Control system for surgical robot and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a control system for a surgical robot and a surgical robot system. The control system comprises at least one auxiliary operation device used for receiving user operation actions; a display for displaying at least one configuration menu of the at least one slave tool; the control device is in communication connection with the at least one auxiliary operation device and the display; the control device is configured to perform a configuration operation on the at least one auxiliary operation device based on the at least one configuration menu to assign at least one auxiliary function of the at least one slave tool to the at least one auxiliary operation device, and the at least one auxiliary operation device is configured to perform a configuration operation on the at least one slave tool based on the assigned at least one auxiliary function. And controlling at least one driven tool to execute the operation. According to the control system provided by the invention, the function extension of the driven tool can be realized, the quick and efficient execution of various functions can be realized by operating the auxiliary operation device, and the improvement of the operation efficiency and the operation experience of an operator is facilitated.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, and in particular to a control system for a surgical robot and a surgical robot system. BACKGROUND

[0002] With the development of technology, the surgical robot system has been rapidly developed to assist medical staff in performing surgery. For example, endoscopic surgery is a surgical form that has been widely used in recent years. It has the advantages of small incision, which greatly reduces the patient's recovery time, discomfort experience and postoperative side effects.

[0003] The surgical robot system includes a driven tool for performing surgical operations. The driven tool usually integrates multiple surgical functions (such as energy delivery, suction, irrigation, clamping and suturing needles, etc.) to complete the corresponding surgical operation. During operation, the rapid and effective execution of each function of the driven tool will greatly affect the operation efficiency and the operation experience of the operator. UTILITY MODEL CONTENT

[0004] In some embodiments, the present disclosure provides a control system for a surgical robot, comprising: at least one auxiliary operation device for receiving user operation actions; a display for displaying at least one configuration menu of at least one driven tool; and a control device in communication connection with the at least one auxiliary operation device and the display; the control device is configured to perform a configuration operation on the at least one auxiliary operation device based on the at least one configuration menu, to assign at least one auxiliary function of the at least one driven tool to the at least one auxiliary operation device, and the at least one auxiliary operation device is configured to control the at least one driven tool to perform operations based on the assigned at least one auxiliary function.

[0005] In some embodiments, the control device is further configured to perform a configuration operation on the at least one auxiliary operation device based on configuration information in response to a configuration trigger signal, the configuration information comprising a mapping relationship between the at least one auxiliary function of the at least one driven tool and the at least one auxiliary operation device.

[0006] In some embodiments, the configuration trigger signal comprises any one of a driven tool installation completion signal, a driven tool state readiness signal, and a configuration start signal.

[0007] In some embodiments, further comprising: at least one trigger in communication connection with the control device, configured to receive a user trigger action and generate a configuration start signal.

[0008] In some embodiments, the control device is further configured to determine at least one configuration menu of the at least one driven tool in response to the configuration trigger signal.

[0009] In some embodiments, the control device is further configured to determine at least one configuration menu of the at least one slave tool based on available assist function information of the at least one slave tool, the available assist function information comprising a plurality of available assist functions corresponding to a slave tool type of the at least one slave tool.

[0010] In some embodiments, the control device is further configured to perform a configuration operation on the at least one assist operation device based on the at least one configuration confirmation signal.

[0011] In some embodiments, the display is further configured to display a configuration result based on completion of the configuration operation.

[0012] In some embodiments, the system further comprises: at least one master operator configured to manipulate movement of the at least one slave tool; the at least one master operator comprises a left master operator and a right master operator, and the at least one slave tool comprises a first slave tool manipulated by the left master operator and a second slave tool manipulated by the right master operator; the at least one assist operation device comprises a first set of assist operation mechanisms and a second set of assist operation mechanisms, and the first set of assist operation mechanisms and the second set of assist operation mechanisms are respectively communicatively connected to the control device.

[0013] In some embodiments, the first set of assist operation mechanisms is located on a left side of the second set of assist operation mechanisms.

[0014] In some embodiments, the first set of assist operation mechanisms and / or the second set of assist operation mechanisms comprise a pedal set.

[0015] In some embodiments, the at least one assist function comprises at least one of energy delivery, suction, irrigation, and movement restriction.

