A collaborative support positioning system for surgery and a method of controlling the same

Abstract

The application provides a surgical cooperative support positioning system and a control method thereof, and belongs to the technical field of medical instruments. The system comprises a mobile trolley, a bottom provided with mobile wheels, an internal integrated electrical control unit and a power module; a six-degree-of-freedom cooperative mechanical arm is installed on the mobile trolley and has a built-in controller and a terminal flange; a terminal clamping mechanism is detachably installed on the terminal flange; a double foot switch is signal-connected with the built-in controller; a multi-axis rocker is signal-connected with the electrical control unit; and an upper computer controller is communicatively connected with the cooperative mechanical arm and the multi-axis rocker. The control method comprises a tool coordinate system establishment, a foot control mode, a hand control mode and a safety interlock. The application can realize stable support and active fine control of surgical instruments, replace manual holding of instruments, eliminate position drift, has small size and controllable cost, and is suitable for various surgical scenes, such as transperineal surgery, gynecological surgery and the like, which require continuous holding of instruments.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a support and positioning system for surgical assistance, and more particularly to a collaborative support and positioning system for surgery and its control method, which is suitable for surgical scenarios such as perineal surgery and gynecological surgery that require long-term stable instrument holding. Background Technology

[0002] Transperineal procedures (such as transperineal prostate biopsy and transperineal radioactive seed implantation for prostate cancer) are routine procedures in urology. During these procedures, a dilator or speculum is continuously inserted through the perineum to establish a surgical channel, and instruments such as puncture needles and ultrasound probes are used in conjunction. The precision and safety of the procedure are highly dependent on the stability and adjustability of the dilator / scrotum's position. In current clinical practice, the dilator / scrotum is usually held and fixed by a surgical assistant. This method has at least the following technical drawbacks: During prolonged surgery, it is difficult for the assistant to maintain absolute stability while holding the dilator; slight tremors and fatigue displacement are inevitable, and even minor positional shifts can deform the surgical channel, affecting puncture precision and the accuracy of seed implantation. Furthermore, at least one dedicated assistant is required to continuously hold the instrument, increasing the staffing requirements for the surgical team and further exacerbating the difficulty of personnel allocation in a resource-constrained operating room environment. In addition, if the angle or insertion depth of the dilator needs to be adjusted during the procedure, it often needs to be repositioned, which is inconvenient and increases patient discomfort.

[0003] While existing surgical robot systems can achieve precise positioning and stable instrument holding, existing systems such as orthopedic surgical robots and laparoscopic surgical robots are bulky and space-consuming, requiring specially modified operating room spaces and cannot be flexibly deployed in conventional operating rooms. Their high purchase and maintenance costs also hinder their widespread application in relatively simple, high-volume routine surgical scenarios such as perineal surgeries. Furthermore, most existing instrument-holding arms or auxiliary supports on the market are passive support devices, providing only mechanical locking functions and lacking active control capabilities. Once locked, they cannot be finely adjusted in position and posture; any adjustments require manually releasing the locking mechanism and repositioning, a cumbersome process that makes continuous and smooth fine-tuning difficult.

[0004] Therefore, there is an urgent need for a surgical support and positioning system that is compact, cost-controllable, has active and precise control capabilities, and can stably hold surgical instruments, in order to overcome the many shortcomings of the existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a collaborative support and positioning system for surgery and its control method, so as to solve the technical problems in the prior art, such as fatigue drift caused by manual instrument holding, high manpower consumption, lack of fine adjustment capability during operation, large size and high cost of existing robot systems, and single function and lack of active control capability of existing instrument holding auxiliary devices.

[0006] According to one objective of the present invention, a surgical collaborative support and positioning system is provided, comprising: A mobile trolley, the bottom of which is equipped with wheels, and the interior of which integrates an electrical control unit and a power module; A six-degree-of-freedom collaborative robotic arm is mounted on the mobile trolley. The six-degree-of-freedom collaborative robotic arm has a built-in controller and an end flange located at its end. An end-effector is detachably mounted on the end flange of the six-degree-of-freedom collaborative robotic arm for gripping surgical instruments; A double-pole foot switch is connected to the built-in controller of the six-degree-of-freedom collaborative robotic arm and is used to send switching control commands to the built-in controller. A multi-axis joystick, signal-connected to the electrical control unit, is used to send continuous directional control commands; and The host computer controller is communicatively connected to the six-degree-of-freedom collaborative robotic arm and the multi-axis joystick, respectively, and is used to receive the control commands of the multi-axis joystick and convert them into motion commands of the six-degree-of-freedom collaborative robotic arm.

[0007] Furthermore, the end clamping mechanism includes a snap-locking structure for fixing the handle of the surgical instrument, and the clamping surface of the snap-locking structure is provided with an elastic pad.

