Control method of medical robot, medical robot, computing device

Abstract

This application discloses a control method for a medical robot, a medical robot, a computing device, and a computer-readable storage medium. The medical robot includes an electronic device cart, a manipulator device, and an input device. The input device is used to control the movement of the manipulator device and receive feedback from the manipulator device. The method includes: in response to the establishment of a preset connection between the electronic device cart and the manipulator device, and receiving a preset first control command, outputting first confirmation information; and upon receiving second confirmation information confirming the execution of the first control command, controlling the electronic device cart and the manipulator device to execute the first control command. Thus, after the preset connection between the electronic device cart and the manipulator device is established, the execution of the first control command can be controlled by controlling both the electronic device cart and the manipulator device, making the control operation of the electronic device cart and the manipulator device more convenient and improving the stability of the two devices in collaborative operation.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to control methods for medical robots, medical robots, and computing devices. Background Technology

[0002] With the development of science and technology and the innovation of artificial intelligence, medical robots have begun to be widely used in clinical surgery. Medical robots can replace doctors in performing on-site surgery. Doctors only need to operate and control the medical robot from a remote control console, thereby serving patients in more areas, such as remote areas that lack experienced surgeons.

[0003] In traditional technical operations, each time the operator starts the system, they need to separately turn the electronic equipment cart of the medical robot and the remote control device on and off. This usually results in cumbersome operation and insufficient synchronization, which in turn affects the stability of the two devices working together. Summary of the Invention

[0004] The purpose of this application is to provide a control method for a medical robot, a medical robot, a computing device, and a computer-readable storage medium, which makes the control and operation of the electronic device cart and the manipulator device more convenient and improves the stability of the two devices in collaborative operation.

[0005] To achieve the above objectives: In a first aspect, embodiments of this application provide a control method for a medical robot, the medical robot comprising an electronic device cart, a manipulator device, and an input device, the input device being used to control the movement of the manipulator device and receive feedback from the manipulator device, the method comprising: In response to the establishment of a preset connection between the electronic device cart and the manipulator device, the input device can control the movement of the manipulator device; In response to receiving a preset first control command, output first confirmation information to confirm whether to execute the first control command; Upon receiving a second confirmation message confirming the execution of the first control command based on the first confirmation message, the electronic device cart and the manipulator device are controlled to execute the first control command.

[0006] In one embodiment, in response to the establishment of a preset connection between the electronic device cart and the manipulator device, the input device can control the movement of the manipulator device, and the method further includes: In response to the establishment of a preset connection between the electronic device cart and the manipulator device, a master-slave control relationship is established between the electronic device cart and the manipulator device, and the input device can control the movement of the manipulator device.

[0007] In one embodiment, the electronic device cart includes a display, and the step of outputting first confirmation information to confirm whether to execute the first control command in response to receiving a preset first control command includes: Upon receiving a shutdown command, the system controls the display to switch to a preset display mode, outputs a first confirmation message in the display mode to confirm whether the first control command has been executed, and disconnects the input device from the control device.

[0008] In one embodiment, the feedback received by the input device is not disconnected.

[0009] In one embodiment, the feedback includes contact force data received at the end of the conduit of the input device, and the input device outputs force feedback based on the contact force data.

[0010] In one embodiment, the method further includes: Upon receiving a third confirmation message indicating that the first control instruction will not be executed based on the first confirmation message, the current working state is restored, and the display is controlled to exit the preset display mode.

[0011] In one embodiment, controlling the electronic device cart and the manipulator device to execute the first control command upon receiving second confirmation information confirming the execution of the first control command based on the first confirmation information includes: Upon receiving a second confirmation message confirming the execution of the first control command based on the first confirmation message, the electronic device cart and the manipulator device are controlled to synchronously execute the first control command.

[0012] In one embodiment, the method further includes: In response to the fact that the electronic device cart and the manipulator device have not established a preset connection relationship, when a preset second control command is received, a fourth confirmation message is output to confirm whether the second control command is executed; Upon receiving a fifth confirmation message confirming the execution of the second control instruction based on the fourth confirmation message, the preset second control instruction is executed.

[0013] In one embodiment, the preset first control command includes a first power-on command or a first power-off command; the preset second control command includes a second power-on command or a second power-off command.

[0014] Secondly, embodiments of this application provide a medical robot, including a first device and a second device, wherein either the first device or the second device is used to execute a computer program to implement the control method of the medical robot as described in the first aspect.

