due to accidental touch.

[0056] In some embodiments, after the wrist rotation joint is rotated by a certain angle (this angle is greater than a preset angle, such as 70° or 80° greater than the preset angle of 60°), the operation of controlling the endoscope to rotate 180° is triggered according to step S200. If step S300 is then executed to exit the endoscope control mode, the surgeon may not be able to continue normal surgical operations or may need to make manual adjustments after exiting the endoscope control mode because the end position of the wrist rotation joint may deviate from the initial position. To avoid the above problems, in some embodiments, the following steps can be performed before exiting the endoscope control mode: S301: Promotes the rotation of the wrist joint of the main handle from the end position to the beginning position.

[0057] Specifically, a control motor installed at the wrist rotation joint can be used to drive the wrist rotation joint to perform corresponding rotational movements. When responding to the first rotational operation, the control system can record the position (angle) of the wrist rotation joint before rotation. When the wrist rotation joint rotates to the end position of rotation, the control system records the position (angle) after rotation. The relationship between these two positions (angles) is used to generate a control signal for driving the control motor, so that the wrist rotation joint can be driven to return to the initial rotational position.

[0058] It should be noted that, in the embodiments of this application, the facilitation may include actively controlling the wrist rotation joint to perform a reset through a device (e.g., a drive motor) for driving the wrist rotation joint to rotate; the facilitation may also include guiding the operator to follow the wrist rotation joint to reset by applying a holding torque to the wrist rotation joint through a torque output unit (e.g., a drive motor) or automatically resetting when no operator is holding it.

[0059] In this embodiment, the automatic reset design for the wrist rotation joint avoids the hassle of manual joint position adjustment by the surgeon, ensuring the precision of the primary hand's control after reset. In some embodiments, a slow and uniform reset method can be used during the wrist rotation joint reset process (e.g., controlling the reset time to 0.5-1 second), avoiding the "dragging sensation" of the surgeon's hand, reducing the surgeon's operational steps, lowering the workload, and improving the surgeon's experience. Simultaneously, the automatic reset design solves the joint dwell problem, optimizes operational continuity, and improves overall control efficiency.

[0060] It should be noted that step S301 can occur at multiple times between the moment the endoscope begins to rotate and the moment the endoscope control mode is exited; that is, there can be multiple triggering conditions for step S301.

[0061] For example, in some embodiments, step S301 can be started when the endoscope is rotated 180°. At this time, the doctor's fingers (thumb and middle finger inserted into the finger sleeve) can passively follow the wrist rotation joint to rotate to the initial position. When the passive following begins, the doctor can know that the endoscope rotation has been completed.

[0062] For example, in some embodiments, after the doctor performs the first flipping operation and triggers the endoscope to start flipping, in response to the clutch release operation (the doctor's index finger releases the finger clutch), step S301 can be executed. At this time, the recovery rotation process of the wrist rotation joint and the flipping of the endoscope can be carried out simultaneously, which can further save operation time.

[0063] For example, in some other embodiments, in step S300, when the doctor performs the second operation (e.g., releasing the endoscope control pedal), the doctor does not immediately exit the endoscope control mode. Instead, the doctor first performs step S301, and after the wrist rotation joint returns to its initial rotation position, the doctor exits the endoscope control mode. This ensures that the doctor can continue the previous surgical operation normally after exiting the endoscope control mode.

[0064] It should be noted that in some embodiments, when the doctor performs the first rotation operation and triggers the endoscope to start rotating, if the doctor performs the operation of releasing the finger clutch in advance during the endoscope rotation process (the process here refers to the process of the endoscope rotating from 0° to 180°), or performs the second operation in advance before step S200 is completed, in order to prevent the endoscope from being abnormally oriented due to the interruption of the operation, the rotation control of the endoscope can be continued without interruption if the endoscope rotation is not completed. That is, even if the control system detects the clutch operation or the second operation during the endoscope rotation process, it is necessary to control the endoscope to continue rotating to 180°.

[0065] In some embodiments, considering that the 180° rotation of the endoscope in step S200 may not be triggered due to possible doctor's misoperation or incorrect timing of the operation: for example, insufficient rotation angle of the wrist rotator joint (not greater than the preset angle), or premature release of the finger clutch or endoscope control pedal before the wrist rotator joint reaches the preset angle. In this case, see Figure 8 The method provided in this application does not perform the endoscope flipping operation, but continues to perform step S400.

