Surgical station of surgical robot system and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a surgical station of a surgical robot system and the surgical robot system. The surgical station of the surgical robot system includes: a surgical station body; the at least one mechanical arm is arranged on the operation station main body, and the far end of the at least one mechanical arm is used for carrying at least one surgical instrument; the at least one air bag is arranged on the at least one mechanical arm and / or the operation station main body; and the at least one air pressure sensor is arranged in the at least one air bag and is configured to detect the air pressure in the at least one air bag. According to the method, whether the mechanical arm has the collision risk or not can be judged based on the change of the air pressure in the air bag in the operation station, so that the mechanical arm is prevented from being collided.

Description

Technical Field

[0001] The present disclosure relates to the field of medical instruments, and in particular to an operating station of a surgical robot system and a surgical robot system. Background Art

[0002] During surgery using a surgical robot, in order to improve surgical efficiency, the robotic arm in the surgical robot is driven by a joint motor and moves quickly along a planned trajectory to reach the target position.

[0003] During this process, the high-speed moving robotic arm may collide with surrounding people or equipment, or different robotic arms may collide with each other, causing injuries. In addition, it may also cause injuries to patients undergoing surgery. Utility Model Content

[0004] The present disclosure provides a surgical station of a surgical robot system, comprising:

[0005] The main body of the operating station;

[0006] At least one robotic arm is disposed on the operating station body, and the distal end of the at least one robotic arm is used to carry at least one surgical instrument;

[0007] at least one air bag disposed on at least one robot arm and / or the main body of the surgical station; and

[0008] At least one air pressure sensor is respectively disposed in at least one airbag and is configured to detect the air pressure in the at least one airbag.

[0009] In some embodiments, the present disclosure provides a surgical robot system, comprising:

[0010] A surgical station of a robotic system as in any one of the embodiments of the present disclosure; and

[0011] The main control station is connected to the operating station in communication, and includes at least one main operator for receiving user operations.

[0012] In some embodiments, the surgical robotic system's operating station further comprises:

[0013] The controller is connected to at least one air pressure sensor, and is configured to send out an alarm signal in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold value.

[0014] In some embodiments, at least one robotic arm includes at least one arm body and at least one joint connecting the at least one arm body, and at least one airbag includes at least one joint airbag wrapping the at least one joint.

[0015] In some embodiments, the at least one joint includes at least one first joint, the first joint being enclosed by a single joint airbag; and / or

[0016] The at least one joint includes at least one second joint, and the second joint is wrapped by a plurality of joint airbags.

[0017] In some embodiments, at least one second joint is wrapped by a plurality of interconnected joint airbags, and the at least one air pressure sensor includes at least one joint airbag sensor respectively disposed in at least one joint airbag of the plurality of joint airbags; or

[0018] At least one second joint is wrapped by a plurality of joint airbags that are not interconnected with each other, and at least one air pressure sensor includes a plurality of joint airbag sensors respectively arranged in each of the plurality of joint airbags.

[0019] In some embodiments, the at least one airbag further comprises at least one arm airbag, and the at least one arm airbag wraps the at least one arm, or wraps the at least one arm and at least one joint connected to the at least one arm.

[0020] In some embodiments, the at least one joint includes: a lifting joint of the operating station; and a first horizontal arm rotation joint, a second horizontal arm rotation joint, a first arc arm rotation joint, a second arc arm rotation joint and a third arc arm rotation joint of the motion arm; or

[0021] The at least one joint comprises: a first horizontal arm rotation joint, a second horizontal arm rotation joint, a lifting joint, a first arc arm rotation joint, a second arc arm rotation joint and a third arc arm rotation joint of the motion arm.

[0022] In some embodiments, the controller is configured to control at least one joint to stop moving in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold.

[0023] In some embodiments, the controller is configured to control at least one joint to move in the opposite direction in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold.

[0024] In some embodiments, at least one airbag is fixedly connected to the housing of at least one arm and / or at least one joint; or

[0025] At least one airbag forms at least a portion of the housing of at least one arm and / or at least one joint.