[0008] Furthermore, the end clamping mechanism is provided with a quick-change interface, which is used to detachably replace the clamping module that is compatible with different models of anal speculum, vaginal speculum or puncture guide.

[0009] Furthermore, the host computer controller reuses the power output of the six-degree-of-freedom collaborative robotic arm, and the mobile trolley is also equipped with a DC-DC step-down module. The DC-DC step-down module is used to convert the 48V power supply of the six-degree-of-freedom collaborative robotic arm into 12V and / or 5V power supply to power the host computer controller.

[0010] Furthermore, the rear or bottom of the mobile trolley is provided with a foot pedal storage compartment, which has a accommodating space for storing the double-pole foot switch.

[0011] Furthermore, it also includes an intelligent bracket installed on the mobile trolley, with a robotic arm mounting interface provided at the upper end of the intelligent bracket, through which the six-degree-of-freedom collaborative robotic arm is fixed to the intelligent bracket.

[0012] According to another objective of the present invention, the present invention provides a cooperative support positioning control method based on the above-described system, comprising the following steps: S1. Tool coordinate system establishment steps: The host computer controller is used to establish the pose model of the end effector clamping mechanism in the tool coordinate system; S2, Foot Control Mode Steps: In response to the trigger signal of the first pedal of the double foot switch, the six-degree-of-freedom collaborative robotic arm switches between locking and unlocking the current posture; and controls the six-degree-of-freedom collaborative robotic arm to enter or exit the dragging mode. In the dragging mode, the six-degree-of-freedom collaborative robotic arm changes its posture in response to the external dragging force and updates the current posture data in real time. S3, Manual Control Mode Steps: In response to the second trigger signal of the double-pole foot switch, the six-degree-of-freedom collaborative robotic arm enters manual control mode; in manual control mode, in response to the continuous direction signal of the multi-axis joystick, the host computer controller converts the joystick signal of the multi-axis joystick into motion increments in the tool coordinate system, driving the six-degree-of-freedom collaborative robotic arm to realize the translation along the axis and the rotation around the axis of the end tool; when the second trigger signal is removed, the six-degree-of-freedom collaborative robotic arm exits the manual control mode and maintains the current pose; S4. Emergency Stop Procedure: In response to the trigger signal of the emergency stop button located on the mobile trolley, the built-in controller of the six-degree-of-freedom collaborative robot arm directly cuts off the motor drive power, and the six-degree-of-freedom collaborative robot arm immediately stops all movement and maintains its current posture.

[0013] Furthermore, in step S2, the trigger signal of the first pedal is a rising edge trigger signal or a falling edge trigger signal, and the six-degree-of-freedom collaborative robotic arm switches between the pose locked state and the pose unlocked state once each time it is triggered.

[0014] Furthermore, in step S3: The joystick signal of the multi-axis joystick includes an analog signal. The host computer controller determines the motion speed of the end effector of the six-degree-of-freedom collaborative robot arm based on the amplitude of the analog signal, and determines the motion direction of the end effector of the six-degree-of-freedom collaborative robot arm based on the direction of the analog signal. The translation along the axis includes linear motion in the three directions of the tool coordinate system X-axis, Y-axis and Z-axis, and the rotation around the axis includes rotational motion in the three directions of the tool coordinate system X-axis, Y-axis and Z-axis.

[0015] Furthermore, in step S3, the trigger signal of the second pedal has a higher priority than the control command of the multi-axis joystick. When the host computer controller receives both the trigger signal of the second pedal and the control command of the multi-axis joystick simultaneously, the trigger signal of the second pedal...

[0016] The technical solution of this invention achieves continuous and stable support for surgical instruments by organically coordinating a mobile trolley, a six-degree-of-freedom collaborative robotic arm, an end effector, a dual-pole foot switch, a multi-axis joystick, and a host computer controller. The collaborative robotic arm replaces the human hand in providing continuous and stable support, and after locking, eliminates positional drift caused by hand fatigue, ensuring surgical precision. The operator can switch between locking and unlocking the position via the foot switch, without leaving the sterile area, conforming to aseptic surgical procedures. The multi-axis joystick, in conjunction with the host computer controller, enables continuous and precise adjustment of the six degrees of freedom in the tool coordinate system, allowing the surgeon to fine-tune the instrument's position and posture at any time during surgery without repositioning. The integrated design of the mobile trolley and the lightweight collaborative robotic arm makes the entire machine compact and highly mobile, allowing it to be directly installed in existing operating rooms without requiring space modifications or dedicated control cabinets, resulting in significantly lower purchase and maintenance costs compared to large surgical robot systems. These components work together to achieve the technical effects of stable support, precise adjustment, and low-cost deployment. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the collaborative support positioning system provided in an embodiment of the present invention; Figure 2 This is an enlarged schematic diagram of the end clamping mechanism in an embodiment of the present invention; Figure 3 This is a block diagram of the topology of the control system in an embodiment of the present invention; Figure 4 This is a flowchart of the cooperative support positioning control method in an embodiment of the present invention.