[0066] S400: In endoscope control mode, in response to the clutch release operation or the second operation during the second flip operation, the wrist rotation joint of the master handle is actuated from the end position to the initial position.

[0067] In some embodiments, the second flip operation is similar to the first flip operation, both of which may include a clutch operation and a second rotation operation. The difference is that the second rotation operation refers to a rotation operation when the rotation angle of the wrist joint of the main handle is not greater than the first angle.

[0068] During the second rotation operation, since the rotation angle of the wrist rotation joint has not reached the preset angle, the endoscope cannot be flipped. When performing the clutch release operation or the second operation, since the wrist rotation joint has already rotated a certain angle, it is also necessary to restore the wrist rotation joint to the initial rotation position in the same way as in the aforementioned embodiment, so as to avoid affecting the doctor's subsequent surgical operations.

[0069] In some embodiments, in steps S301 and S400, the process of facilitating the rotation of the wrist joint of the main handle from the end position to the initial position of rotation is described in the following figures. Figure 8 Specifically, it can include: S411: In response to the release of the clutch, restore the holding torque applied to the wrist rotation joint to the initial torque.

[0070] S412: With the holding torque applied to the wrist rotation joint being the initial torque, the wrist rotation joint of the master handle is rotated to the initial rotation position.

[0071] In this embodiment, when a clutch release operation occurs during the second flipping operation, the wrist rotation joint can be first restored to a larger holding torque (initial torque). This torque prevents accidental triggering of the endoscope flipping due to accidental touch by the doctor. Under the action of the holding torque, the wrist rotation joint can be driven back to its initial rotation position. It should be noted that in this embodiment, since the wrist rotation joint can be restored to its initial rotation position even without motor drive, the concept of "enhanced" can include both implementations that do not use motor drive control and implementations that achieve the same technical effect using motor drive.

[0072] In other embodiments, the process of facilitating the rotation of the wrist joint of the main handle from the end position to the initial position of rotation is described in [see...]. Figure 8 It can also specifically include: S421: In response to the release of the clutch, promotes the rotation of the wrist joint of the master handle to the initial rotation position.

[0073] S422: When the wrist rotation joint of the main handle is in the initial rotation position, the holding torque applied to the wrist rotation joint is restored to the initial torque.

[0074] The difference between this embodiment and the previous embodiment is that when a clutch release operation occurs during the second flipping operation, the holding torque of the wrist rotation joint can be left unrestored initially, allowing it to return to the initial rotation position more easily with a smaller torque. Then, the holding torque can be adjusted back to the initial torque through the torque output unit.

[0075] It should be noted that in some embodiments, if a second operation occurs during the second flipping operation, in order to avoid the impact on subsequent surgical procedures due to the wrist rotation joint already rotating at a certain angle after immediately exiting the endoscope control mode, see [reference needed]. Figure 8In response to the second operation, the step of exiting the endoscope control mode can be performed first instead of the step of exiting the endoscope control mode. The operation of restoring the wrist rotation joint can be performed first. When the wrist rotation joint is rotated to the initial position, the step of exiting the endoscope control mode in step S300 can be performed.

[0076] In some embodiments, to inform the doctor whether the endoscope has been flipped, some prompts can be displayed on the display interface of the laparoscopic surgical robot's monitor (which may be the doctor's observation window on the trolley).

[0077] For example, if a clutch release or a second operation occurs during the second tilting operation, it indicates that the current operation can no longer trigger the endoscope tilting operation. The system can then notify the doctor of the operation failure or request a re-execution of the endoscope tilting-related operations. In some embodiments, see [link to relevant documentation]. Figure 9 The prompt message may be "Flipping not triggered" or "Operation invalid, please re-enter endoscope control mode and operate", etc.

[0078] In this embodiment, when an abnormality occurs during the endoscopic rotation operation, the doctor can be aware of the abnormality in a timely manner without moving his or her head out of the surgical position, and can quickly perform the next round of endoscopic rotation operation, which greatly improves the efficiency of operation without affecting the doctor's concentration.

[0079] In some embodiments, to allow doctors to better understand the various stages of the endoscope rotation process, additional prompts may be displayed on the laparoscopic surgical robot's display interface at different stages in response to different operations.