[0026] In some embodiments, the operating station body includes a base; and the at least one airbag includes at least one body airbag disposed in front of and / or behind the base.

[0027] In some embodiments, the base includes at least one active caster disposed at a lower portion of the base, and the controller is configured to control the at least one active caster to stop moving in response to an air pressure detected by an air pressure sensor in at least one main body airbag being higher than a threshold.

[0028] In some embodiments, the controller is configured to control the at least one active caster to move in reverse in response to an air pressure detected by an air pressure sensor in at least one main body airbag being higher than a threshold.

[0029] In some embodiments, the controller is configured to issue a collision position prompt signal in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold.

[0030] In some embodiments, the operating station further includes: a display, which is disposed on the main body of the operating station, the display is communicatively connected to the controller, and the display is used to receive the collision position prompt signal transmitted by the controller and display an image simulating the collision position.

[0031] In some embodiments, the controller in the surgical station is configured to transmit an alarm signal to the main control station in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold value.

[0032] Some embodiments of the present disclosure have one or more of the following technical effects: it is possible to determine whether there is a collision risk for an operating station or at least one robotic arm based on the result of at least one air pressure sensor detecting the air pressure in at least one airbag, thereby helping to avoid collision accidents; it is possible to send out an alarm signal or control at least one joint of the robotic arm to stop moving or move in the opposite direction when the air pressure detected by at least one air pressure sensor is higher than a threshold value, which can inform the user of the existence of a collision risk and help to eliminate the collision risk as soon as possible, thereby helping to protect the staff and equipment in the operating room. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0034] Figure 1A A schematic structural diagram of a surgical station with a joint airbag of a surgical robot system according to some embodiments of the present disclosure is shown;

[0035] Figure 1B A schematic structural diagram of a surgical station with an arm-body airbag according to some embodiments of the present disclosure is shown;

[0036] Figure 2A schematic diagram showing the structure of an operating station of a surgical robot system according to other embodiments of the present disclosure;

[0037] Figure 3 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0038] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0039] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the near part or the rear end, the rear part, and the end close to the surgical patient is defined as the distal end, the far end or the front end, the front part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0041] Figure 1A The schematic diagram of the structure of the surgical station 100 with joint airbags of the surgical robot system according to some embodiments of the present disclosure is shown. In some embodiments, the surgical robot system can be various surgical robot systems including a laparoscopic surgical robot system. In some embodiments, the surgical station 100 can be located on the patient side for performing surgical operations on the patient. Figure 1A As shown, the operating station 100 may include an operating station body 110 and at least one robot arm 120. The at least one robot arm 120 may be disposed on the operating station body 110.

[0042] In some embodiments, Figure 1A As shown, the operating station body 110 may include an operating station base 112, a main column 113, a main beam 114, an operating station console 115, etc. Among them, the operating station base 112 may include structures such as casters and foot supports, which are respectively used to realize the overall movement and fixing functions of the operating station 100. In some embodiments, the operating station base 112 may also be provided with electrical components of the operating station 100, such as an uninterruptible power supply, cables of the operating station console 115, etc. In some embodiments, the main column 113 can be raised and lowered, and the top of the main column 113 is fixedly connected to the main beam 114. The operating station console 115 can be used for the user to control the emergency braking of the operating station 100, turn the operating station 110 on and off, control at least one robotic arm 120, etc. In some embodiments, as Figure 1A As shown, the operating station body 110 may further include a pan-tilt platform 111 , which may be disposed at the distal end of the main beam 114 , and the proximal end of at least one robotic arm 120 may be rotatably connected below the pan-tilt platform 111 .

[0043] The distal end of the at least one robotic arm 120 may be used to carry at least one surgical instrument 130. The at least one robotic arm 120 may be a positioning arm of the surgical station 100. In some embodiments, the position of the at least one surgical instrument 130 carried by the at least one robotic arm 120 may be adjusted by controlling the movement of the at least one robotic arm 120 to achieve preoperative positioning of the at least one surgical instrument 130. Figure 1A As shown, at least one surgical instrument 130 can perform a surgical operation under the drive of the driving device 150. The at least one surgical instrument 130 may include a surgical tool (e.g., a surgical tool 131, such as a clamp, a bending scissors, etc.) and an imaging tool (e.g., an endoscope 132). Figure 1A-1B Only one embodiment of the robot arm 120 is shown, but in other embodiments, multiple robots 120 may be included.