[0015] 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 control method of the medical robot as described in the first aspect.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, wherein when the instructions in the computer-readable storage medium are executed by a processor of a computing device, the computing device is able to implement the control method for the medical robot as described in the first aspect.

[0017] This application provides a control method for a medical robot, a medical robot, a computing device, and a computer-readable storage medium. The medical robot includes an electronic device cart, a manipulator device, and an input device. The input device is used to control the movement of the manipulator device and receive feedback from the manipulator device. The method includes: in response to the establishment of a preset connection between the electronic device cart and the manipulator device, the input device can control the movement of the manipulator device; in response to receiving a preset first control command, outputting first confirmation information to confirm whether to execute the first control command; and upon receiving second confirmation information confirming the execution of the first control command based on the first confirmation information, controlling the electronic device cart and the manipulator device to execute the first control command. Thus, after the electronic device cart and the manipulator device establish a preset connection, the first control command can be executed by controlling both the electronic device cart and the manipulator device, making the control operation of the electronic device cart and the manipulator device more convenient and improving the stability of the two devices in collaborative operation. Attached Figure Description

[0018] Figure 1 A top view of the application environment of a medical robot according to an embodiment of this application; Figure 2 This is a side view of a medical robot arm and drive device according to an embodiment of this application; Figure 3 A flowchart illustrating the control method for a medical robot provided in an embodiment of this application; Figure 4 Specific flow of the control method for the medical robot provided in the embodiments of this application Figure 1 ; Figure 5 Specific flow of the control method for the medical robot provided in the embodiments of this application Figure 2 ; Figure 6 This is a control diagram of the medical robot of this application; Figure 7 This is a schematic diagram showing the disassembled structure of the drive device and catheter instrument of this application; Figure 8 This is a schematic diagram of the structure of a computing device provided in an embodiment of the present invention. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0025] 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.

[0026] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0027] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0028] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the surgeon during the procedure, while "proximal" refers to the end closest to the surgeon. The term "multiple" used in this article includes two or more.

[0029] The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing surgical or diagnostic procedures. This instrument includes an end effector, which can be a surgical instrument used to perform surgical procedures, such as a biopsy needle, electrocautery device, clamp, stapler, scissor, imaging device (e.g., endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include a hinged component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end effector 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.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0031] Figure 1 This is a simplified diagram of a remotely operated medical robot system 100 according to some embodiments. The remotely operated medical robot system 100 can be applied to, for example, surgery, diagnosis, treatment, or biopsy. Figure 1 As shown, the medical robot system 100 includes an electronic device cart 110, a remote operating device 120, and a medical device 130. The remote operating device 120 is located near the operating table T, and the medical device 130 is detachably mounted on the remote operating device 120. The medical device 130 is used to enter the human body through natural cavities or surgical incisions to perform relevant surgical operations.

[0032] The remote control device 120 is communicatively connected to the electronic device cart 110, which includes a control system 111. An input device 130 is communicatively connected to the control system 111. The control system 111 receives input from the input device 140 to control the movement of the remote control device 120 and the medical device 130.

[0033] In one embodiment, the remote-operated medical robot system 100 is a medical robot. The remote-operated manipulator device 120 of the medical robot 100 may include a base 121, a sliding seat 122 that can move vertically up and down relative to the base 121, and two robotic arms 123a and 123b fixedly connected to the sliding seat 122. The robotic arms 123a and 123b may include multiple arm segments connected at joints, providing multiple degrees of freedom for the robotic arms 123a and 123b, for example, seven degrees of freedom corresponding to seven arm segments. A drive device (not shown in the figure) is installed at the end of each robotic arm 123a and 123b. The drive device of the robotic arms 123a and 123b is used to engage the medical device 130, and under the driving action of the drive device, controls the end of the medical device 130 to bend and turn accordingly. The robotic arms 123a and 123b can have identical or partially identical structures. The drive device of robotic arm 123a is used to engage the inner catheter device 132 of the medical device 130, and the drive device of robotic arm 123b is used to engage the outer catheter device 131 of the medical device 130. During installation, the outer catheter device 131 can be installed first. After the outer catheter device 131 is installed, the flexible inner catheter 1321 of the inner catheter device 132 is inserted into the flexible outer catheter 1311 of the outer catheter device 420.

[0034] In some embodiments, for simple surgical situations, only one robotic arm and one catheter device may be used. For example, the remote manipulator device 120 of the medical robot system 100 has only one robotic arm 123a and uses an internal catheter device 132 to perform a biopsy on the patient.