[0019] In the diagram: 1. Mobile trolley; 2. Collaborative robotic arm; 3. End-effector; 4. Double foot switch; 5. Multi-axis rocker arm; 6. Host computer controller; 7. Casters; 8. Power module; 9. Intelligent bracket; 10. DC-DC step-down module; 11. Snap-on locking structure; 12. Elastic padding layer; 13. Quick-change interface; 14. Foot pedal storage compartment; 15. Electrical control unit; 16. Anal speculum / vaginal speculum. Detailed Implementation

[0020] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] This invention uses a domain ontology as the constraint center to extract, locate, map ontology, perform three types of consistency checks, classification correction, re-checking, and local replacement of factual assertions in the output of large language models. The core technical feature of this method is that each suspected hallucination corresponds to a clear assertion location, failure rule, error category, candidate correction, and final state, avoiding black-box judgments that only output "is it a hallucination?".

[0024] Example 1 Transperineal surgical support and positioning system like Figures 1-4As shown, this embodiment provides a collaborative support and positioning system for surgery, including a mobile trolley 1, a collaborative robotic arm 2, an end effector 3, a double foot switch 4, a multi-axis rocker arm 5, and a host computer controller 6.

[0025] like Figure 1 As shown, the mobile trolley 1 is made entirely of medical-grade stainless steel and engineering plastics, with a smooth, corner-free surface that is easy to clean and disinfect, meeting operating room infection control standards. The trolley features a low center of gravity design to ensure stability during robotic arm movement.

[0026] The trolley is equipped with four casters 7 at its bottom. Preferably, the casters 7 are omnidirectional casters with brakes, which facilitates flexible movement within the operating room and intraoperative positioning and locking. Once the trolley is moved to the target position, the brake mechanism of the casters 7 can be depressed to securely fix the trolley to the operating room floor and prevent accidental movement during the operation.

[0027] The trolley integrates a power module 8, an electrical control unit 15, and a DC-DC step-down module 10. The power module 8 converts the mains power (AC 220V) into the operating power required by the various components of the system. The electrical control unit 15 is used for processing and forwarding signals from the multi-axis rocker 5, as well as for data interaction with the host computer controller 6.

[0028] A foot pedal storage compartment 14 is provided at the rear or bottom of the trolley. The foot pedal storage compartment 14 has a drawer-type or flip-top structure, and its interior has a space for storing the double-pole foot switch 4. The space is equipped with a positioning slot for fixing the double-pole foot switch 4 to prevent the foot switch from shaking when stored. When not in use, the double-pole foot switch 4 can be stored in the foot pedal storage compartment 14 to avoid damage to the foot switch during the movement of the trolley and to prevent contamination of the operating room floor. When in use, simply open the foot pedal storage compartment 14, take out the foot switch, and place it next to the surgeon's feet.

[0029] The collaborative robotic arm 2 is a six-degree-of-freedom collaborative robot with six rotary joints, enabling it to achieve arbitrary position and orientation in three-dimensional space. This embodiment uses a lightweight six-axis collaborative robot, but the invention is not limited to this model.

[0030] The collaborative robotic arm 2 features a built-in controller, meaning the controller is integrated inside the robotic arm itself, eliminating the need for an external control cabinet. This design significantly reduces the system's size and the number of cables, making the entire unit more concise and compact, and facilitating deployment in the limited space of an operating room.

[0031] The collaborative robotic arm 2 has an end flange for connecting to the end gripping mechanism 3. The end-effector payload is ≥2kg, sufficient to support the weight of surgical instruments and accessories such as anal speculum and vaginal speculum. The repeatability is ≤±0.02mm, meeting the stringent requirements for instrument position stability in transperineal surgery. The maximum working radius is approximately 440mm, covering the entire working area of ​​transperineal surgery.

[0032] The collaborative robotic arm 2 is fixed to the upper end of the intelligent bracket 9 on the mobile trolley 1 by bolts (e.g., M6 bolts). The upper end of the intelligent bracket 9 is equipped with a robotic arm mounting interface. The height and mounting angle of the intelligent bracket 9 can be adjusted as needed to position the collaborative robotic arm 2 at a suitable working height and orientation. Cables are run through the intelligent bracket 9 to establish an electrical connection between the collaborative robotic arm 2 and the electrical control unit 15 inside the trolley, preventing cable exposure.