[0044] The surgical station may also include at least one air bag 140 and at least one air pressure sensor ( Figure 1A(not shown). At least one airbag 140 may be provided on at least one mechanical arm 120. In some embodiments, at least one airbag 110 may wrap at least a portion of at least one mechanical arm 120. At least one air pressure sensor may be provided in at least one airbag 140, respectively. At least one air pressure sensor may be configured to detect the air pressure in at least one airbag 140. Those skilled in the art may understand that an air pressure sensor is a detection device that can transform the measured air pressure according to a certain rule and output it as an electrical signal or other required form of information, such as an analog voltage signal or a digital signal. Based on at least one air pressure sensor, changes in the air pressure in at least one airbag 140 can be detected in a timely manner.

[0045] During the use of the surgical robot (e.g., during preoperative positioning), in order to improve surgical efficiency, at least one robotic arm 120 in the surgical robot is driven by a joint motor ( Figure 1A Not shown, it can be set near the joints included in at least one robotic arm 120) to drive and move quickly along the planned trajectory to reach the target position. In this process, at least one robotic arm 120 moving at high speed may collide with and cause damage to people or equipment around it. Based on the above embodiment, in the event that at least one robotic arm 120 collides during movement, at least one airbag 140 provided on at least one robotic arm 120 will be squeezed first, and the air pressure in at least one airbag 140 will increase. At least one air pressure sensor can detect the change in air pressure in at least one airbag 140, thereby enabling the surgical robot system to be informed that at least one robotic arm 120 is at risk of collision.

[0046] In some embodiments, the operating station 100 may further include a controller (not shown in the figure, which may be disposed at any suitable location in the operating station 100, such as near the air pressure sensor or in the base 112 of the operating station body 110). The controller may be connected to at least one air pressure sensor to obtain air pressure data in the airbag detected by the at least one air pressure sensor.

[0047] When the airbag is squeezed, the air pressure in the airbag increases. In some embodiments, the controller may be configured to execute a preset control operation in response to the air pressure detected by at least one air pressure sensor being higher than a threshold value to eliminate the collision risk of the robotic arm (e.g., robotic arm 120). In some embodiments, the threshold value of the air pressure may be determined based on the original air pressure in the airbag (the air pressure of the airbag in a non-collision state) and the experience of detecting the air pressure in the airbag, for example, the threshold value of the air pressure may be 120% of the original air pressure.

[0048] In some embodiments, the controller may be configured to issue an alarm signal in response to the air pressure detected by at least one air pressure sensor being higher than a threshold value. In this embodiment, if the air pressure in the airbag is detected to be higher than a threshold value, it can be considered that the robotic arm (e.g., robotic arm 120) is at risk of collision, and the controller may issue an alarm signal to alert the user of the surgical robot system that there is a risk of collision. Those skilled in the art will appreciate that the alarm signal may include various suitable forms, such as an alarm sound, an alarm message, and the like. In some embodiments, the controller may also display the alarm message on a display (e.g., Figure 1A In some embodiments, the controller may also be configured to prompt the user of the risk of collision by playing a voice message or the like.

[0049] In some embodiments, the controller may also be configured to send a collision position prompt signal in response to the air pressure detected by at least one air pressure sensor being higher than a threshold value, so as to inform the user of the position where there is a collision risk in the operating station. The collision position prompt signal may include various suitable forms, such as a sound prompt signal, etc. In some embodiments, the controller may receive the position of the air pressure sensor while receiving the air pressure data detected by the air pressure sensor, so that the collision position can be obtained when the air pressure detected by the air pressure sensor is higher than the threshold value.

[0050] In some embodiments, a display (e.g., Figure 1A The display included in the operating station console 115 shown in the figure can receive the collision position prompt signal transmitted by the controller and display an image simulating the collision position. The display can be connected to the controller in communication to receive the collision position prompt signal from the controller. For example, in the case where the collision position is a joint of the operating station, the display can display an image simulating the joint, so that the user can directly and quickly know the position in the operating station where there is a collision risk.