[0035] The medical robot system 100 also includes a sensor system 150 having one or more subsystems for receiving information about the medical device 130. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, velocity, rate, pose, and / or shape of the distal end of the medical device 130 and / or along one or more segments that may constitute a flexible conduit of the medical device 130; and / or a visualization system for capturing images from the distal end of the medical device 130.

[0036] The electronic device cart 110 may be equipped with a display system 112, a flushing system (not shown), and a control system 111, etc. The display system 112 is used to display images or representations of the surgical site and medical device 130 generated by subsystems of the sensor system 150. It may also display real-time images of the surgical site and medical device 130 captured by a visualization system. Image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound may also be used to present images of the surgical site recorded preoperatively or intraoperatively. Preoperative or intraoperative image data may be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based information) images and / or as images from models created based on preoperative or intraoperative image datasets. A virtual navigation image may also be displayed, in which the actual position of the medical device 130 is registered with the preoperative image to present a virtual image of the medical device 130 within the surgical site to the operator from the outside.

[0037] The control system 111 includes at least one memory and at least one computer processor. It is understood that the control system 111 can be integrated into the electronic device cart 110 or the remote operating device 120, or it can be set up independently. Communication between the control system 111 and the input device 140 and the remote operating device 120 can be wired or wireless. Wired communication may include, but is not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., while wireless communication may include, but is not limited to, IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, WiFi, NB, Zigbee, RFID, and wireless telemetry. The control system 111 can transmit one or more signals instructing the medical device 130 to move, which is then moved by the drive device. The medical device 130 can extend to a surgical site within the body via an opening in the patient's natural cavity or a surgical incision.

[0038] Furthermore, the control system 111 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure). The mechanical control system is used to control the movement of the medical device 130, and therefore can be integrated into the remote operation manipulator device 120. The image processing system is used for virtual navigation path planning, and therefore can be integrated into the electronic device cart 110. Of course, the various subsystems of the control system 111 are not limited to the specific cases listed above, and can be reasonably set according to actual conditions. Among them, the image processing system can image the surgical site based on images of the surgical site recorded before or during the operation, using the above-mentioned imaging technology. Software that can be used in conjunction with manual input can also convert the recorded images into two-dimensional or three-dimensional synthetic images of parts or the entire anatomical organ or segment. During the virtual navigation procedure, the sensor system 150 can be used to calculate the position of the medical device 130 relative to the patient's anatomical structure. This position can be used to generate external tracking images and internal virtual images of the patient's anatomical structure, realizing the registration of the actual position of the medical device 130 with the preoperative image, thereby presenting a virtual image of the medical device 130 within the surgical site to the operator from the outside.

[0039] The internal catheter device 132 and the external catheter device 131 have largely the same structure, each having a slender, flexible internal catheter 1321 and an external catheter 1311. The diameter of the external catheter 1311 is slightly larger than that of the internal catheter 1321, so that the internal catheter 1321 can pass through the external catheter 1311 and be supported by the external catheter 1311. This allows the internal catheter 1321 to reach the target location in the patient's body, facilitating tissue or cell sampling and other operations at the target location.

[0040] Input to the input device 140 can cause corresponding movement of the medical device 130. For example, when the operator moves the direction lever of the input device 140 up or down, the movement of the direction lever can be mapped to a corresponding pitch movement of the end effector of the medical device 130; when the operator moves the direction lever of the input device 140 left or right, the movement of the direction lever can be mapped to a corresponding yaw movement of the end effector of the medical device 130. In this embodiment, the input device 140 can control the end effector of the medical device 130 to move within a 360° spatial range.

[0041] In one embodiment, a simplified schematic diagram of part of the structure of the robotic arm 123a is shown below. Figure 2 As shown, Figure 2The illustrated internal catheter device 132 is not mounted on the drive unit 220. The robotic arm 123a includes multiple links 211, 212, 213, and 214, which are rotatably connected by joints. The drive unit 220 is rotatably connected to the links 214 via joints. The drive unit 220 can rotate about a first axis AA passing through it, thereby adjusting the position and orientation of the device 132. The drive unit 220 includes a non-airtight housing 221 with multiple side vents 222 for gas exchange between the interior and exterior of the drive unit 220. After the internal catheter device 132 is engaged with the drive unit 220, the movement of the robotic arm 123a changes the position and / or orientation of the internal catheter device 132.

