Tool mounting method for surgical robot, surgical robot, computing device

Abstract

This application discloses a tool installation method for a surgical robot, a surgical robot, a computing device, and a readable storage medium. The tool is detachably installed on the drive unit of the surgical robot. The method includes: after the target tool is installed, acquiring position information of the drive unit and tool information of the target tool; determining a target locking position of the target tool based on the position information and the tool information; detecting whether the target tool has reached the target locking position after the target tool begins to move; and locking the target tool to restrict its further movement when the target tool is detected to have reached the target locking position. Thus, by determining the target locking position and locking the target tool, the installation efficiency of the surgical robot's tools is improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a tool installation method for a surgical robot, a surgical robot, and a computing device. Background Technology

[0002] Minimally invasive medical techniques refer to medical procedures performed inside the human body cavity using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared with traditional surgical methods, minimally invasive medical techniques have advantages such as less trauma, less pain, faster recovery, reduced patient discomfort, and fewer harmful side effects.

[0003] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. A minimally invasive surgical robot typically includes a main control console and slave operating devices. The surgeon controls the slave operating devices via input devices on the main control console. The slave operating devices respond to control commands sent from the main control console and perform corresponding surgical procedures. Instruments are connected to the drive mechanisms of the slave operating devices to perform surgical procedures. The distal end of the instrument includes an end effector for performing surgical operations and joint components connected to the end effector that can move in multiple degrees of freedom. The drive mechanism is connected to the end effector via drive cables (such as steel wires or other alloy wires) to drive the movement of the end effector.

[0004] Generally, surgical instruments and endoscopes need to be mounted on the surgical robot before surgery can be performed; this is called preoperative preparation. During the operation, there may also be operations to change surgical instruments or endoscopes. Whether it is preoperative preparation or intraoperative replacement of surgical instruments or endoscopes, current technology has the problem of being cumbersome to operate, which reduces the efficiency of the operation. Summary of the Invention

[0005] The purpose of this application is to provide a method for installing tools on a surgical robot, a surgical robot, a computing device, and a readable storage medium, thereby improving the efficiency of installing tools on a surgical robot.

[0006] To achieve the above objectives: In a first aspect, embodiments of this application provide a method for installing tools on a surgical robot, wherein the tools are detachably installed on the drive device of the surgical robot, the method comprising: After the target tool is installed, obtain the location information of the drive device and the tool information of the target tool; Based on the location information and the tool information, the target locking position of the target tool is determined; After the target tool starts moving, detect whether the target tool has reached the target lock position; When the target tool is detected to have reached the target lock position, the target tool is locked to restrict its continued movement.

[0007] In one embodiment, before detecting whether the target tool has reached the target lock position after the target tool begins to move, the method further includes: After the target tool is installed, check whether the target tool meets the preset conditions; When the target tool meets the preset conditions, the locked state of the target tool is released to allow the target tool to move.

[0008] In one embodiment, the preset conditions include at least one of the following: The drag button of the transmission device used to control the movement of the target tool is triggered; The control buttons for the target tool were triggered; The system receives a force applied to the transmission device and detects that the current value exceeds a preset current threshold within a first preset time period.

[0009] In one embodiment, the target locking position of the target tool is determined based on the location information and the tool information: Based on the tool information, the instrument type of the target tool is determined; the instrument type includes endoscopes and surgical instruments. When the instrument type is an endoscope, the first guide rail position when the endoscope last exited work is obtained and determined as the target locking position of the endoscope; When the instrument type is a surgical instrument, the target locking position of the surgical instrument is determined based on the current position of the endoscope.

[0010] In one embodiment, when the instrument type is an endoscope, after locking the target tool to restrict its further movement upon detecting that the target tool has reached the target locking position, the process includes: Obtain the first angle value of the endoscope when it last exited operation; Adjust the joint assembly corresponding to the endoscope according to the first angle value, so that the joint assembly drives the endoscope to rotate to the first angle value.

[0011] In one embodiment, the method further includes: If, based on the tool information, the position of the first guide rail and the first angle value when the endoscope was last removed from operation cannot be obtained, then the endoscope is determined to be installed for the first time. When the endoscope is detected to have exited operation, the current position of the first guide rail and the first angle value of the endoscope are stored and updated in the position information of the drive device corresponding to the endoscope.

[0012] In one embodiment, determining the target locking position of the surgical instrument based on the current position of the endoscope includes determining the target locking position based on a preset position of the surgical instrument in the field of view of the endoscope and the current position of the endoscope.