[0080] For example, when the endoscope has been rotated 180°, while starting step S301, the display screen can simultaneously show the message "Rotation complete, master hand resetting", prompting the doctor to wait for the wrist rotation joint to rotate to the initial position before proceeding to the next step; or, after the wrist rotation joint has rotated to the initial position, the display screen can simultaneously show the message "Rotation complete, master hand resetting", prompting the doctor to promptly perform the second operation to exit the endoscope control mode.

[0081] In some embodiments, during the execution of step S301 or step S400, the doctor may intentionally or unintentionally obstruct the wrist rotation joint from performing the recovery rotation operation. In this case, to avoid damage to the device that may be caused by forcibly driving the joint rotation, see [reference needed]. Figure 10 The step of facilitating the rotation of the wrist joint of the master handle from the end position to the initial position may further include: S401: Obtain the rotational angular velocity of the wrist rotational joint; S402: When the rotational angular velocity is less than the preset angular velocity, control the wrist rotation joint to stop rotating; S403: In response to the completion of endoscope rotation, facilitate the wrist rotation joint to return to its initial rotational position.

[0082] In this embodiment, the rotation angle can be obtained by monitoring the change in angle of the wrist rotation joint per unit time. The magnitude of the rotational angular velocity reflects the smoothness of the joint rotation. Specifically, an angular velocity threshold can be preset to allow the wrist rotation joint to return to its initial rotational position at a uniform speed. When the detected rotational angular velocity is significantly less than this threshold, it indicates that the wrist rotation joint has encountered significant resistance during the recovery process, possibly due to obstruction by the doctor's hand or other objects. At this time, the control system can control the drive motor to pause the recovery of the wrist rotation joint to avoid motor overload or joint structure damage caused by continuous application of driving force. After the endoscope is rotated, the recovery operation of the wrist rotation joint can be resumed.

[0083] In some embodiments, in order to promptly remind the doctor and improve the efficiency of the flipping operation, a prompt message such as "Master hand reset obstructed, please remove the obstruction" can be displayed on the display interface of the laparoscopic surgical robot at the same time as stopping the rotation of the wrist rotation joint. After the doctor removes the obstruction, the recovery rotation process of the wrist rotation joint can be restarted through automatic system recognition or other preset reset trigger operations until it returns to the initial rotation position.

[0084] In some embodiments, during the execution of steps S401-S403, the wrist rotation joint may deviate from its final "initial rotation position" due to the obstruction and subsequent recovery during rotation. To ensure accurate repositioning of the wrist rotation joint, the following steps may be performed after step S403: S404: Obtain the first initial position corresponding to the first flip operation, and obtain the second initial position to which the wrist rotation joint is restored to rotation.

[0085] S405: When there is a deviation between the first initial position and the second initial position, the wrist rotation joint is rotated from the second initial position to the first initial position based on the deviation.

[0086] In some examples, the doctor rotates the wrist rotation joint from 0° to 70°, triggering the endoscope flipping operation. Subsequently, based on the scheme in the aforementioned embodiments, the wrist rotation joint can be gradually restored to 0° from 70°. During the rotation, significant resistance is encountered, causing the rotation drive to temporarily stop. After the endoscope flipping is completed, the wrist rotation joint finally recovers to 5° (with a deviation from the initial rotation angle of 0°). To eliminate this deviation, steps S404 and S405 can be used to allow the wrist rotation joint to continue to recover to 0° from 5°.

[0087] In this embodiment, by further adjusting the final recovery position of the wrist rotation joint based on the deviation value, it can be ensured that the wrist rotation joint maintains a consistent position before and after performing the endoscopic rotation operation. Combined with the uniform speed reset design, the reset accuracy and the stability of the endoscopic field of view can be ensured, and the impact of the rotation operation on normal surgical procedures can be eliminated.

[0088] In some embodiments, to improve the recovery speed of the wrist rotation joint, when facilitating the reset of the wrist rotation joint of the main handle, the direction of reset can be determined based on the angle of rotation during the first rotation operation. Accordingly, the reset process may include: When the rotation angle is not greater than 90°, the wrist rotation joint of the main handle is promoted to rotate from the rotation end position to the rotation initial position; Alternatively, when the rotation angle is not less than 90°, the wrist rotation joint of the main handle is promoted to rotate from the rotation end position to the rotation target position; the rotation target position is the position after rotating 180° from the rotation initial position.