[0051] In some embodiments, the controller may be further configured to control at least one joint to stop moving in response to the air pressure detected by at least one air pressure sensor being higher than a threshold. Based on this, it is possible to avoid a collision accident caused by the robot arm continuing to move along the previous motion trajectory. In some embodiments, the robot arm (e.g., robot arm 120) may include at least one joint (e.g., Figure 1A The controller may be connected to the at least one joint motor to control the at least one joint to stop moving.

[0052] In some embodiments, the controller may be further configured to control at least one joint to move in the opposite direction in response to the air pressure detected by at least one air pressure sensor being higher than a threshold value. Based on this, the robotic arm can be moved to a position away from the risk of collision, thereby facilitating the removal of the risk of collision of the moving arm.

[0053] In some embodiments, at least one robot arm (eg, robot arm 120) may include at least one arm body (eg, Figure 1A The arms B1 to B6 shown) and at least one joint connecting at least one arm (e.g., Figure 1A In some embodiments, the Figure 1A As shown, at least one joint may include a first cross arm rotation joint J1, a second cross arm rotation joint J2, a lifting joint J3, a first arc arm rotation joint J4, a second arc arm rotation joint J5 and a third arc arm rotation joint J6 of the motion arm 120. Among them, the first cross arm rotation joint J1 is used to connect the first cross arm B1 of the robot arm 120 and the main cross beam 114 of the operating station 100; the second cross arm rotation joint J2 is used to connect the second cross arm B2 with the first cross arm B1; the lifting joint J3 is set on the vertical arm B3 to realize the lifting of the motion arm; the first arc arm rotation joint J4 is used to connect the vertical arm B3 and the first arc arm B4; the second arc arm rotation joint J5 is used to connect the first arc arm B4 and the second arc arm B5; the third arc arm rotation joint J6 is used to connect the second arc arm B5 and the third arc arm B6.

[0054] In some embodiments, the at least one airbag of the surgical station 120 may include at least one joint airbag enclosing at least one joint, for example, Figure 1A The joint airbag 141 shown wraps the first arc-arm rotating joint J4 and the joint airbag 142 wraps the second arc-arm rotating joint J5. Based on at least one joint airbag and an air pressure sensor arranged in at least one joint airbag, it is possible to detect changes in air pressure in the joint airbag when there is a risk of collision in the joint of the robotic arm, thereby helping to avoid the occurrence of collision accidents. In addition, the joint airbag can wrap the joint, so that the joint of the robotic arm can be protected to a certain extent. Those skilled in the art will understand that in the present disclosure, wrapping should be interpreted broadly, and may refer to completely surrounding the joint, or may refer to surrounding a part of the joint, such as surrounding the part on the outside of the joint that is prone to collision. The airbag 140 may be integrated or distributed to accommodate complex structures and applications. The joint airbag may adopt any suitable structure and arrangement as long as it does not hinder the normal movement of the joint.

[0055] In some embodiments, at least one joint of the operating station may include at least one first joint wrapped by a single joint airbag, and may also include at least one second joint wrapped by multiple joint airbags. In some embodiments, at least one second joint may be wrapped by multiple joint airbags that are interconnected. In some embodiments, multiple joint airbags that wrap the same second joint may be interconnected through interconnected vents. In some embodiments, the vents of multiple joint airbags that wrap the same second joint may be directly connected or interconnected through vents. At least one air pressure sensor of the operating station may include at least one joint airbag sensor that is respectively arranged in at least one of the multiple joint airbags. For example, for multiple joint airbags that wrap the same second joint, a joint airbag sensor may be arranged in only one of the joint airbags to detect the air pressure in the multiple joint airbags.

[0056] In some embodiments, at least one second joint may be wrapped by a plurality of mutually unconnected joint airbags. Based on this embodiment, it is convenient for staff to arrange joint airbags around the joints, so as to facilitate the joints to move in all directions. The at least one air pressure sensor of the operating station may include a plurality of joint airbag sensors respectively arranged in each of the plurality of joint airbags to detect the air pressure in each joint airbag.