[0013] In one embodiment, determining the target locking position based on the preset position of the surgical instrument in the field of view of the endoscope and the current position of the endoscope includes: Obtain the distance L between the base of the surgical instrument and the camera of the endoscope in the axial direction of the surgical instrument; Obtain the distance Y between the axis of the camera and the axis of the surgical instrument; determine the angle T1 between the preset position of the surgical instrument in the field of view of the endoscope and the central axis of the camera based on the preset position of the surgical instrument in the field of view of the endoscope; Obtain the angle T2 between the central axis and the axis of the surgical instrument; The target locking position is determined based on the distance L, the distance Y, the included angle T1, and the included angle T2.

[0014] In one embodiment, the preset position is one-quarter of the way into the endoscopic field of view of the surgical instrument.

[0015] In one embodiment, the method further includes: When the instrument type is a surgical instrument, guidance information is output according to the target locking position.

[0016] In one embodiment, the step of obtaining the tool information of the target tool after the target tool has been installed and before: If the endoscope is not installed, the system will not enter the self-test mode for the surgical instruments and will indicate that the installation of the surgical instruments was unsuccessful.

[0017] In one embodiment, after locking the target tool to restrict its continued movement upon detecting that the target tool has reached the target locking position, the method further includes at least one of the following: In response to the detection of the first instruction information, the locked state of the target tool is released to allow the target tool to move; The first instruction information includes at least one of the following: The drag button of the transmission device used to control the movement of the target tool is triggered; The control button of the target tool was triggered; The force applied to the transmission device exceeds a second preset duration.

[0018] In one embodiment, the method further includes: During the movement of the target tool, in response to the detection of the second command information, the target tool is locked; The second instruction information includes at least one of the following: Release the drag button on the transmission device; The control button of the target tool was triggered again; The transmission device was detected to have stopped moving for more than a third preset time period.

[0019] In a second aspect, embodiments of this application provide a surgical robot, characterized in that it includes a slave operating device and a controller, wherein the slave operating device is used to install a target tool, and the controller executes a computer program to implement the tool installation method of the surgical robot as described in the first aspect.

[0020] Thirdly, embodiments of this application provide a computing device, specifically including: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions for performing the tool installation method for the surgical robot as described in the first aspect.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor of a computing device, enables the computing device to implement the tool installation method for the surgical robot as described in the first aspect.

[0022] This application provides a method for installing tools on a surgical robot, a surgical robot, a computing device, and a readable storage medium. The tools are detachably installed on the drive unit of the surgical robot. The method includes: after the target tool is installed, acquiring position information of the drive unit and tool information of the target tool; determining a target locking position of the target tool based on the position information and the tool information; detecting whether the target tool has reached the target locking position after the target tool begins to move; and locking the target tool to restrict its continued movement when the target tool is detected to have reached the target locking position. Thus, by determining the target locking position and locking the target tool, the efficiency of tool installation on the surgical robot is improved. Attached Figure Description

[0023] Figure 1This is a top view schematic diagram of a surgical robot arranged in an operating room according to an embodiment of this application; Figure 2A This is a schematic diagram of the main control console of a surgical robot according to one embodiment of this application; Figure 2B This is a schematic diagram of the operating device of a surgical robot according to one embodiment of this application; Figure 3 is a schematic diagram of a surgical tool according to an embodiment of this application; Figure 4 A schematic flowchart illustrating the tool installation method for a surgical robot provided in an embodiment of the present invention; Figure 5A A schematic diagram illustrating the determination of the target locking position of a surgical instrument according to an embodiment of the present invention; Figure 5B This is a schematic diagram showing the surgical instruments located at one-quarter of the endoscopic field of view in an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the specific process of the tool installation method for the surgical robot provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a computing device provided in an embodiment of the present invention. Detailed Implementation

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0025] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0026] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0027] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0028] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0029] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0030] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0031] The term "instrument" is used herein to describe a medical device inserted into a patient's body to perform surgical or diagnostic procedures. This instrument includes endoscopes and surgical instruments. End devices (also referred to as target tools) can be surgical instruments used to perform surgical procedures, such as biopsy needles, electrocautery devices, clamps, staplers, scissors, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of this application further include articulated components (e.g., joint assemblies) for the end device, allowing the position and orientation of the end device to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end device includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0032] One embodiment of the surgical robot in this application is as follows: Figure 1 As shown, the surgical robot includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, allowing the surgeon S to remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 based on the surgeon S's operations. The surgeon S can observe three-dimensional images of the patient's body provided by the imaging system through the main console 10. By observing these three-dimensional images, the surgeon S can immerse themselves in the experience and control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body).

[0033] The operating device 10 includes a control unit, a robotic arm 11, and a tool-holding device 12. The control unit can be located in the base of the operating device 10 or on the robotic arm 11. In one embodiment, the control unit is used to control the joint movement of the robotic arm 11 and the movement of the drive device in the tool-holding device 12. Multiple surgical tools can be mounted on the tool-holding device 12, and the drive device of the tool-holding device 12 is used to drive the surgical tools to perform various surgeries.