[0089] For example, see Figure 11 ( Figure 11 The solid arrow indicates the rotation angle of the wrist rotation joint during the first rotation operation, and the dashed arrow indicates the return rotation trajectory of the wrist rotation joint. Figure 11 As shown in Figure (a), when the rotation angle in the first rotation operation is 80°, the reset operation can be to rotate the wrist joint counterclockwise from 80° to 0°; for example, as... Figure 11 As shown in Figure (b), when the rotation angle in the first rotation operation is 100°, the reset operation can rotate the wrist rotation joint from 100° to 180° clockwise. The rotated opening and closing joint can maintain the same posture as the opening and closing joint rotated to 0°, which can achieve the purpose of reset more quickly.

[0090] Considering the presence of wires such as optical fibers and cables connecting the endoscope and the host, controlling the endoscope to rotate in the same direction multiple times according to the method of this application's embodiments may lead to problems such as wire tangling. To avoid the above problems, in some embodiments, controlling the endoscope to rotate 180° can be done as follows: If this is the first time an endoscope is rotated, the rotation direction can be clockwise or counterclockwise.

[0091] After the endoscope has been rotated once, the doctor performs another rotation based on the same procedure. This time, the endoscope can be rotated 180° in the opposite direction to the previous rotation. For example, if the previous rotation was clockwise, the next rotation will be 180° counterclockwise, and so on.

[0092] As can be seen from the above technical solutions, the method provided in this application embodiment is based on the rotation function of the wrist rotation joint of the existing master hand and the design of the endoscope control mode. It makes full use of the scene isolation characteristics of the endoscope control mode, reuses the new function of the wrist rotation joint, does not require hardware modification of the device, can be adapted to the hardware architecture of the existing laparoscopic surgical robot, and will not affect the normal use of the original function of the device. It has the characteristics of compatibility, strong practicality and low modification cost.

[0093] Reference Figure 12 This application also provides an endoscope tilting control device, the device comprising: The mode control module 1201 is configured to activate the endoscope control mode in response to the first operation; the endoscope control mode is used to adjust the field of view of the endoscope. The flip control module 1202 is configured to control the endoscope to flip 180° in response to a first flip operation in endoscope control mode; the first flip operation is used to indicate that the rotation angle of the wrist rotation joint of the master handle is greater than a first angle; the rotation angle is the angle between the initial position and the final position of the wrist rotation joint. The mode control module 1201 is also configured to exit the endoscope control mode in response to a second operation.

[0094] In some embodiments, the first flipping operation includes a clutch operation and a first rotation operation; The flip control module 1202 is also configured to, in response to a clutch operation, change the holding torque applied to the wrist rotation joint from an initial torque to a rotational torque; the rotational torque is less than the initial torque; and, in response to a first rotation operation indicating that the rotation angle of the wrist rotation joint of the master handle is greater than a first angle, control the endoscope to flip 180°.

[0095] In some embodiments, see Figure 12The device also includes: The reset module 1203 is configured to, in response to any one of the following operations: clutch release, endoscope flipping completion, or a second operation, facilitate the rotation of the wrist joint of the master handle from the end-of-rotation position to the initial-of-rotation position.

[0096] In some embodiments, the flip control module 1202 is further configured to: Control the endoscope to begin rotating; If the endoscope is not fully rotated, in response to the clutch release operation or a second operation, control the endoscope to continue rotating to 180°.

[0097] In some embodiments, the reset module 1203 is further configured to: In endoscope control mode, in response to the clutch release operation or the second operation during the execution of the second flip operation, the wrist rotation joint of the master handle is induced to rotate from the rotation end position to the rotation start position; the second flip operation includes a clutch pull operation and a second rotation operation, the second rotation operation being used to indicate that the rotation angle of the wrist rotation joint of the master handle is not greater than the first angle.

[0098] In some embodiments, the reset module 1203 is further configured to: In response to the clutch release operation during the second flip operation, the holding torque applied to the wrist rotation joint is restored to the initial torque; With the holding torque applied to the wrist rotation joint being the initial torque, the wrist rotation joint of the master handle is rotated to the initial rotation position.

[0099] In some embodiments, the reset module 1203 is further configured to: In response to the clutch release operation during the second flip operation, the wrist rotation joint of the master handle is rotated to the initial rotation position; With the wrist rotation joint of the main handle in the initial rotation position, the holding torque applied to the wrist rotation joint will be restored to the initial torque.

[0100] In some embodiments, the mode control module 1201 is further configured to exit the endoscope control mode in response to a second operation during the execution of the second flip operation, when the wrist rotation joint of the master handle rotates to the initial rotation position.