[0033] like Figure 2 As shown, the end effector 3 is mounted on the end flange of the collaborative robotic arm 2 via a quick-change interface 13. The quick-change interface 13 adopts a standardized interface design, which enables quick assembly and disassembly of the end effector 3 while ensuring positioning accuracy during repeated installations.

[0034] The main body of the end clamping mechanism 3 is a snap-locking structure 11, which is used to fix the handle of surgical instruments (such as anal speculum, vaginal speculum, or puncture guide). The snap-locking structure 11 adopts an elastic snap design. The operator only needs to press the snap to open the clamping port, insert the surgical instrument handle, and release the snap to complete the clamping and fixing. The operation is simple and quick.

[0035] The clamping surface of the snap-locking structure 11 is provided with an elastic pad 12. Preferably, the elastic pad 12 is made of medical-grade silicone material, and its surface has anti-slip texture. The elastic pad 12 is fixed to the clamping surface of the snap-locking structure 11 by adhesive or embedding. The thickness of the elastic pad 12 is 1-5mm, which provides sufficient elastic deformation to accommodate surgical instrument handles of different diameters, and increases friction to prevent the instrument from sliding during clamping, while avoiding damage to the instrument surface caused by direct contact between the metal and plastic handles.

[0036] The snap-locking structure 11 is detachably connected to the quick-change interface 13, allowing for quick replacement of different specifications of the snap-locking structure 11 to adapt to different models of anal speculum, vaginal speculum, or puncture guides. The quick-change interface 13 adopts a pneumatic or mechanical quick-change structure, allowing the operator to complete the replacement of the clamping module in seconds without the use of tools.

[0037] The double-pole foot switch 4 has two independent foot pedals, namely the first pedal and the second pedal. Each pedal has a set of normally open / normally closed contacts, and the normally open or normally closed wiring method can be selected as needed.

[0038] The first pedal is connected via a signal line to the digital input interface (e.g., DI1) of the built-in controller of the collaborative robotic arm 2, and is used to send a pose lock / unlock switching command to the built-in controller. Preferably, the trigger signal of the first pedal is a rising edge trigger signal or a falling edge trigger signal, and each trigger (pressing down and releasing) switches the collaborative robotic arm 2 between the pose lock state and the pose unlock state once. This "press down and switch once" control logic conforms to the operator's usage habits and avoids fatigue caused by continuous pedaling.

[0039] The second pedal is connected via a signal line to another digital input interface (e.g., DI2) of the built-in controller of the collaborative robotic arm 2, and is used to send a joystick activation command to the built-in controller.

[0040] The double-pole foot switch 4 features a medical-grade waterproof and anti-slip design with a protection level of no less than IPX8, meeting the requirements for use in operating room environments prone to liquid splashes. The bottom of the foot switch is equipped with an anti-slip pad to prevent it from sliding on the operating room floor during use.

[0041] The multi-axis joystick 5 features X / Y dual-axis four-way analog output and two top buttons. The joystick is mounted on the control panel of the mobile trolley 1, allowing the operator to control it with one hand during operation.

[0042] The analog signal of the joystick is connected to the host computer controller 6 via a USB interface or other data interface. The deflection direction and deflection amplitude of the joystick correspond to the movement direction and speed of the end tool in the tool coordinate system, respectively, to achieve continuous and smooth six-degree-of-freedom control.

[0043] Specifically, pushing the joystick forward and backward corresponds to the forward / backward movement along the Z-axis of the tool coordinate system (i.e., the insertion and withdrawal direction of surgical instruments); pushing it left and right corresponds to the left and right translation along the X-axis (i.e., the lateral adjustment of surgical instruments in the horizontal plane); the button on the top of the joystick, when used in combination with the joystick direction, can realize pitch rotation around the Y-axis and deflection rotation around the Z-axis.

[0044] The host computer controller 6 adopts an embedded screenless industrial control motherboard, which features small size, low power consumption, and high reliability. The host computer controller 6 communicates with the built-in controller of the collaborative robotic arm 2 via Ethernet TCP / IP protocol to realize the issuance of control commands and the reading back of robotic arm status information.

[0045] The host computer controller 6 reuses the 48V power output of the collaborative robotic arm 2. After being stepped down by the DC-DC step-down module 10 inside the mobile trolley 1, it is converted into 12V and 5V power to power the host computer controller 6. There is no need to configure a separate power adapter for the host computer controller 6, which simplifies the power management of the system and reduces the number of cables.

[0046] The host computer controller 6 is pre-installed with a motion control program, which performs the following functions: (1) Establish a pose model in the tool coordinate system; (2) Read the analog signal of the multi-axis joystick 5 and perform filtering and calibration processing; (3) Convert the joystick signal into motion commands in the tool coordinate system; (4) Send motion commands to the collaborative robotic arm 2 through the TCP / IP protocol; (5) Receive the status signal of the double foot switch 4 and execute the corresponding control logic.