[0034] In one embodiment, the surgical robot further includes a gas inhalation device, a lumen assembly (not shown), and a cannula 13, the lumen assembly providing fluid communication between the cannula 13 and the gas inhalation device. The cannula 13 is connected to the distal end of the instrument holding device 12 and is inserted into the body cavity of the patient P lying on the operating table T. The end devices of multiple surgical instruments or cameras at the distal end of an endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgery-related operations or acquire images of the patient P's internal environment.

[0035] In one embodiment, surgeon S can control the operating mode of the gas inhalation device via the main control console 10, such as injecting gas from a gas source into the body cavity of patient P to create an artificial pneumoperitoneum, or aspirating gas from the body cavity of patient P. Assistant A attaches surgical instruments 40 to or removes surgical instruments 40 from the instrument holding device 12 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B constitute a basic surgical team. Surgical instruments 40 can be surgical tools used to perform surgical operations, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0036] The main control console 10 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 10, the slave operating device 10, and the electronic device cart 30 communicate remotely via wired Ethernet. However, remote communication is not limited to wired Ethernet; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, 5G, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0037] In one embodiment, such as Figure 2AAs shown, the main control console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 displays images acquired by the imaging system. The display device 21 can be an image source reflected into the eyepiece by multiple mirrors, or it can be a 3D display. The armrest 22 is used to support the arm and / or hand of the doctor (e.g., surgeon S) to allow for more comfortable operation of the input device 23. The observation device 24 is used to observe the images displayed on the display device. Depending on actual needs, the armrest or observation device 24 can be omitted, allowing for direct observation. The doctor S manipulates the surgical instruments of the slave operating device 10 by operating the input device 23. The control signal processing system of the main control console 20 processes the input signal from the input device 23 and sends control commands to the slave operating device. The slave operating device 10 responds to the control commands of the main control console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be located in the slave operating device 10, for example, in the base of the slave operating device 10. The control signal processing system 25 can be the same device as the control device described above.

[0038] Surgical robots typically also include an imaging system (not shown) that enables the surgeon S to view the surgical site from outside the patient's body. This imaging system typically includes a surgical tool 40 with video image acquisition capabilities (e.g., an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 with image acquisition capabilities includes optics for acquiring images of one or more imaging sensors (e.g., CCD or CMOS sensors) within the patient's body. These one or more imaging sensors can be positioned distal to the surgical tool 40 with image acquisition capabilities, and the signals generated by these sensors can be transmitted via cable or wirelessly for processing and display on the video display device.

[0039] In one embodiment, such as Figure 2BAs shown, the robotic arm 11 of the surgical robot's operating device 10 includes a base 110, a column 120 connected to the base 110, and a large arm 130, a forearm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes multiple joints J1-J5 for connecting the column 120, the large arm 160, the forearm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1. The first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected to the holding device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0040] The control device 160 is configured to control multiple joints J1-J5 in linkage to achieve various positions of the entire robotic arm 11, adjust the position and posture of the holding device 112, and realize the rotational movement of the holding device 112 around its remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0041] In one embodiment, the holding device 112 further includes a cannula 115, which is detachably connected to the holding device 112 via a docking device 114. The central axis 106 of the holding device 112 is substantially coincident with the axis 118 of the cannula 115. The holding device 112 drives the cannula 115 to rotate around a remote center of motion 116. Since the remote center of motion 116 is located at the incision 117, the patient P will not be injured when the cannula 115 rotates around the remote center of motion 116.

[0042] In one embodiment, the operating device 10 further includes a control panel 170 disposed on the support column 121. The control panel 170 includes at least one switch 171. The switch 171 is used to input a positioning command to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 11 to quickly achieve various predetermined positions of the robotic arm 11, such as unfolding it into a position for arranging a sterile curtain.

[0043] In one embodiment, the holding device 112 may be equipped with multiple surgical instruments 40, which enter the body through the incision 117 via the same cannula 115. Figure 3A As shown, the surgical tool 40 includes an instrument case 41, a long shaft 42, a joint assembly 43, and an end effector 44. The surgical tool 40 is detachably mounted on a drive system of the instrument holding device 112 of the operating device 10. The instrument case 41 contains a transmission device (not shown), which includes multiple transmission units (e.g., winches). The transmission units are connected to the joint assembly 43 and the end effector 44 via multiple cables. The multiple transmission units are coupled to and driven by multiple actuators (e.g., motors) within the drive system. The multiple actuators receive control commands from a control device and, according to the control commands, drive the transmission units to move, thereby driving the end effector 44 to move. For example, the drive units drive the transmission units to rotate, thereby pulling / retracting the cables to control the movement of the end effector. The end effector 44, via the joint assembly 43, is capable of performing multiple Cartesian degrees of freedom movements, such as translational movements (including lateral and / or longitudinal movements) to change the position of the end effector 44 and pitch, yaw, and roll movements to change the orientation of the end effector 44. It is understood that translation, pitch, yaw, and roll can occur independently or simultaneously. The end effector 44 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 44 can be an electrocautery device, forceps, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., where the camera or imaging device is used to acquire images of the inside of the human body.