[0101] In some embodiments, see Figure 12 The device also includes: The display module 1204 is configured to display prompt information on the display interface of the laparoscopic surgical robot in response to a clutch release operation or a second operation; the prompt information is used to prompt the re-execution of the first operation or the first flip operation.

[0102] In some embodiments, the reset module 1203 is further configured to: Obtain the rotational angular velocity of the wrist rotational joint; When the rotational angular velocity is less than the preset angular velocity, control the wrist rotation joint to stop rotating; In response to the completion of endoscope rotation, it facilitates the recovery of the wrist rotation joint to its initial rotational position.

[0103] In some embodiments, the reset module 1203 is further configured to: Obtain the first initial position corresponding to the first flip operation, and obtain the second initial position to which the wrist rotation joint is restored to its original rotation position; When there is a deviation between the first initial position and the second initial position, the wrist rotation joint is rotated from the second initial position to the first initial position based on the deviation.

[0104] In some embodiments, the reset module 1203 is further configured to: When the rotation angle is no greater than 90°, the wrist rotation joint of the main handle is promoted to rotate from the end position of rotation to the initial position of rotation; Alternatively, when the rotation angle is not less than 90°, the wrist rotation joint of the main handle is promoted to rotate from the end position to the target position; the target position is the position after rotating 180° from the initial position.

[0105] In some embodiments, the flip control module 1202 is further configured to: Control the endoscope to rotate 180° in the first direction; After controlling the endoscope to rotate 180°, the method also includes: In response to the third flip operation, the endoscope is controlled to flip 180° in the second direction; the third flip operation is used to indicate that the rotation angle of the wrist rotation joint of the master handle is greater than the first angle; the second direction is the opposite of the first direction.

[0106] This application also provides a laparoscopic surgical robot, including: The doctor control platform is equipped with a master hand handle. The patient surgical platform has an endoscope detachably mounted on its surgical arm; The controller is configured to execute the endoscope tilting control method provided in any of the foregoing embodiments.

[0107] In an exemplary embodiment, a chip is also provided, the chip including programmable logic circuitry and / or program instructions, which, when the chip is run on a computer device, are used to implement the endoscope flipping control method described above.

[0108] In an exemplary embodiment, a computer program product is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions to implement the endoscope tilting control method provided in the above-described method embodiments.

[0109] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores a computer program that is loaded and executed by a processor to implement the endoscope tilting control method provided in the above-described method embodiments.

[0110] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. An endoscope flipping control method, applied to a laparoscopic surgical robot, the laparoscopic surgical robot comprising a main handle mounted on a surgeon's control platform and an endoscope detachably mounted on a surgical arm mounted on a patient's surgical platform, characterized in that, The method includes: In response to the first operation, the endoscope control mode is activated; the endoscope control mode is used to adjust the field of view of the endoscope. In the endoscope control mode, in response to the first flip operation, the endoscope is controlled to flip 180°; the first flip operation is used to indicate that the rotation angle of the wrist rotation joint of the main handle is greater than a first angle; the rotation angle is the angle between the initial rotation position and the final rotation position of the wrist rotation joint; In response to the second operation, exit the endoscope control mode.

2. The endoscope tilting control method according to claim 1, characterized in that, The first flipping operation includes a clutch operation and a first rotation operation; The response to the first flipping operation, controlling the endoscope to flip 180°, includes: In response to the clutch engagement operation, the holding torque applied to the wrist rotation joint is changed from the initial torque to a rotational torque; the rotational torque is less than the initial torque. In response to the first rotation operation that instructs the wrist rotation joint of the master handle to rotate at an angle greater than a first angle, the endoscope is controlled to rotate 180°.

3. The endoscope tilting control method according to claim 2, characterized in that, The method further includes: In response to any one of the following operations: clutch release, endoscope flipping completion, or the second operation, the wrist rotation joint of the master handle is assisted to rotate from the rotation end position to the rotation start position.

4. The endoscope tilting control method according to claim 2, characterized in that, The control of rotating the endoscope 180° includes: Control the endoscope to begin rotating; If the endoscope rotation is not completed, in response to the clutch release operation or the second operation, the endoscope is controlled to continue rotating to 180°.

5. The endoscope tilting control method according to claim 1, characterized in that, The method further includes: In the endoscope control mode, in response to the clutch release operation or the second operation during the execution of the second flip operation, the wrist rotation joint of the master handle is facilitated to rotate from the rotation end position to the rotation initial position; the second flip operation includes a clutch pull operation and a second rotation operation, the second rotation operation being used to indicate that the rotation angle of the wrist rotation joint of the master handle is not greater than a first angle.