[0047] like Figure 3 As shown, the control topology of this system is as follows: The host computer controller 6 serves as the control core, communicating with the built-in controllers of the multi-axis joystick 5 and the collaborative robotic arm 2. The host computer controller 6 reads the analog control signals from the multi-axis joystick 5 via a USB interface and sends motion commands to the built-in controller of the collaborative robotic arm 2 via the Ethernet TCP / IP protocol. The first and second pedals of the double-pole foot switch 4 are directly connected to the digital input interfaces (DI1 and DI2) of the built-in controller of the collaborative robotic arm 2, respectively, and the built-in controller directly responds to the trigger signals of the foot switches. The power supply module 8 supplies power to the host computer controller 6, the electrical control unit 15, and the collaborative robotic arm 2 via a DC-DC step-down module 10. This topology achieves a reasonable distribution of control commands: continuous motion control commands are processed by the host computer controller 6 and then sent to the robotic arm, while switching control commands (lock / unlock, safety interlock) are directly responded to by the built-in controller of the robotic arm, ensuring the real-time performance and reliability of critical control commands.

[0048] like Figure 4 As shown, the collaborative support positioning control method of this embodiment includes the following steps: S1. Steps for establishing the tool coordinate system: After the system starts, the host computer controller 6 first executes the tool coordinate system establishment program. Based on the geometric parameters of the end effector 3 (including the size of the end effector, installation position, offset of the quick-change interface 13, position and orientation of the working end of the clamped surgical instrument relative to the end flange, etc.), the host computer controller 6 calculates the position and orientation relationship of the tool coordinate system relative to the end flange coordinate system of the collaborative robotic arm 2 through coordinate transformation.

[0049] The tool coordinate system is based on the working end of the surgical instrument held by the end clamping mechanism 3 (e.g., the front end of the anal dilator, the tip of the puncture needle, etc.) as the origin, and the working direction of the instrument as the Z-axis. After this tool coordinate system is established, all subsequent joystick controls are based on this tool coordinate system to ensure that the movement direction corresponding to the joystick operation is consistent with the surgeon's intuitive feeling—that is, pushing the joystick forward moves the working end of the instrument forward; pushing the joystick to the left moves the working end of the instrument to the left.

[0050] The pose model of the tool coordinate system is stored in the host computer controller 6 and is recalibrated each time the clamping module or surgical instrument is changed.

[0051] S2, Foot Control Mode Steps: After the tool coordinate system is established, the system enters standby mode. In the initial state, the collaborative robotic arm 2 is in free drag / zero gravity mode (that is, the motors of each joint output torque to balance gravity, and the operator can easily drag the robotic arm by hand).

[0052] The surgeon depresses the first pedal of the double foot switch 4, which generates a trigger signal. This signal is transmitted via the digital input interface DI1 to the built-in controller of the collaborative robotic arm 2, which responds to the trigger signal. The surgeon manually pulls the end effector of the collaborative robotic arm 2, moving the end effector clamping mechanism 3 to the handle position of the surgical instrument (e.g., anal dilator), and operates the snap-locking structure 11 to clamp and secure the surgical instrument. Then, the surgeon inserts the working end of the surgical instrument into the patient's body to the target position.

[0053] Once the surgical instrument reaches the target position, the surgeon releases the first pedal of the double foot switch 4. This signal is transmitted to the built-in controller of the collaborative robotic arm 2 via the digital input interface DI1. In response to this trigger signal, the built-in controller performs a pose locking operation—all joints of the collaborative robotic arm 2 are locked in the current pose, and the end effector 3 and the surgical instrument it holds are securely held in the current position and posture.

[0054] When the surgeon needs to adjust the position of the surgical instruments, pressing the first pedal again triggers the built-in controller to perform a position unlocking operation—the collaborative robotic arm 2 switches to zero-gravity mode. The surgeon can then manually drag the robotic arm to move the surgical instruments to a new position or make fine adjustments using the multi-axis joystick 5. Each time the first pedal is pressed or released, the collaborative robotic arm 2 switches between the position locked and position unlocked states.

[0055] S3, Manual Control Mode Steps: The surgeon presses the second pedal of the double foot switch 4, which generates a trigger signal. This signal is transmitted to the built-in controller of the collaborative robotic arm 2 via the digital input interface DI1. In response to this trigger signal, the built-in controller puts the collaborative robotic arm 2 into manual control mode: the surgeon can precisely adjust the position and orientation of the surgical instruments using the multi-axis joystick 5. The host computer controller 6 continuously reads the analog signals from the multi-axis joystick 5, including the joystick's deflection angles in the X and Y axes (corresponding to analog voltage values), and the pressed status of the top buttons.