[0042] In one embodiment, in the context of using the inner catheter device 132 and the outer catheter device 131, the inner catheter device 132 is detachably mounted on the drive device 220, and the outer catheter device 131 is detachably mounted on another drive device (not shown). The first axis AA of the drive device 220 is parallel to the first axis AA of the other drive device, so as to minimize the friction when the inner catheter 1321 moves in the outer catheter 1311.

[0043] The above is merely an example; for details, please refer to the embodiment of this application which provides a control method for a medical robot. Figure 3 The control method for this medical robot can be implemented by applying it to the medical robot described in the above embodiments. The control method for the medical robot provided in this embodiment includes: Step S101: In response to the establishment of a preset connection between the electronic device trolley and the manipulator device, the input device can control the movement of the manipulator device.

[0044] When the electronic device cart and the control device establish a preset connection relationship, either device can receive a control command, and the other device establishes a preset connection relationship with the device receiving the control command. This includes: when the electronic device cart receives a control command, the control device establishes a preset connection relationship with the electronic cart; or, when the control device receives a controller command, the electronic device cart establishes a preset connection relationship with the control device.

[0045] Optionally, the electronic device cart and the control device establish a preset connection relationship, including: The electronic device cart and the control device are physically connected via communication cables; and / or, Connect the electronic device cart and the control device wirelessly.

[0046] Physical connections can be based on wired links, such as cables or optical fibers. Wireless connections can be based on wireless links, such as Ethernet, the Internet, radio access networks (RAN), wireless local area networks (WLAN), 5th generation (5G) systems, or new radio (NR).

[0047] Step S102: In response to receiving a preset first control command, output first confirmation information to confirm whether to execute the first control command.

[0048] The preset first control command settings include button commands, language commands, and touch response commands based on the display screen. The button commands further include target button, long press, short press, double press, and other button rules.

[0049] Optionally, when the electronic device trolley receives a preset first control command, it outputs first confirmation information to confirm the execution of the first control command. When the operator device receives the preset first control command, it can output first confirmation information to confirm the execution of the first control command. Alternatively, when the operator device receives the preset first control command, it can also output first confirmation information to confirm the execution of the first control command through the electronic device trolley.

[0050] In one embodiment, in response to the establishment of a preset connection between the electronic device cart and the manipulator device, the input device can control the movement of the manipulator device, and the system further includes: In response to the establishment of a preset connection between the electronic device trolley and the control device, a master-slave control relationship is established between the electronic device trolley and the control device, and the input device can control the movement of the control device.

[0051] Optionally, in a master-slave control relationship, the device receiving the control command can be set as the master device, and the other device can be set as the slave device. Specifically, when the electronic device cart is the master device, the operator device is the slave device; when the operator device is the master device, the electronic device cart is the slave device. In this way, in a master-slave control relationship, the master device and the slave device can simultaneously respond based on the received preset first control command, that is, the master device can control the slave device to execute the operation steps corresponding to the received control command based on the established master-slave control relationship.

[0052] Optionally, when establishing a master-slave control relationship between the electronic device cart and the operating device, the control relationship between the electronic device cart and the operating device is limited to the operation steps corresponding to the preset first control command. For other operation steps besides the preset first control command, the electronic device cart and the operating device are not limited by the master-slave control relationship.

[0053] In one embodiment, if the connection fails when establishing a preset connection between the electronic device cart and the control device, an alarm is triggered, and it is determined that there is an abnormality in the communication between the electronic device cart and the control device.

[0054] In one embodiment, the electronic device cart includes a display that, in response to receiving a preset first control command, outputs first confirmation information to confirm whether the first control command has been executed, including: When the device receives a shutdown command, it controls the display to switch to a preset display mode and outputs a first confirmation message in the display mode to confirm whether the first control command has been executed, and disconnects the input device from the control device.

[0055] Optionally, in the preset display mode, only the electronic device cart and the manipulator device are supported to perform operations related to the received first control command, and other operation steps other than the first control command are not supported.

[0056] Optionally, in a preset display mode, the monitor screen is grayed out and outputs a first confirmation message to confirm whether the first control command has been executed. For example, if the first control command is a power-off command, the output first confirmation message can be expressed as "Confirm power-off?". In this way, the first control command is further confirmed based on the output first confirmation message to prevent the user from issuing the first control command due to accidental touch.

[0057] Optionally, when the display switches to a preset display mode, the input device's control over the manipulator is disconnected (e.g., the joystick or button input is disabled) to prevent accidental operation by the user.

[0058] In one embodiment, feedback received by the input device is not disconnected.