[0016] In some embodiments, the at least one assist operation device is further configured to control the at least one slave tool to perform an on or off of the assigned at least one assist function based on a user operation action.

[0017] In some embodiments, the at least one assist operation device is further configured to control the at least one slave tool to perform an operation under a movement restriction function based on a user operation action.

[0018] In some embodiments, the movement restriction comprises a movement range restriction, and the at least one assist operation device is configured to control the at least one slave tool to perform an operation under a movement range restriction function based on a user operation action, the movement range restriction function being configured to restrict movement of the at least one slave tool within a set range.

[0019] In some embodiments, the motion restriction comprises a degree-of-freedom restriction, the at least one auxiliary operating device is configured to control the at least one driven tool to perform an operation in a degree-of-freedom restricted function based on the user operation action, the degree-of-freedom restricted function is configured to restrict the motion of the at least one driven tool in at least one restricted degree of freedom, the at least one restricted degree of freedom comprises at least one of: at least one position degree of freedom of the at least one driven tool, at least one posture degree of freedom of the at least one driven tool, and an opening-closing degree of freedom of an end instrument of the at least one driven tool.

[0020] In some embodiments, the present disclosure provides a surgical robot system comprising: a surgical trolley comprising a mechanical arm configured to carry at least one driven tool; and a master trolley comprising a control system according to any one of the embodiments of the present disclosure, the master trolley being communicatively connected to the surgical trolley.

[0021] Some embodiments of the present disclosure have one or more of the following technical effects: the control system provided by the present disclosure can realize the functional expansion of the driven tool through the auxiliary operating device, and meet the surgical requirements; the user can quickly and efficiently perform various functions of the driven tool by operating the auxiliary operating device, which helps to improve the surgical efficiency and the operation experience of the operator. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the description of the embodiments of the present disclosure will be briefly introduced as follows. The drawings in the following description only show some embodiments of the present disclosure, and other embodiments can be obtained by those skilled in the art without creative labor on the basis of the contents of the embodiments of the present disclosure and these drawings.

[0023] Figure 1 A structural block diagram of a control system for a surgical robot according to some embodiments of the present disclosure is shown.

[0024] Figure 2 A structural block diagram of a control system for a surgical robot according to some other embodiments of the present disclosure is shown.

[0025] Figure 3 A schematic diagram of at least one master operator according to some embodiments of the present disclosure is shown.

[0026] Figure 4 A structural schematic diagram of a master trolley of a surgical robot system according to some embodiments of the present disclosure is shown.

[0027] Figure 5 A structural block diagram of a surgical robot system according to some embodiments of the present disclosure is shown.

[0028] Figure 6A structural schematic of a surgical robotic system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0029] To make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, not all embodiments.

[0030] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "coupling" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning 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 proximal part or the rear end, the rear part, and the end opposite to the proximal end, the proximal part or the rear end, the rear part is defined as the distal end, the distal part or the front end, the front part. Alternatively, the end close to the operator (such as a doctor) is defined as the distal end, the distal part or the front end, the front part, and the end opposite to the distal end, the distal part or the front end, the front part is defined as the proximal end, the proximal part or the rear end, the rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical devices or surgical robots, or for other non-medical devices.

[0031] In the present disclosure, the term "position" refers to the positioning of an object or a part of an object in a three-dimensional space (e.g., three translational degrees of freedom can be described using variations in Cartesian X, Y and Z coordinates, e.g., three translational degrees of freedom along Cartesian X, Y and Z axes, respectively). In the present disclosure, the term "attitude" refers to the rotational setup of an object or a part of an object (e.g., three rotational degrees of freedom, which can be described using roll, pitch and yaw). In the present disclosure, the term "pose" refers to the combination of the position and the attitude of an object or a part of an object, which can be described using, for example, six parameters out of the above-mentioned six degrees of freedom. In the present disclosure, the configuration or the pose of a motion arm or a part thereof can be represented by a set of joint values of the joints of the motion arm (e.g., a one-dimensional matrix consisting of these joint values). In the present disclosure, a joint value of a joint can include an angle by which the corresponding joint is rotated relative to a corresponding joint axis or a distance moved relative to an initial position. In the present disclosure, a reference coordinate system can be understood as a coordinate system capable of describing the pose of an object. Depending on the actual positioning requirements, the reference coordinate system can be selected to have its origin at the origin of a virtual reference object or at the origin of a physical reference object.