6. The endoscope tilting control method according to claim 5, characterized in that, In response to the clutch release operation during the second flip operation, the wrist rotation joint of the main handle is rotated from the end-of-rotation position to the initial-of-rotation position, including: In response to the clutch release operation during the second flip operation, the holding torque applied to the wrist rotation joint is restored to the initial torque; When the holding torque applied to the wrist rotation joint is the initial torque, the wrist rotation joint of the main handle is promoted to rotate to the initial rotation position.

7. The endoscope tilting control method according to claim 5, characterized in that, In response to the clutch release operation during the second flip operation, the wrist rotation joint of the main handle is rotated from the end-of-rotation position to the initial-of-rotation position, including: In response to the clutch release operation during the second flip operation, the wrist rotation joint of the main handle is rotated to the initial rotation position; When the wrist rotation joint of the main handle is in the initial rotation position, the holding torque applied to the wrist rotation joint is restored to the initial torque.

8. The endoscope tilting control method according to claim 5, characterized in that, The method further includes: In response to the second operation during the second flipping operation, the endoscope control mode is exited when the wrist rotation joint of the master handle is rotated to the initial rotation position.

9. The endoscope tilting control method according to claim 6 or 8, characterized in that, The method further includes: In response to the clutch release operation or the second operation, a prompt message is displayed on the display interface of the laparoscopic surgical robot; the prompt message is used to prompt the re-execution of the first operation or the first flip operation.

10. The endoscope tilting control method according to claim 3 or 5, characterized in that, The method of facilitating the rotation of the wrist joint of the main handle from the end position to the initial position includes: Obtain the rotational angular velocity of the wrist rotational joint; When the rotational angular velocity is less than a preset angular velocity, the wrist rotation joint is controlled to stop rotating; In response to the completion of the endoscope flipping, the wrist rotation joint is facilitated to return to the initial rotation position.

11. The endoscope tilting control method according to claim 10, characterized in that, The method further includes: Obtain the first initial position corresponding to the first flipping operation, and obtain the second initial position to which the wrist rotation joint is controlled to resume rotation; When there is a deviation between the first initial position and the second initial position, the wrist rotation joint is rotated from the second initial position to the first initial position based on the deviation.

12. The endoscope tilting control method according to claim 3 or 5, characterized in that, The method of facilitating the rotation of the wrist joint of the main handle from the end position to the initial position includes: When the rotation angle is not greater than 90°, the wrist rotation joint of the main handle is promoted to rotate from the rotation end position to the rotation initial position; Alternatively, when the rotation angle is not less than 90°, the wrist rotation joint of the main handle is promoted to rotate from the rotation end position to the rotation target position; the rotation target position is the position after rotating 180° from the rotation initial position.

13. The endoscope tilting control method according to claim 1, characterized in that, The control of rotating the endoscope 180° includes: Control the endoscope to rotate 180° in a first direction; After controlling the endoscope to rotate 180°, the method further includes: In response to a third flip operation, the endoscope is controlled to flip 180° in a second direction; the third flip operation is used to indicate that the rotation angle of the wrist rotation joint of the master handle is greater than the first angle; the second direction is the opposite of the first direction.

14. The endoscope tilting control method according to any one of claims 1 to 13, characterized in that, The endoscope has an angle between its light-receiving surface and its optical axis that is not 90°.

15. An endoscope tilting control device, characterized in that, include: The mode control module is configured to activate the endoscope control mode in response to the first operation; The endoscope control mode is used to adjust the field of view of the endoscope; A flip control module is configured to, in the endoscope control mode, control the endoscope to flip 180° in response to a first flip operation; the first flip operation is used to indicate that the rotation angle of the wrist rotation joint of the master handle is greater than a first angle; the rotation angle is the angle between the initial rotation position and the final rotation position of the wrist rotation joint; The mode control module is also configured to exit the endoscope control mode in response to a second operation.

16. A laparoscopic surgical robot, characterized in that, include: A doctor control platform, wherein the doctor control platform is equipped with a main hand handle; A patient surgical platform, wherein an endoscope is detachably mounted on the surgical arm of the patient surgical platform; A controller configured to perform the endoscope tilting control method according to any one of claims 1-14.

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