[0059] Optionally, only the control signal of the input device can be disconnected, while the continuous reception of feedback signals continues to monitor the device status (such as force feedback data) in real time, providing a basis for subsequent operational decisions. For example, the user may be unable to continue moving the robotic arm, but can still sense the real-time contact force at the catheter tip through the input device. For instance, if the patient's position changes, causing excessive force on the catheter against the tissue, continuous force feedback is crucial for surgical safety.

[0060] In one embodiment, the feedback includes contact force data received at the end of the conduit from the input device, and the input device outputs force feedback based on the contact force data.

[0061] The contact force data includes the direction, magnitude, location of the contact point, dynamic trend of force change, and distribution of the contact force. Optionally, the input device transmits this data to the operator through a force feedback mechanism (such as vibration or resistance simulation), which helps improve the user's sensitivity to the force and location of the operation and reduces the risk of tissue damage. For example, when the catheter contacts the blood vessel wall, the input device generates reverse resistance to simulate a realistic tactile sensation.

[0062] In one embodiment, it further includes: Upon receiving a third confirmation message indicating that the first control instruction will not be executed, based on the first confirmation message, the current working state is restored, and the display is controlled to exit the preset display mode.

[0063] Optionally, the third confirmation information can be received via button presses, voice commands, or touch input on the display. Here, when a third confirmation information indicating that the first control command will not be executed is received based on the first confirmation information, the current state of the electronic device cart and the control device is restored to the working state before the first control command was received. At the same time, the display is controlled to exit the preset display mode, that is, the display is also restored to the working state before the first control command was received.

[0064] Step S103: When a second confirmation message is received based on the first confirmation message confirming the execution of the first control command, the electronic device trolley and the manipulator device are controlled to execute the first control command.

[0065] Optionally, the second confirmation information can be received via button press, voice command, or touchscreen input on the display. For example, after receiving a preset first control command based on a target button press, the second confirmation information can be received again based on the target button press.

[0066] Here, the instruction signal for receiving the first control command and the instruction signal for receiving the second confirmation information can be the same, while the instruction signal for receiving the second confirmation information is different from the instruction signal for receiving the third confirmation information.

[0067] In one embodiment, upon receiving second confirmation information confirming the execution of the first control command based on the first confirmation information, controlling the electronic device cart and the manipulator device to execute the first control command includes: Upon receiving a second confirmation message confirming the execution of the first control command based on the first confirmation message, the control electronic device trolley and the manipulator device synchronously execute the first control command.

[0068] Optionally, when controlling the electronic device cart and the manipulator to execute the first control command synchronously, the electronic device cart and the manipulator can simultaneously execute the control operation corresponding to the first control command based on the received first control command, thereby realizing synchronous control of the electronic device cart and the manipulator. This helps to improve the accuracy and consistency of control between the electronic device cart and the manipulator, and reduce errors or deviations caused by asynchrony between the devices.

[0069] In one embodiment, when either the electronic device cart or the manipulator receives the first control command, it may also delay execution based on preset rules, such as delaying the execution of the first control command for a preset time, in order to avoid erroneous operation.

[0070] In one embodiment, when the electronic device trolley and the manipulator device execute the first control command synchronously, the operations performed by the electronic device trolley and the manipulator device can also be based on the content indicated by the first control command, and different operations can be performed accordingly, so as to achieve mutual cooperation and coordination between the electronic device trolley and the manipulator device.

[0071] Optionally, upon receiving the second confirmation information, the electronic device cart and the manipulator device are simultaneously controlled to execute the execution steps indicated by the first control command based on the first control command. For example, when the first control command is a shutdown command, upon receiving the second confirmation information confirming shutdown, the shutdown information is synchronized to the power boards of the electronic device cart and the manipulator device to control the power boards of the devices receiving the control command within the electronic device cart and manipulator device to shut down. Simultaneously, the shutdown information is synchronized to the power board of another device within the electronic device cart and manipulator device to control the power board of that other device to shut down. This achieves synchronized shutdown processing of the electronic device cart and the manipulator device.

[0072] In summary, in the control method for the medical robot provided in the above embodiments, after the electronic device cart and the manipulator device establish a preset connection relationship, the electronic device cart and the manipulator device can be controlled to execute the first control command, which makes the control operation of the electronic device cart and the manipulator device more convenient and improves the stability of the two devices in collaborative work.

[0073] In one embodiment, it further includes: In response to the fact that the electronic device trolley and the control device have not established a preset connection relationship, when a preset second control command is received, a fourth confirmation message is output to confirm whether the second control command is executed. Upon receiving a fifth confirmation message confirming the execution of the second control command based on the fourth confirmation message, the preset second control command is executed.