[0044] In one embodiment, such as Figure 3B As shown, multiple surgical instruments pass through cannula 115 to reach the vicinity of target tissue T to perform relevant surgical procedures or examinations. These surgical instruments include an endoscope 51 and surgical instruments 52, 53, and 54 for performing the procedure. Each surgical instrument includes... Figure 3A The articulated components shown enable the endoscope 51 and surgical instruments 52, 53, and 54 to perform relevant surgeries flexibly and freely.

[0045] The above is merely an example. This application provides a method for installing tools on a surgical robot. See also... Figure 4 The tool installation method for this surgical robot can be implemented using the surgical robot described in the above embodiments. The tool installation method for the surgical robot provided in this embodiment includes: Step S101: After the target tool is installed, obtain the location information of the drive device and the tool information of the target tool.

[0046] Optionally, when acquiring the tool information of the target tool, the corresponding tool information can be obtained based on the chip sensing and identification installed on the device on which the target tool or surgical robot is installed. Optionally, the tool information of the target tool includes instrument name, instrument type, model and specifications, identification, memory data, and service life. The memory data includes historical usage data of the target tool, such as historical usage time. Optionally, the position information of the drive device can be obtained from the memory of the drive device corresponding to the target tool or in the surgical robot. The position information includes the locking position and angle value of the target tool.

[0047] Optionally, the target tool is detachably mounted on the drive system of the surgical robot's instrument holder. Optionally, multiple instruments can be mounted on the instrument holder, and the drive mechanism of the instrument holder is used to drive the target tool to perform various surgeries.

[0048] Optionally, when installing the target tool, the operator may install the target tool onto the instrument holding device according to the surgical situation, or directly replace the target tool with the corresponding instrument based on the multiple instruments installed on the instrument holding device to complete the installation of the target tool.

[0049] Step S102: Determine the target lock position of the target tool based on the location information and tool information.

[0050] Optionally, the tool information includes the instrument type, identification, and memory data. Optionally, different instrument types may require different methods for determining the target locking location.

[0051] In this way, after determining the target tool's location based on the instrument type, the target tool's location information can be directly determined through the memory, or the target tool's location information can be obtained through big data networking based on the instrument's identifier.

[0052] In one embodiment, determining the target lock position of the target tool based on location information and tool information includes: Based on the tool information, determine the instrument type of the target tool; instrument types include endoscopes and surgical instruments. When the instrument type is endoscope, obtain the first guide rail position when the endoscope last exited the work and determine it as the target locking position of the endoscope; When the instrument type is surgical instrument, the target locking position of the surgical instrument is determined based on the current position of the endoscope.

[0053] Optionally, when controlling the movement of the target tool, the transmission device includes multiple transmission units (e.g., winches). These transmission units are connected to the target tool via multiple cables and joint assemblies. Each transmission unit is coupled to multiple actuators (e.g., motors) within the drive system and is driven by the actuators. Optionally, when driving the target tool by moving the transmission units, the motor, through an integrated position sensor, can monitor and record the rotational position and angle of its rotor in real time to help adjust the working state of the target tool, including adjusting parameters such as current and phase angle, to achieve precise control of the target tool.

[0054] Optionally, when the target tool is an endoscope, the position of the first guide rail when the endoscope was last withdrawn from operation is determined using the position information of the drive device. Understandably, the guide rail position when the endoscope was last withdrawn should be the final fixed position during the last operation based on the endoscope. Thus, by using the endoscope's withdrawal action as a reference and memorizing the corresponding first guide rail position, the endoscope can be quickly and accurately positioned to the required location the next time it is used, thereby improving operational efficiency and accuracy.

[0055] Optionally, when the instrument type is a surgical instrument, considering that the operator needs to perform related operations based on the field of view provided by the endoscope, the surgical instrument should also be installed based on the location of the endoscope and the field of view provided by the endoscope.

[0056] In one embodiment, the method further includes: If the first guide rail position and first angle value when the endoscope was last removed from operation cannot be obtained based on the tool information, then the endoscope is determined to be installed for the first time. When the endoscope is detected to have exited operation, the current position of the first guide rail and the first angle value of the endoscope are stored and updated in the position information of the endoscope drive device.