[0057] Figure 1B FIG. 1 is a schematic diagram showing a structure of a surgical station 100 with an arm airbag according to some embodiments of the present disclosure. Figure 1B As shown, the at least one airbag included in the surgical station 100 may also include at least one arm airbag (e.g., Figure 1B The at least one arm body airbag 143 shown in the figure) can wrap at least one arm body, or wrap at least one arm body and at least one joint connected to at least one arm body. For example, Figure 1B The arm airbag 143 shown wraps the first arc arm B4 of the motion arm 120 and the first arc arm rotation joint J4 and the second arc arm rotation joint J5 connected to the first arc arm B4.

[0058] In some embodiments, the at least one airbag included in the operating station 100 may further include at least one main airbag (not shown in the figure), and the at least one main airbag may be arranged in front of the base 112 of the operating station 100 (for example, Figure 1A or Figure 1B 11) or the rear (eg Figure 1A or Figure 1BBased on at least one main body airbag and the air pressure sensor disposed in at least one main body airbag, when there is a risk of collision with the base 112 of the operating station 100, the change of air pressure in the main body airbag can be detected, thereby facilitating the avoidance of collision accidents. In some embodiments, the main body airbag disposed in front of or behind the base 112 can cover the part in front of or behind the base that is easily collided, thereby protecting the base 112 of the operating station 100 to a certain extent.

[0059] In some embodiments, the controller may be configured to execute a preset control operation in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold value to eliminate the collision risk of the base 112 of the operating station 100 .

[0060] In some embodiments, the base 112 may include at least one active caster (not shown) disposed at the lower portion of the base 112, and the active caster is used to drive the overall movement of the operating station 100. In some embodiments, the controller may be configured to control at least one active caster to stop moving in response to the air pressure detected by the air pressure sensor in at least one main airbag being higher than a threshold. Based on this, it is possible to avoid a collision accident caused by the operating station 100 continuing to move in the previous direction of movement. In some embodiments, the base 112 may also include at least one caster motor for driving at least one active caster. The controller may be connected to the at least one caster motor to control at least one active caster to stop moving.

[0061] In some embodiments, the controller may be further configured to control at least one active caster to move in the opposite direction in response to the air pressure detected by the air pressure sensor in at least one main airbag being higher than a threshold value. Based on this, the operating station 100 can be moved to a position away from the risk of collision, thereby facilitating the elimination of the risk of collision of the operating station base 112.

[0062] Figure 2 FIG. 2 is a schematic diagram showing the structure of an operating station 200 of a surgical robot system according to some embodiments of the present disclosure. Figure 2 As shown, the surgical station 200 may include a surgical station body 210, a moving arm 220, a main column 230, and a main crossbeam 240. In some embodiments, as shown in FIG. Figure 2As shown, at least one joint may include a lifting joint J21 of the operating station 200, a first cross arm rotation joint J22 of the motion arm, a second cross arm rotation joint J23, a first arc arm rotation joint J24, a second arc arm rotation joint J25, and a third arc arm rotation joint J26. The lifting joint J21 is disposed between the main cross beam 240 and the main column 230, and is used to enable the main cross beam 240 to be lifted and lowered, thereby enabling the motion arm 220 (e.g., the remote motion center RCM of the motion arm 220) to achieve a change in the lifting position; the first cross arm rotation joint J22 is connected between the main cross beam 240 and the first cross arm 221; the second cross arm rotation joint J23 is connected between the first cross arm 221 and the second cross arm 222; the first arc arm rotation joint J24 is connected between the second cross arm 222 and the first arc arm 223; the second arc arm rotation joint J25 is connected between the first arc arm 223 and the second arc arm 224; and the third arc arm rotation joint J26 is connected between the second arc arm 224 and the third arc arm 225. For the motion arm 220, when the remote motion center RCM remains stationary, the first arc arm 223, the second arc arm 224 and the third arc arm 225 can move arbitrarily in the motion space, for example, they can be switched between fully folded, fully unfolded and an intermediate position.