[0056] The host computer controller 6 filters the read analog signal to remove noise interference, and determines the movement speed of the end effector of the collaborative robotic arm 2 based on the amplitude (deflection angle) of the analog signal (the larger the amplitude, the faster the speed), and determines the movement direction of the end effector of the collaborative robotic arm 2 based on the direction (deflection direction) of the analog signal. When the operator releases the second pedal, the built-in controller responds to the trigger signal, the collaborative robotic arm 2 exits the manual control mode, and maintains the current posture.

[0057] In the tool coordinate system, different joystick operation methods correspond to different motion modes of the end effector: Joystick forward and backward movement: corresponds to linear forward / backward movement along the Z-axis of the tool coordinate system; Pushing the joystick left and right: corresponds to linear left and right movement along the lower X-axis of the tool coordinate system; The top button on the joystick, combined with pushing it forward or backward, corresponds to pitch and rotation around the Y-axis of the tool coordinate system. The top button on the joystick, combined with left and right pushes, corresponds to a deflection and rotation motion around the Z-axis of the tool coordinate system. The linear up-and-down movement along the Y-axis is achieved by a combination of the button on the top of the joystick and another button.

[0058] The host computer controller 6 converts the joystick signals into TCP / IP motion commands in real time and sends them to the built-in controller of the collaborative robotic arm 2 via Ethernet with a communication cycle of milliseconds (e.g., 10ms). The built-in controller drives the joint motors to perform continuous motion, enabling precise adjustment of the end effector in the tool coordinate system with six degrees of freedom. Due to the short communication cycle, the robotic arm's motion exhibits continuous and smooth tracking control, rather than intermittent stepping motion.

[0059] S4. Emergency Stop Procedure: In response to the trigger signal of the emergency stop button located on the mobile trolley, the built-in controller of the six-degree-of-freedom collaborative robot arm directly cuts off the motor drive power, and the six-degree-of-freedom collaborative robot arm immediately stops all movement and maintains its current posture.

[0060] This embodiment also includes an emergency stop button and an audible and visual alarm device.

[0061] The emergency stop button is installed on the control panel of the mobile trolley 1 and is hardwired to the built-in controller of the collaborative robotic arm 2 (i.e., directly connected to the emergency stop input port of the built-in controller). When the emergency stop button is pressed, the built-in controller of the collaborative robotic arm 2 directly cuts off the drive power of each joint motor, and the robotic arm immediately stops all movement and maintains its current position. This emergency stop function is independent of the host computer controller 6 and the double foot switch 4. Even if the host computer controller 6 malfunctions or experiences a communication interruption, the emergency stop button will still function normally, further improving the safety of the system.

[0062] The audible and visual alarm device is connected to the built-in controller of the collaborative robotic arm 2. When the system malfunctions or enters an emergency stop state, the audible and visual alarm device will issue an audible and visual warning signal to alert the surgical team.

[0063] Example 2 vaginal speculum clamping application Unlike Embodiment 1, in this embodiment, the end clamping mechanism 3 is replaced by a clamping module adapted to the handle of the vaginal speculum via a quick-change interface 13, for use as support for the vaginal speculum during gynecological examinations or surgeries.

[0064] The shape and size of the clamping surface of the snap-locking structure 11 of the vaginal speculum clamping module are adapted to the contour of the vaginal speculum handle, and the coverage area and thickness of the elastic pad 12 are also adjusted accordingly to ensure stable clamping of the vaginal speculum handle.

[0065] In this embodiment, the working end of the surgical instrument is the front end of the vaginal speculum, and the tool coordinate system is established with the front end of the vaginal speculum as the origin. The remaining steps of the control method are the same as in Embodiment 1.

[0066] This embodiment verifies the advantages of the instrument compatibility and modular design of the system of the present invention.

[0067] Example 3 Puncture guide clamping application Unlike Embodiment 1, in this embodiment, the end clamping mechanism 3 is replaced by a clamping module adapted to the puncture guide frame via quick-change interface 13, which is used to support the puncture needle guide frame in transperineal prostate biopsy.

[0068] The puncture guide clamping module is equipped with a positioning groove and an auxiliary locking mechanism that match the puncture guide, which can firmly fix the puncture guide to the end of the collaborative robotic arm 2. During the operation, the collaborative robotic arm 2 keeps the position and angle of the puncture guide stable, and the surgeon only needs to insert the puncture needle along the guide to complete the precise puncture.

[0069] This embodiment verifies the application value of the system of the present invention in puncture-type surgeries.

[0070] Example 4 Wireless communication of the host computer controller Unlike Embodiment 1, in this embodiment, the host computer controller 6 and the built-in controller of the collaborative robotic arm 2 are connected via a Wi-Fi wireless network, replacing the wired Ethernet connection.