[0057] Optionally, if it is determined that the current endoscope is being installed for the first time, the position information of the endoscope before it is removed from operation is determined, including the position of the first guide rail and the first angle value of the endoscope.

[0058] Optionally, the captured current position information can be stored in the memory of the drive unit or robot corresponding to the endoscope, as a reference for the next installation or use. This storage and updating of current position information facilitates subsequent use of the endoscope.

[0059] In one embodiment, the target locking position of the surgical instrument is determined based on the current position of the endoscope, including determining the target locking position based on the preset position of the surgical instrument in the field of view of the endoscope and the current position of the endoscope.

[0060] Optionally, the preset position of the surgical instruments in the endoscope's field of view can be determined based on the required field of view of the surgical instruments in the endoscope and pre-set compensation parameters. Optionally, the current position of the endoscope includes the endoscope's position coordinates (such as the depth of the endoscope in the patient's body) and angular posture (such as the angular posture of the endoscope relative to the patient's position).

[0061] In one embodiment, determining the target locking position based on the preset position of the surgical instruments in the endoscope's field of view and the current position of the endoscope includes: Obtain the distance L between the base of the surgical instrument and the camera of the endoscope along the axial direction of the surgical instrument; Obtain the distance Y between the axis of the camera and the axis of the surgical instrument; determine the angle T1 between the preset position and the central axis of the camera based on the preset position of the surgical instrument in the field of view of the endoscope; Obtain the angle T2 between the central axis and the axis of the surgical instrument; The target lock position is determined based on distance L, distance Y, included angle T1, and included angle T2.

[0062] In one embodiment, the preset position is one-quarter of the way into the endoscopic field of view of the surgical instrument.

[0063] In one embodiment, the surgical instrument is configured to be locked at a predetermined location within the endoscopic field of view. Specifically, one method for determining the target locking position of the surgical instrument is as follows: Figure 5A As shown: Surgical instrument 52 and endoscope 51 pass through the same sleeve 115. Surgical instrument 52 includes an instrument base 521, a long axis 522, and an end effector 523. Endoscope 51 includes a joint 511 and a camera 512. The field of view 200 of camera 512 has a field of view angle of α. A preset position of the field of view, i.e., the end effector 523 of surgical instrument 52 appears at a preset position in the field of view 200 of endoscope 51, is specified. In one embodiment, this preset position is one-quarter of the field of view, i.e., the end effector 523 is located at a preset position 201a, one-quarter of the imaging plane 201. Figure 5B The diagram shows the instrument 52 displayed on the monitor located at one-quarter of the field of view of the endoscope 51.

[0064] When determining the target locking position of the surgical instrument, the distance L from the instrument base 521 of the surgical instrument 52 to the camera 512 along the axis 114 of the surgical instrument 52 is obtained. Obtaining distance L includes obtaining distance L1 from the instrument base 521 of the surgical instrument to the joint 511 base of the endoscope 51, and obtaining distance L2 from the joint 511 base of the endoscope 51 to the camera 512, wherein both distances L1 and L2 are parallel to the axis 114 of the surgical instrument 52, and L = L1 + L2.

[0065] Obtain the angle T1 between the preset position 201a and the central axis 123 of the camera 512, and obtain the angle T2 between the central axis 123 of the camera and the axis 114 of the surgical instrument 52.

[0066] The distance Y between the axis 114 of the camera 512 and the surgical instrument 52 is obtained. In some embodiments, the distance Y can be calculated by the radius of the surgical instrument 52, the endoscope 51, and the bending angle of the endoscope joint 51.

[0067] The target locking position TRP of the surgical instrument 52 is determined based on the distances L and Y and the included angles T1 and T2. Specifically, TRP is calculated using the following formula: TRP = L + Y / tan(T1 + T2).

[0068] In one embodiment, the formula is TRP = L + Y / tan(T1 + T2) + C, where C is the motor compensation value for driving surgical instruments and endoscopes.

[0069] Step S103: After the target tool starts moving, detect whether the target tool has reached the target locking position.

[0070] Optionally, the surgical robot includes a transmission mechanism comprising multiple transmission units (e.g., winches). These transmission units are connected to the target tool via multiple cables. Each transmission unit is coupled to and driven by multiple actuators (e.g., motors) within a drive system. The actuators receive control commands from a control device and, based on these commands, drive the transmission units to move, thereby propelling the target tool through the same cannula and into the body via the incision. For example, the drive units rotate the transmission units to pull / tighten the cables, thus controlling the movement of the target tool.

[0071] Optionally, during the movement of the target tool, the target tool passes through the cannula to reach the vicinity of the target tissue to perform relevant surgical procedures or examinations. Optionally, during the movement of the target tool, the motor, through an integrated position sensor, can monitor and record the real-time position of the target tool in real time, so as to further determine whether the target tool has reached the target locking position based on the position of the target tool.