[0063] like Figure 2 The surgical station 200 may include at least one airbag and at least one air pressure sensor disposed in the at least one airbag. The at least one airbag of the surgical station 200 may include a joint airbag that wraps at least one joint, for example, a joint airbag that wraps the second arc-arm rotation joint J25. In some embodiments, the surgical station 200 may also include an arm airbag ( Figure 2 not shown).

[0064] In some embodiments, at least one of the airbags included in the operating station 100 or 200 may be provided with multiple air pressure sensors to achieve redundancy, so that the detection of the air pressure in the airbag is not affected when one of the air pressure sensors in the airbag fails. In some embodiments, the controller of the operating station 100 or 200 may determine the magnitude of the air pressure in the airbag based on the air pressure detection results of the multiple air pressure sensors in the airbag, thereby improving the accuracy of the air pressure detection.

[0065] In some embodiments, at least one airbag can be fixedly connected to the housing of at least one arm and / or at least one joint. Figure 1A The inner surfaces of the joint airbags 141 and 142 shown can be fixedly connected to the outer shells of the first arc-arm rotating joint J4 and the second arc-arm rotating joint J5, respectively. Figure 1BThe inner surface of the arm airbag 143 shown can be fixed to the outer shell of the first arc arm B4 of the mechanical arm 120. In some embodiments, the airbag can be connected to the outer shell of at least one arm and / or at least one joint by any suitable means such as gluing.

[0066] In some embodiments, at least one airbag can form at least a portion of the outer shell of at least one arm and / or at least one joint. For example, the joint airbags 141 and 142 shown in FIG. 1 can be connected to or integrally formed with the outer shells of the first arc-arm rotation joint J4 and the second arc-arm rotation joint J5, and the outer surfaces of the joint airbags 141 and 142 can respectively form the outer shells of the first arc-arm rotation joint J4 and the second arc-arm rotation joint J5.

[0067] A surgical robot system is also provided in some embodiments of the present disclosure. Figure 3 FIG. 2 is a schematic diagram showing a structure of a surgical robot system 300 according to some embodiments of the present disclosure. Figure 3 As shown, in some embodiments, the surgical robot system 300 may include a surgical station 310 and a main control station 320. The surgical station 310 may include a surgical station body 311, at least one mechanical arm 312 disposed on the surgical station body 311, at least one air bag 313 disposed on at least one mechanical arm 312, and at least one air pressure sensor ( Figure 3 (not shown), at least one air pressure sensor is configured to detect the air pressure in at least one airbag 313. Figure 3 As shown, the distal end of at least one mechanical arm 312 is used to carry at least one surgical instrument 314. The surgical station 310 involved in this embodiment can be a surgical station of a surgical robot system in any of some embodiments of the present disclosure (for example, surgical station 100, 200 or 300, etc.), and will not be described in detail to reduce repetition.

[0068] like Figure 3 As shown, the master control station 320 can be connected to the surgical station 310 for communication. In some embodiments, the surgical station 310 and the master control station 320 can be connected by wired transmission or wireless transmission. The master control station 320 may include at least one main operator 321 for receiving user operations. In some embodiments, the at least one main operator 321 may include a left main operator and a right main operator. During surgery, the user can control the surgical instrument (e.g., surgical instrument 130 or surgical instrument 314) included in the surgical station 310 to perform an operation by operating the at least one main operator 321 included in the master control station 320. The surgical station 310 is usually located on the patient's side, responding to the control instructions of the master control station 320 to perform a surgical operation on the patient.

[0069] In some embodiments, surgical station 310 may include a controller ( Figure 3 (not shown, it can be set at any suitable position in the operating station 310). The controller of the operating station 310 can be configured to transmit an alarm signal to the main control station 320 in response to the air pressure detected by at least one air pressure sensor being higher than a threshold. In the case where the air pressure detected by at least one air pressure sensor is higher than the threshold, it indicates that there is a collision risk for the robotic arm 312 in the operating station 310. Based on this embodiment, in the case where there is a collision risk for the robotic arm 312 in the operating station 310, the controller can transmit an alarm signal to the main control station 320 to remind the user of the surgical robot system that there is a collision risk, so that the user can perform corresponding countermeasures. This is conducive to eliminating the collision risk of the surgical robot system.