[0071] Wireless communication further reduces the number of cables in the operating room, lowering the risk of cable entanglement and tripping during surgery, and making the trolley movement more flexible. To ensure the reliability and real-time performance of wireless communication, the built-in controllers of the host computer controller 6 and the collaborative robotic arm 2 both support the IEEE 802.11ac and higher standard Wi-Fi protocols, and use dedicated wireless access points to ensure communication bandwidth and stability.

[0072] Example 5 Wireless connection of multi-axis joystick Unlike Embodiment 1, in this embodiment, the multi-axis joystick 5 is wirelessly connected to the host computer controller 6 via a signal connection (e.g., Bluetooth 5.0 or 2.4GHz wireless communication).

[0073] The multi-axis joystick 5 has a built-in rechargeable battery and uses a USB-C interface for charging. The wireless joystick further reduces cables on the trolley's control panel, allowing the operator to place the joystick in a convenient position without affecting aseptic operation. Encrypted wireless communication is used between the joystick and the host computer controller 6 to prevent signal interference and unauthorized operation.

[0074] Example 6 Disposable sterile protective cover In this embodiment, the outer surfaces of the collaborative robotic arm 2 and the mobile trolley 1 are covered with a removable disposable sterile medical protective cover.

[0075] The protective cover is made of a transparent or semi-transparent sterile polymer film material. Before the system is put into use, the operating room nurse will put it on the outside of the robotic arm and trolley, covering all component surfaces that may enter the sterile area. The protective cover has an opening corresponding to the end gripping mechanism 3, and the opening has a flexible closing structure to ensure a tight fit between the protective cover and the end gripping mechanism 3. After use, the protective cover will be removed and disposed of as medical waste.

[0076] The components of the end clamping mechanism 3, such as the snap-lock structure 11, the elastic pad 12, and the quick-change interface 13, which directly contact the surgical instruments, are made of medical-grade materials (such as PEEK, titanium alloy, medical stainless steel, etc.) that can withstand high-temperature and high-pressure sterilization, and can be sterilized at 134°C after each surgery.

[0077] The surgical collaborative support and positioning system and its control method provided by this invention can be widely applied to transperineal surgeries (such as transperineal prostate biopsy, transperineal radioactive particle implantation for prostate cancer, etc.), gynecological surgeries (such as colposcopy, hysteroscopy, etc.), urological surgeries, and other surgical scenarios requiring long-term stable instrument holding. The system is compact, portable, cost-effective, and intuitive to operate, possessing excellent industrial applicability and market potential, and can be widely adopted in medical institutions at all levels.

[0078] Compared with the prior art, the present invention has the following significant advantages: (1) Freeing the surgeon's hands and reducing reliance on human labor: This invention uses a collaborative robotic arm to replace human hands for continuous support and locking of surgical instruments, enabling the surgeon to independently complete surgical operations that require continuous instrument holding without the need for an assistant, significantly reducing reliance on surgical assistants and effectively alleviating the problem of manpower shortage in the operating room.

[0079] (2) Continuous and stable support and elimination of position drift: The collaborative robotic arm of the present invention can maintain a repeatability accuracy of ±0.02mm after locking, which completely eliminates position drift and trembling caused by human hand fatigue, ensuring the absolute stability of surgical instruments during the operation, thereby ensuring the accuracy and safety of key operations such as puncture and implantation.

[0080] (3) Active fine control capability: The present invention realizes six degrees of freedom continuous adjustment in the tool coordinate system through a multi-axis joystick and completes the locking / unlocking switch through a foot switch. The operator can make fine adjustments to the position and posture of the instrument at any time during the operation without removing and repositioning the instrument, which significantly improves the flexibility and convenience of the surgical operation.

[0081] (4) Compact size and controllable cost: The present invention adopts a lightweight collaborative robotic arm and mobile trolley integrated design. The whole machine is lightweight and occupies a small area. It can be directly pushed into use without modifying the operating room. The purchase and maintenance costs are far lower than those of large surgical robot systems, and it has good economic efficiency and scalability.

[0082] (5) Strong compatibility and multi-purpose: The end clamping mechanism of the present invention adopts a quick-change interface with a replaceable modular design, which can be adapted to various surgical instruments such as anal dilators, vaginal dilators, and puncture guide frames to meet the needs of different surgical procedures.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A collaborative support and positioning system for surgery, characterized in that, include: A mobile trolley, the bottom of which is equipped with wheels, and the interior of which integrates an electrical control unit and a power module; A six-degree-of-freedom collaborative robotic arm is mounted on the mobile trolley. The six-degree-of-freedom collaborative robotic arm has a built-in controller and an end flange located at its end. An end-effector is detachably mounted on the end flange of the six-degree-of-freedom collaborative robotic arm for gripping surgical instruments; A double-pole foot switch is connected to the built-in controller of the six-degree-of-freedom collaborative robotic arm and is used to send switching control commands to the built-in controller. A multi-axis joystick, signal-connected to the electrical control unit, is used to send continuous directional control commands; and The host computer controller is communicatively connected to the six-degree-of-freedom collaborative robotic arm and the multi-axis joystick, respectively, and is used to receive the control commands of the multi-axis joystick and convert them into motion commands of the six-degree-of-freedom collaborative robotic arm.