[0072] In one embodiment, after the target tool begins to move but before detecting whether the target tool has reached the target lock position, the method further includes: After the target tool is installed, check whether the target tool meets the preset conditions; When the target tool meets the preset conditions, the target tool is unlocked to allow it to move.

[0073] In one embodiment, after the target tool is installed, a self-test mode is entered. During this mode, tool information can be read to determine the tool's lifespan, the integrity of its communication functions, and the integrity of its instrument data. Simultaneously, instrument calibration can be performed during the self-test to ensure the accuracy of its measurements and outputs.

[0074] In one embodiment, the preset conditions include at least one of the following: The drag button of the transmission device used to control the movement of the target tool is triggered; The control buttons for the target tool were triggered; The system receives a force applied to the transmission device and detects that the current value exceeds a preset current threshold within a first preset time period.

[0075] Step S104: When the target tool is detected to have reached the target locking position, the target tool is locked to restrict its continued movement.

[0076] Optionally, upon detecting that the target tool has reached the target locking position, i.e., when the target tool is near the target tissue, the target tool is locked to perform the relevant surgical procedure or examination. Specifically, the transmission unit and cable can be secured by rotating a brake winch or by electronic control to prevent further movement of the target tool. This fixes the target tool in the target locking position, preventing positional changes due to accidental contact or other external forces.

[0077] In one embodiment, when the instrument type is an endoscope, after locking the target tool to restrict its further movement upon detecting that the target tool has reached the target locking position, the process includes: Obtain the first angle value when the endoscope last exited operation; Adjust the joint assembly corresponding to the endoscope according to the first angle value, so that the joint assembly drives the endoscope to rotate to the first angle value.

[0078] Optionally, the transmission device includes multiple transmission units (e.g., winches), which are connected to the joint assembly via joint drive ropes. Optionally, the transmission units control the rotational movement of the target tool by controlling the joint drive ropes to perform retraction / pulling actions, thereby achieving the corresponding physical shearing and other functions of the surgical instrument.

[0079] Optionally, based on the first angle value when the endoscope last exited work, the joint components corresponding to the endoscope are adjusted accordingly so that the current angle of the endoscope is consistent with the angle when it was last used.

[0080] In one embodiment, the method further includes: When the instrument type is surgical instrument, guidance information is output based on the target locking position.

[0081] Optionally, after determining the target locking position of the surgical instrument during installation, guidance information can be displayed via a display device. This information can be presented in the form of graphics, text, or animation, so that the operator can intuitively understand the current status of the surgical instrument and the operations to be performed.

[0082] In one embodiment, before obtaining the tool information of the target tool after the target tool has been installed, the process includes: If the endoscope is not installed, the system will not enter the self-check mode for surgical instruments and will indicate that the surgical instruments were not installed successfully.

[0083] Optionally, considering that the surgical field of view, instrument placement, and operational procedures need to be determined using the endoscope during the procedure, the endoscope should be installed before the surgical instruments. Optionally, if the endoscope is detected as not being installed correctly, or if the endoscope is not installed at all, the self-check mode for surgical instruments should be disabled.

[0084] Optionally, the device can display a message indicating that the surgical instrument installation was unsuccessful, or it can directly lock the surgical instrument to prevent further movement of the instrument.

[0085] In one embodiment, after locking the target tool to restrict its continued movement upon detecting that the target tool has reached the target lock position, the method further includes at least one of the following: In response to the detection of the first instruction information, the target tool is unlocked to allow the target tool to move; The first instruction information includes at least one of the following: The drag button of the transmission device used to control the movement of the target tool is triggered; The control buttons for the target tool were triggered; The force applied to the transmission device exceeds the second preset duration.

[0086] Optionally, after locking the target tool, if the operator needs to move the target tool further, the target tool can be controlled to continue moving based on the first instruction information. Optionally, when a force is received applied to the transmission device, it will only be considered a valid instruction information and a corresponding response will be made if the force is detected to act for more than a second preset duration (e.g., lasting for several seconds).

[0087] In one embodiment, the method further includes: During the movement of the target tool, in response to the detection of the second command information, the target tool is locked; The second instruction information includes at least one of the following: Release the drag button on the transmission device used to control the movement of the target tool; The target tool's control buttons were triggered again; The transmission device was detected to have stopped moving for more than the third preset time.

[0088] Optionally, the scenario during the movement of the target tool may include any of the following: before controlling the target tool to move and reach the target locking position; when the target tool is an endoscope and it is determined that the endoscope is being installed for the first time, controlling the endoscope to move; in response to the first instruction information, controlling the target tool to continue moving.