[0074] Optionally, when no preset connection is established between the electronic device cart and the control device, the electronic device cart and the control device operate independently. That is, when either the electronic device cart or the control device receives a preset second control command, a fourth confirmation message is output to its display to determine whether to execute the received second control command. Thus, when a fifth confirmation message for executing the second control command is received based on the fourth confirmation message, control is only applied to the device receiving the control command based on the second control command, without affecting the other device. Here, the other device maintains its current operating state and is not controlled by the second control command. It is understandable that other control commands received by the other device will also not affect the control of that other device.

[0075] For example, when the electronic device cart receives a preset second control command, the cart's display outputs a fourth confirmation message to determine whether to execute the received second control command. Thus, when a fifth confirmation message for executing the second control command is received based on the fourth confirmation message, only the electronic device cart is controlled to execute the second control command, while the manipulator device continues to maintain its current operating state and is not affected by the second control command.

[0076] In one embodiment, the preset first control command includes a first power-on command or a first power-off command; the preset second control command includes a second power-on command or a second power-off command.

[0077] Optionally, the first control command is the control command received when the electronic device trolley and the operating device establish a preset connection relationship, and the second control command is the control command received when the electronic device trolley and the operating device do not establish a preset connection relationship.

[0078] Here, since the first control command and the second control command are control commands received by the electronic device trolley and the manipulator device when they are in different connection relationships, the operations that trigger the first control command and the operations that trigger the second control command may be different. That is, the operations corresponding to triggering the first power-on command and the second power-on command may be different, and the operations corresponding to triggering the first power-off command and the second power-off command may also be different.

[0079] Based on the same inventive concept as the foregoing embodiments, the control method for a medical robot provided in this application will be described in detail below through a specific example. Specifically, taking a preset first control command as a power-off command and a touch screen as the display as an example, when the electronic device cart and the remote control device establish a preset connection relationship through a communication line, that is, when they are in a master-slave connection state, the user can turn the devices on and off simultaneously with one click by pressing the power button of either device. Taking the user clicking the power button on the electronic device cart as an example, as follows... Figure 4 As shown, the specific one-click shutdown process is as follows: In one implementation, when the user presses the power button on the electronic device cart, the power board of the electronic device cart sends a button event indicating power off to the electronic device cart software. In one embodiment, the electronic device cart software synchronizes button events to the touchscreen software of the electronic device cart, causing the touchscreen to be grayed out, i.e., in a preset display mode. Here, in the preset display mode, the touchscreen displays confirmation information for confirming whether to execute the button event. Correspondingly, the user cannot perform any other operations except clicking to confirm power off, to ensure that the user does not accidentally operate other functions.

[0080] In one embodiment, if the user confirms the shutdown, the electronic device cart software sends a shutdown confirmation message to the touch screen software, and the touch screen software sends a shutdown confirmation message to the power board of the remote control device, causing the power board of the remote control device to shut down; simultaneously, the electronic device cart software sends a shutdown confirmation message to the power board of the electronic device cart, causing the power board of the remote control device to shut down.

[0081] In one implementation, such as Figure 5 As shown, if the user cancels the shutdown via the touchscreen, the electronic device cart software synchronously sends the shutdown cancellation information to the touchscreen software, and the touchscreen returns to its normal interface, that is, the touchscreen returns to the interface state before receiving the button command, and the shutdown is interrupted.

[0082] In other implementations, when the electronic device cart and the remote control device are not connected, i.e. are not in a master-slave state, the user can independently control the power on and power off of the electronic device cart and the remote control device respectively.

[0083] This allows users to choose to operate each device independently based on their actual needs, or to achieve synchronized power-on and power-off of all devices through a communication mechanism. This flexibility enables operators to quickly adjust the device status according to specific circumstances, improving operational convenience and efficiency.

[0084] In summary, the control method for the medical robot provided in the above embodiments achieves synchronized switching between devices through software control, avoiding communication delays and synchronization problems that may exist in traditional hardware control. This ensures the real-time performance and stability of the devices during coordinated operation, further improving the collaborative working efficiency of the devices.

[0085] Based on the same inventive concept as the foregoing embodiments, please refer to Figure 1 , Figure 6 and Figure 7This invention provides a medical robot, including an electronic device cart 110 and a manipulator device 120. When either the electronic device cart 110 or the manipulator device 120 executes a computer program, the control method of the medical robot described above is implemented.