2. The surgical collaborative support and positioning system according to claim 1, characterized in that, The end clamping mechanism includes a snap-locking structure, which is used to fix the handle of the surgical instrument, and the clamping surface of the snap-locking structure is provided with an elastic pad.

3. The surgical collaborative support and positioning system according to claim 1 or 2, characterized in that, The end clamping mechanism is equipped with a quick-change interface, which is used to detachably replace the clamping module that is compatible with different models of anal speculum, vaginal speculum or puncture guide.

4. The surgical collaborative support and positioning system according to claim 1, characterized in that, The host computer controller reuses the power output of the six-degree-of-freedom collaborative robotic arm. The mobile trolley is also equipped with a DC-DC step-down module, which is used to convert the 48V power supply of the six-degree-of-freedom collaborative robotic arm into 12V and / or 5V power to power the host computer controller.

5. The surgical collaborative support and positioning system according to claim 1, characterized in that, The mobile trolley is provided with a foot pedal storage compartment at the rear or bottom, and the foot pedal storage compartment has a accommodating space for storing the double foot pedal switch.

6. The surgical collaborative support and positioning system according to claim 1, characterized in that, It also includes an intelligent bracket installed on the mobile trolley, with a robotic arm mounting interface at the upper end of the intelligent bracket, through which the six-degree-of-freedom collaborative robotic arm is fixed to the intelligent bracket.

7. A cooperative support positioning control method based on the system described in any one of claims 1-6, characterized in that, Includes the following steps: S1. Tool coordinate system establishment steps: The host computer controller is used to establish the pose model of the end effector clamping mechanism in the tool coordinate system; S2, Foot Control Mode Steps: In response to the trigger signal of the first pedal of the double foot switch, the six-degree-of-freedom collaborative robotic arm switches between locking and unlocking the current posture; and controls the six-degree-of-freedom collaborative robotic arm to enter or exit the dragging mode. In the dragging mode, the six-degree-of-freedom collaborative robotic arm changes its posture in response to the external dragging force and updates the current posture data in real time. S3, Manual Control Mode Steps: In response to the second trigger signal of the double-pole foot switch, the six-degree-of-freedom collaborative robotic arm enters manual control mode; in manual control mode, in response to the continuous direction signal of the multi-axis joystick, the host computer controller converts the joystick signal of the multi-axis joystick into motion increments in the tool coordinate system, driving the six-degree-of-freedom collaborative robotic arm to realize the translation along the axis and the rotation around the axis of the end tool; when the second trigger signal is removed, the six-degree-of-freedom collaborative robotic arm exits the manual control mode and maintains the current pose; S4. Emergency Stop Procedure: In response to the trigger signal of the emergency stop button located on the mobile trolley, the built-in controller of the six-degree-of-freedom collaborative robot arm directly cuts off the motor drive power, and the six-degree-of-freedom collaborative robot arm immediately stops all movement and maintains its current posture.

8. The cooperative support positioning control method according to claim 7, characterized in that, In step S2, the trigger signal of the first pedal is a rising edge trigger signal or a falling edge trigger signal, and the six-degree-of-freedom collaborative robot arm switches between the pose locked state and the pose unlocked state once each time it is triggered.

9. The cooperative support positioning control method according to claim 7, characterized in that, In step S3: The joystick signal of the multi-axis joystick includes an analog signal. The host computer controller determines the motion speed of the end effector of the six-degree-of-freedom collaborative robot arm based on the amplitude of the analog signal, and determines the motion direction of the end effector of the six-degree-of-freedom collaborative robot arm based on the direction of the analog signal. The translation along the axis includes linear motion in the three directions of the tool coordinate system X-axis, Y-axis and Z-axis, and the rotation around the axis includes rotational motion in the three directions of the tool coordinate system X-axis, Y-axis and Z-axis.

10. The cooperative support positioning control method according to claim 7, characterized in that, In step S3, the trigger signal of the second pedal has a higher priority than the control command of the multi-axis joystick. When the host computer controller receives both the trigger signal of the second pedal and the control command of the multi-axis joystick at the same time, the host computer controller executes the trigger signal of the second pedal.

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