[0070] In some embodiments, based on the alarm signal transmitted by the controller of the operating station 310, the main control station 320 may display an alarm prompt message on the display of the main control station 320, such as the display 322 or the 3D display 323. In some embodiments, based on the alarm signal transmitted by the controller of the operating station 310, the main control station 320 may issue a voice alarm message to directly prompt the user of the occurrence of the collision risk. In some embodiments, based on the alarm signal transmitted by the controller of the operating station 310, the main control station 320 may also display the location of the collided airbag on the display of the main control station 320, or inform the user of the location of the collided airbag by playing a voice message. For example, a voice message "There is a collision risk at the second arc arm rotation joint" is played.

[0071] In some embodiments, the main control station 320 can also display an image of a simulated collision site on the display of the main control station 320 to prompt the user of the location where there is a collision risk. For example, when the air pressure sensor detects that the air pressure in the joint airbag of the second arc-arm rotation joint is higher than the threshold, the display 322 or 323 of the main control station 320 can display the image of the mechanical arm 312, and highlight the area corresponding to the second arc-arm rotation joint in the displayed image (for example, make the area corresponding to the second arc-arm rotation joint flash or display the second arc-arm rotation joint in a highlighted color, etc.). Based on this, the user can quickly know the location where there is a collision risk in the mechanical arm, which is conducive to improving the efficiency of eliminating the collision risk.

[0072] Those skilled in the art will appreciate that the manner in which the master control station prompts the user that there is a risk of collision is not limited to the various manners listed above, but may be any appropriate manner.

[0073] Those skilled in the art will appreciate that the surgical robot system 400 provided in this embodiment may be any suitable surgical robot system including a laparoscopic surgical robot system.

[0074] When using a surgical robot, for example, before or during surgery, in order to improve surgical efficiency, at least one robotic arm 120 in the surgical robot will be driven by a joint motor (not shown in FIG. 1, which can be arranged near each joint included in the at least one robotic arm 120) to move rapidly along the planned trajectory to reach the target position. In this process, at least one robotic arm 120 moving at high speed may collide with and cause damage to people or equipment around it. Based on some embodiments of the present disclosure, in the event that at least one robotic arm 120 collides during movement, at least one airbag 140 arranged on at least one robotic arm 120 will be squeezed, and the air pressure in at least one airbag 140 will increase. The air pressure sensor arranged in at least one airbag 140 can detect the change in air pressure in at least one airbag 140, thereby enabling the surgical robot system to be informed that at least one robotic arm 120 is at risk of collision.

[0075] In some embodiments, multiple air pressure sensors may be provided in each airbag on the robot arm to achieve redundancy, so that the detection of the air pressure in the airbag is not affected when one of the air pressure sensors fails. In some embodiments, the air pressure in the airbag may be determined based on the air pressure detection results of multiple air pressure sensors, thereby improving the accuracy of air pressure detection.

[0076] In some embodiments, the controller in the operating station is configured to send an alarm signal in response to the air pressure detected by at least one air pressure sensor being higher than a threshold value, so that the user can be informed of the existence of a collision risk and help the user to perform relevant processing operations to eliminate the collision risk as soon as possible.

[0077] In some embodiments, the controller in the operating station is configured to control at least one joint of the robotic arm to stop moving and / or move in the opposite direction in response to the air pressure detected by at least one air pressure sensor being higher than a threshold value. This can prevent the robotic arm from continuing to move along its previous motion trajectory and causing a collision accident, and can enable the robotic arm to move to a position away from the risk of collision, thereby helping to eliminate the risk of collision of the moving arm and protect staff and equipment in the operating room.

[0078] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical station of a surgical robot system, characterized in that: include: The main body of the operating station; at least one robotic arm, disposed on the operating station body, wherein the distal end of the at least one robotic arm is used to carry at least one surgical instrument; at least one air bag, disposed on the at least one robotic arm and / or the surgical station body; as well as At least one air pressure sensor is respectively arranged in the at least one airbag and is configured to detect the air pressure in the at least one airbag.