[0086] Specifically, the medical robot includes a manipulator device 120, and an internal catheter device 132 and an external catheter device 131 are detachably mounted on the manipulator device 120. The internal catheter device 132 and the external catheter device 131 are used to enter the human body through natural cavities or surgical incisions to perform relevant surgical operations. The manipulator device 120 includes a base and a first robotic arm 123a and a second robotic arm 123b movably mounted on the base. The first robotic arm 123a is connected to a first drive device 20a. When the first robotic arm 123a moves, it drives the first drive device 20a and the internal catheter device 132 to move together, enabling the internal catheter device 132 to move forward or backward. The second robotic arm 123b is connected to a second drive device 20b. When the second robotic arm 123b moves, it drives the second drive device 20b and the external catheter device 131 to move together, enabling the external catheter device 131 to move forward or backward.

[0087] Optionally, the first robotic arm 123a and the second robotic arm 123b include multiple arm segments connected at joints, providing multiple degrees of freedom for the first robotic arm 123a and the second robotic arm 123b, for example, seven degrees of freedom corresponding to seven arm segments. In this embodiment, the control device 30 receives input from the input device to control the movement of the manipulator device 120, the external catheter instrument 131, and the internal catheter instrument 132. The input from the input device can cause corresponding movements of the internal catheter instrument 132 and / or the external catheter instrument 131. For example, when the operator operates the direction lever of the input device to move up or down, the movement of the direction lever of the input device can be mapped to the corresponding pitch movement of the first end effector 123 and the second end effector 133 of the medical robot; when the operator operates the direction lever of the input device to move left or right, the movement of the direction lever of the input device can be mapped to the corresponding yaw movement of the first end effector 123 and the second end effector 133. The input device can control the first end effector 123 and the second end effector 133 to move within a 360° spatial range.

[0088] In some embodiments, for simple surgical situations, only one robotic arm (first robotic arm 123a or second robotic arm 123b) and one catheter instrument (external catheter instrument 131 or internal catheter instrument 132) may be used. For example, the manipulator device has only one robotic arm, and a single catheter instrument is used to perform a biopsy on the patient.

[0089] The medical robot of this application is communicatively connected to a sensor system, which has one or more subsystems for receiving information about an internal catheter device 132 and / or an external catheter device 131. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, velocity, rate, pose, and / or shape of the distal end of the internal catheter device 132 and / or the external catheter device 131 and / or along one or more segments that may constitute the internal catheter device 132 and / or the external catheter device 131; and / or a visualization system for capturing images from the distal end of the internal catheter device 132 and / or the external catheter device 131.

[0090] Optionally, the medical robot also includes an electronics cart 110, which is communicatively connected to the manipulator device 120. In this embodiment, the electronics cart 110 includes a display 50 and a flushing system; the display 50 is used to display images or representations of the surgical site and catheter instruments generated by a subsystem of the sensor system. Real-time images of the surgical site and catheter instruments captured by a visualization system can also be displayed. Images of the surgical site recorded preoperatively or intraoperatively can also be presented using image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound. Preoperative or intraoperative image data can be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based information) images and / or as images from models created based on preoperative or intraoperative image datasets. Virtual navigation images can also be displayed, in which the actual position of the catheter instruments is registered with the preoperative images to present a virtual image of the catheter instruments within the surgical site to the operator from the outside.

[0091] Optionally, the control device 30 described above includes at least one memory and at least one computer processor. It is understood that the control device 30 can be integrated into the manipulator device 120 or can be set up independently. Communication between the control device 30 and the input device and the manipulator device 120 can be wired or wireless. Wired communication may include, but is not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., while wireless communication may include, but is not limited to, IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, WiFi, NB, Zigbee, RFID, and wireless telemetry, etc. The control device 30 can transmit one or more signals instructing the movement of catheter instruments by the first drive device 20a and / or the second drive device 20b.

[0092] Optionally, the control device 30 may include a mechanical control system and an image processing system. The mechanical control system is used to control the movement of the catheter instrument and can therefore be integrated into the manipulator device 120. The image processing system is used for virtual navigation path planning. Of course, the various subsystems of the control device 30 are not limited to the specific cases listed above and can be reasonably set according to actual conditions. The image processing system can image the surgical site using the aforementioned imaging techniques based on images of the surgical site recorded preoperatively or intraoperatively. Software used in conjunction with manual input can also convert the recorded images into two-dimensional or three-dimensional composite images of parts or entire anatomical organs or segments. During the virtual navigation procedure, the sensor system can be used to calculate the position of the medical device relative to the patient's anatomical structures. This position can be used to generate external tracking images and internal virtual images of the patient's anatomical structures, achieving registration of the actual position of the catheter instrument with the preoperative images, thereby presenting a virtual image of the catheter instrument within the surgical site to the operator from the outside.