[0089] Optionally, if the operator needs to lock the target tool, they can control the target tool to continue moving based on the second instruction information. Optionally, a valid instruction information will only be considered and a corresponding locking response will be made if the transmission device stops moving for more than a third preset time (e.g., several seconds).

[0090] In summary, the surgical robot tool installation method provided in the above embodiments locks the target tool by determining the target locking position, avoiding accidental movement of the instrument, thus improving the safety and accuracy of surgical robot tool installation, and also improving the installation efficiency of surgical robot tools.

[0091] Based on the same inventive concept as the foregoing embodiments, see [link / reference]. Figure 6 This application also provides a specific example to illustrate in detail the tool installation method for a surgical robot provided in this application, which specifically includes the following steps: Step S201: Install the target tool.

[0092] Optionally, the target tools include endoscopes and surgical instruments. If the endoscope is not installed before the surgical instruments are installed, the surgical instruments will not perform a self-check, and the surgical instruments cannot be installed successfully.

[0093] Step S202: When the target tool meets the first preset condition, the target tool is dragged.

[0094] Optionally, the first preset condition includes at least one of the following: The drag button of the transmission device used to control the movement of the target tool is triggered; the control button of the target tool is triggered; a force applied to the transmission device is received, and it is detected that the current value exceeds the preset current threshold within a fourth preset time period.

[0095] Optionally, when the target tool meets the first preset condition, the target tool will move as the hand drags.

[0096] Step S203: The endoscope is dragged, triggering the memory function.

[0097] Optionally, when checking if the target tool is an endoscope, the system determines whether the installed endoscope is the same one that was previously installed and has undergone a master-slave exit process before being reinstalled. In this case, the endoscope memory function is triggered. When the endoscope memory function is triggered, the software remembers the endoscope's previous guide rail position and endoscope angle values. When the user manually drags the endoscope to the remembered guide rail position, the endoscope is locked to restrict further movement. Simultaneously, the joint components controlling the endoscope's rotation are also moved to the previously exited position.

[0098] Step S204: The surgical instrument is dragged, triggering the guidance function.

[0099] Optionally, surgical instruments can be installed after the endoscope is installed. This allows the system to calculate the target locking position of the surgical instruments based on the memory of the endoscope's location. Alternatively, the instrument's guidance function can be triggered, recommending that the instrument automatically lock at approximately one-quarter of the way out of the field of view. Once the instrument is pushed to the guide point, it automatically locks in that position.

[0100] Step S205: When the target tool meets the second preset condition, the target tool is locked.

[0101] Optionally, the second preset condition includes at least one of the following: Release the drag button of the transmission device; the control button of the target tool is triggered again; the target tool is detected to have reached the target lock position; the transmission device is detected to have stopped moving for more than the fifth preset time.

[0102] Step S206: The target tool is in a locked state.

[0103] In summary, the surgical robot tool installation method provided in the above embodiments can avoid the phenomenon of instruments moving due to accidental contact, improve the safety and accuracy of surgical robot tool installation, and also improve the installation efficiency of surgical robot tools.

[0104] Based on the same inventive concept as the foregoing embodiments, this embodiment of the invention provides a surgical robot, including an operating device and a controller. The operating device is used to install target tools, and the controller executes a computer program to implement the tool installation method of the surgical robot.

[0105] Based on the same inventive concept as the foregoing embodiments, this embodiment of the invention provides a computing device, such as... Figure 7 As shown, the computing device includes: a processor 310 and a memory 311 storing computer programs; wherein, Figure 7 The processor 310 shown in the diagram does not indicate that there is only one processor 310, but only indicates the positional relationship of the processor 310 relative to other devices. In practical applications, there can be one or more processors 310; similarly, Figure 7 The memory 311 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 311 relative to other devices. In practical applications, there can be one or more memories 311. When the processor 310 runs the computer program, the tool installation method of the surgical robot described above is implemented.

[0106] The computing device may also include at least one network interface 312. The various components of the computing device are coupled together via a bus system 313. It is understood that the bus system 313 is used to implement communication between these components. In addition to a data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 7 The general designated all buses as Bus System 313.

[0107] The memory 311 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 311 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0108] The memory 311 in this embodiment of the invention is used to store various types of data to support the operation of the computing device. Examples of this data include: any computer programs used to operate on the computing device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0109] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer-readable storage medium storing a computer program. The computer-readable storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer-readable storage medium is executed by a processor, it implements the tool installation method of the surgical robot applied to the aforementioned computing device. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 4 The description of the illustrated embodiments will not be repeated here.

[0110] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0112] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for mounting tools on a surgical robot, wherein the tools are detachably mounted on the drive unit of the surgical robot, characterized in that, The method includes: After the target tool is installed, obtain the location information of the drive device and the tool information of the target tool; Based on the location information and the tool information, the target locking position of the target tool is determined; After the target tool starts moving, detect whether the target tool has reached the target lock position; When the target tool is detected to have reached the target lock position, the target tool is locked to restrict its continued movement.