2. The operating station of the surgical robot system according to claim 1, characterized in that: Also includes: a controller connected to the at least one air pressure sensor, The controller is configured to issue an alarm signal in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold value.

3. The operating station of the surgical robot system according to claim 2, characterized in that: The at least one mechanical arm comprises at least one arm body and at least one joint connecting the at least one arm body. The at least one airbag includes at least one joint airbag encapsulating the at least one joint.

4. The operating station of the surgical robot system according to claim 3, characterized in that: The at least one joint comprises at least one first joint, wherein the first joint is wrapped by a single joint airbag; and / or The at least one joint includes at least one second joint, and the second joint is wrapped by a plurality of joint airbags.

5. The operating station of the surgical robot system according to claim 4, characterized in that: The at least one second joint is wrapped by a plurality of joint airbags interconnected with each other, and the at least one air pressure sensor includes at least one joint airbag sensor respectively arranged in at least one joint airbag of the plurality of joint airbags; or The at least one second joint is wrapped by a plurality of joint airbags that are not interconnected with each other, and the at least one air pressure sensor includes a plurality of joint airbag sensors respectively arranged in each of the plurality of joint airbags.

6. The operating station of the surgical robot system according to claim 3, characterized in that: The at least one airbag further comprises at least one arm airbag, and the at least one arm airbag wraps the at least one arm, or wraps the at least one arm and at least one joint connected to the at least one arm.

7. The operating station of the surgical robot system according to claim 3, characterized in that: The at least one joint comprises: The lifting joint of the operating station; and The first cross arm rotation joint, the second cross arm rotation joint, the first arc arm rotation joint, the second arc arm rotation joint and the third arc arm rotation joint of the mechanical arm; or The at least one joint comprises: The mechanical arm comprises a first cross arm rotating joint, a second cross arm rotating joint, a lifting joint, a first arc arm rotating joint, a second arc arm rotating joint and a third arc arm rotating joint.

8. The operating station of the surgical robot system according to claim 6, characterized in that: The controller is configured to control the at least one joint to stop moving in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold value.

9. The operating station of the surgical robot system according to claim 8, characterized in that: The controller is configured to control the at least one joint to move in reverse in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold value.

10. The operating station of the surgical robot system according to any one of claims 3 to 9, characterized in that: The at least one airbag is fixedly connected to the housing of the at least one arm and / or the at least one joint; or The at least one airbag forms at least a portion of the housing of the at least one arm and / or the at least one joint.

11. The operating station of the surgical robot system according to claim 2, characterized in that: The operating station body includes a base; The at least one airbag includes at least one main body airbag disposed in front of and / or behind the base.

12. The operating station of the surgical robot system according to claim 11, characterized in that: The base includes at least one active caster wheel arranged at the lower part of the base, The controller is configured to control the at least one active caster to stop moving in response to an air pressure detected by an air pressure sensor in the at least one main body airbag being higher than a threshold.

13. The operating station of the surgical robot system according to claim 12, characterized in that: The controller is configured to control the at least one active caster to move in reverse in response to an air pressure detected by an air pressure sensor in the at least one main body airbag being higher than a threshold.

14. The operating station of the surgical robot system according to claim 2, characterized in that: The controller is configured to issue a collision position prompt signal in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold.

15. The operating station of the surgical robot system according to claim 14, characterized in that: Also includes: A display is arranged on the operating station body, the display is communicatively connected with the controller, and the display is used to receive the collision position prompt signal transmitted by the controller and display an image simulating the collision position.

16. A surgical robot system, characterized in that: include: A surgical station of a surgical robot system as claimed in any one of claims 1 to 15; as well as The main control station is connected to the operating station in communication, and includes at least one main operator for receiving user operations.

17. The surgical robot system according to claim 16, characterized in that: Also includes: The controller in the operating station is configured to transmit an alarm signal to the main control station in response to the air pressure detected by the at least one air pressure sensor being higher than a threshold.

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