[0093] Optionally, in the context of using external catheter device 131 and internal catheter device 132, the internal catheter device 132 is detachably mounted on the first drive device 20a, and the external catheter device 131 is detachably mounted on the second drive device 20b.

[0094] Based on the same inventive concept as the foregoing embodiments, this embodiment of the invention provides a computing device, such as... Figure 8 As shown, the computing device includes: a processor 210 and a memory 211 storing computer programs; wherein, Figure 8 The processor 210 shown in the diagram does not refer to a single processor 210, but rather to its positional relationship relative to other devices. In practical applications, there can be one or more processors 210. Figure 8 The memory 211 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 211 relative to other devices. In practical applications, there can be one or more memories 211. When the processor 210 runs the computer program, the control method of the medical robot described above is implemented.

[0095] The computing device may also include at least one network interface 212. The various components of the computing device are coupled together via a bus system 213. It is understood that the bus system 213 is used to implement communication between these components. In addition to a data bus, the bus system 213 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 8 The general designated all buses as Bus System 213.

[0096] The memory 211 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 211 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.

[0097] The memory 211 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.

[0098] 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 control method of the medical 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 3 The description of the illustrated embodiments will not be repeated here.

[0099] 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.

[0100] 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.

[0101] 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 control method for a medical robot, characterized in that, The medical robot includes an electronic device cart, a manipulator device, and an input device. The input device is used to control the movement of the manipulator device and receive feedback from the manipulator device. The method includes: In response to the establishment of a preset connection between the electronic device cart and the manipulator device, the input device can control the movement of the manipulator device; In response to receiving a preset first control command, output first confirmation information to confirm whether to execute the first control command; Upon receiving a second confirmation message confirming the execution of the first control command based on the first confirmation message, the electronic device cart and the manipulator device are controlled to execute the first control command.

2. The method according to claim 1, characterized in that, In response to the establishment of a preset connection between the electronic device cart and the manipulator device, the input device can control the movement of the manipulator device, and the method further includes: In response to the establishment of a preset connection between the electronic device cart and the manipulator device, a master-slave control relationship is established between the electronic device cart and the manipulator device, and the input device can control the movement of the manipulator device.

3. The method according to claim 1, characterized in that, The electronic device cart includes a display, and in response to receiving a preset first control command, it outputs first confirmation information to confirm whether to execute the first control command, including: Upon receiving a shutdown command, the system controls the display to switch to a preset display mode, outputs a first confirmation message in the display mode to confirm whether the first control command has been executed, and disconnects the input device from the control device.

4. The method as described in claim 3, characterized in that, It also includes continuously receiving the feedback from the input device.

5. The method as described in claim 4, characterized in that, The feedback includes contact force data received at the end of the conduit from the input device, and the input device outputs force feedback based on the contact force data.

6. The method according to claim 3, characterized in that, The method further includes: Upon receiving a third confirmation message indicating that the first control instruction will not be executed based on the first confirmation message, the current working state is restored, and the display is controlled to exit the preset display mode.

7. The method according to claim 1, characterized in that, When a second confirmation message confirming the execution of the first control command is received based on the first confirmation message, controlling the electronic device cart and the manipulator device to execute the first control command includes: Upon receiving a second confirmation message confirming the execution of the first control command based on the first confirmation message, the electronic device cart and the manipulator device are controlled to synchronously execute the first control command.

8. The method according to claim 1, characterized in that, The method further includes: In response to the fact that the electronic device cart and the manipulator device have not established a preset connection relationship, when a preset second control command is received, a fourth confirmation message is output to confirm whether the second control command is executed; Upon receiving a fifth confirmation message confirming the execution of the second control instruction based on the fourth confirmation message, the preset second control instruction is executed.

9. The method according to any one of claims 1-8, characterized in that, The preset first control command includes a first power-on command or a first power-off command; the preset second control command includes a second power-on command or a second power-off command.

10. A medical robot, characterized in that, The device includes an electronic device cart and a manipulator device, either of which is used to execute a computer program to implement the control method of the medical robot as described in any one of claims 1 to 9.

11. 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 a control method for a medical robot as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by a processor, the control method for the medical robot as described in any one of claims 1-9 is implemented.

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