2. The method according to claim 1, characterized in that, The method, before detecting whether the target tool has reached the target lock position after the target tool begins to move, further includes: After the target tool is installed, check whether the target tool meets the preset conditions; When the target tool meets the preset conditions, the locked state of the target tool is released to allow the target tool to move.

3. The method according to claim 2, characterized in that, The preset conditions include at least one of the following: The drag button of the transmission device used to control the movement of the target tool is triggered; The control buttons for the target tool were triggered; The system receives a force applied to the transmission device and detects that the current value exceeds a preset current threshold within a first preset time period.

4. The method according to claim 1, characterized in that, Determining the target lock position of the target tool based on the location information and the tool information includes: Based on the tool information, the instrument type of the target tool is determined; the instrument type includes endoscopes and surgical instruments. When the instrument type is an endoscope, the first guide rail position when the endoscope last exited work is obtained and determined as the target locking position of the endoscope; When the instrument type is a surgical instrument, the target locking position of the surgical instrument is determined based on the current position of the endoscope.

5. The method according to claim 4, characterized in that, When the instrument type is an endoscope, the step of locking the target tool to restrict its further movement after detecting that the target tool has reached the target locking position includes: Obtain the first angle value of the endoscope when it last exited operation; Adjust the joint assembly corresponding to the endoscope according to the first angle value, so that the joint assembly drives the endoscope to rotate to the first angle value.

6. The method according to claim 5, characterized in that, The method further includes: If the first guide rail position and first angle value when the endoscope was last removed from operation cannot be obtained, then the endoscope is determined to be installed for the first time. When the endoscope is detected to have exited operation, the current position of the first guide rail and the first angle value of the endoscope are stored and updated in the position information of the drive device corresponding to the endoscope.

7. The method according to claim 4, characterized in that, The step of determining the target locking position of the surgical instrument based on the current position of the endoscope includes determining the target locking position based on the preset position of the surgical instrument in the field of view of the endoscope and the current position of the endoscope.

8. The method according to claim 7, characterized in that, Determining the target locking position based on the preset position of the surgical instrument in the field of view of the endoscope and the current position of the endoscope includes: Obtain the distance L between the base of the surgical instrument and the camera of the endoscope in the axial direction of the surgical instrument; Obtain the distance Y between the axis of the camera and the axis of the surgical instrument; determine the angle T1 between the preset position of the surgical instrument in the field of view of the endoscope and the central axis of the camera based on the preset position of the surgical instrument in the field of view of the endoscope; Obtain the angle T2 between the central axis and the axis of the surgical instrument; The target locking position is determined based on the distance L, the distance Y, the included angle T1, and the included angle T2.

9. The method according to claim 7 or 8, characterized in that, The preset position is the location where the surgical instrument is positioned at 1 / 4 of the endoscopic field of view.

10. The method according to claim 4, characterized in that, The method further includes: When the instrument type is a surgical instrument, guidance information is output according to the target locking position.

11. The method according to claim 4, characterized in that, The process of obtaining the tool information of the target tool after the target tool has been installed includes: If the endoscope is not installed, the system will not enter the self-test mode for the surgical instruments and will indicate that the installation of the surgical instruments was unsuccessful.

12. The method according to any one of claims 1 to 8, 10 to 11, characterized in that, After locking the target tool to restrict its further movement upon detecting that the target tool has reached the target locking position, the method further includes at least one of the following: In response to the detection of the first instruction information, the locked state of the target tool is released to allow the target tool to move; The first instruction information includes at least one of the following: The drag button of the transmission device used to control the movement of the target tool is triggered; The control button of the target tool was triggered; The force applied to the transmission device exceeds a second preset duration.

13. The method according to any one of claims 1 to 8, 10 to 11, characterized in that, The method further includes: During the movement of the target tool, in response to the detection of the second command information, the target tool is locked; The second instruction information includes at least one of the following: Release the drag button on the transmission device used to control the movement of the target tool; The control button of the target tool was triggered; The transmission device was detected to have stopped moving for more than a third preset time period.

14. A surgical robot, characterized in that, The device includes an operating device and a controller, the operating device being used to install a target tool, and the controller executing a computer program to implement the tool installation method for the surgical robot as described in any one of claims 1 to 13.

15. A computing device, characterized in that, include: A processor and a memory for storing executable instructions; wherein the processor is configured to execute the instructions to implement the tool mounting method for a surgical robot as described in any one of claims 1-13.

16. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by a processor, the tool mounting method for the surgical robot as described in any one of claims 1-13 is implemented.

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