[0032] Some embodiments of the present disclosure provide a control system for a surgical robot. Figure 1 A structural block diagram of a control system 100 for a surgical robot according to some embodiments of the present disclosure is shown. Referring to Figure 1 The control system 100 can include at least one auxiliary operating device 110, a display 120 and a control device 130. In some embodiments, the control device 130 can be communicatively connected with the at least one auxiliary operating device 110 and the display 120, respectively, for example, through a cable connection or through a wireless connection.

[0033] The control system (e.g., the control system 100) provided by the present disclosure can be used in various suitable surgical robot systems, including a laparoscopic surgical robot system.

[0034] In some embodiments, the surgical robot system may include a surgical cart, which may include at least one driven tool, such as a surgical tool or an imaging tool. In some embodiments, the surgical tool may include a drive transmission, a manipulator arm, and a surgical actuator disposed at the end of the manipulator arm. In some embodiments, the drive transmission is connected to a drive unit, and the driving force of the drive unit is transmitted to the manipulator arm via the drive transmission, thereby driving the manipulator arm to achieve multi-degree-of-freedom motion. The drive unit may also control the surgical actuator to perform surgical operations. In some embodiments, the imaging tool includes a drive transmission, a manipulator arm, and an imaging module disposed at the end of the manipulator arm. In some embodiments, the manipulator arm is, for example, a flexible manipulator arm. In some embodiments, the manipulator arm may include one or more distal flexible segments, and may be a multi-degree-of-freedom manipulator arm, such as a manipulator arm capable of six degrees of freedom motion. The flexible segments may be implemented by various suitable structures, such as continuums, serpentine structures, rod-plus-joint structures, etc.

[0035] In some embodiments, such as Figure 1 As shown, the control system 100 may further include at least one master operator 140. The at least one master operator 140 can be used to manipulate the movement of at least one slave tool (e.g., a surgical tool or imaging tool). In some embodiments, the control device 130 can be communicatively connected to the at least one master operator 140, for example, via a cable connection or a wireless connection. In some embodiments, the control device 130 can implement a master-slave mapping between the at least one master operator 140 and the at least one slave tool to achieve motion control of the at least one slave tool by the at least one master operator 140. In some embodiments, the at least one master operator 140 is used to receive user input, and the user controls the movement of the at least one slave tool by remotely operating the at least one master operator 140.

[0036] In some embodiments, at least one auxiliary operating device 110 may be used to receive user operation actions. At least one auxiliary operating device 110 may be used to control at least one auxiliary function of at least one driven tool based on the user operation actions. Detailed descriptions are provided in the following embodiments.

[0037] In some embodiments, the display 120 may be used to display at least one configuration menu for at least one slave tool. In some embodiments, the display 120 may also be used to display configuration results. These are described in detail in the following embodiments.

[0038] In some embodiments, the control device 130 can be configured to perform a configuration operation on the at least one auxiliary operation device 110 based on the at least one configuration menu, so as to assign at least one auxiliary function of the at least one slave tool to the at least one auxiliary operation device 110. Details are described in some embodiments below.

[0039] In some embodiments, the at least one auxiliary operation device 110 can also be configured to control the at least one slave tool to perform an operation based on the assigned at least one auxiliary function, so as to realize control of the at least one auxiliary function of the at least one slave tool. Details are described in some embodiments below.

[0040] Figure 2 A structural block diagram of a control system 100 for a surgical robot according to some other embodiments of the present disclosure is shown. Referring to Figure 2 The control system 100 can also include at least one trigger 150. The at least one trigger 150 can be communicatively connected with the control device 130, for example, through a cable connection or through a wireless connection. The at least one trigger 150 is configured to receive a user trigger action and generate a configuration start signal. In some embodiments, the control device 130 can be configured to perform a configuration operation on the at least one auxiliary operation device 110 in response to the configuration start signal. Details are described in some embodiments below.

[0041] In the present disclosure, the "at least one auxiliary function" refers to a function of a slave tool controlled by operating the "at least one auxiliary operation device", but does not include a normal master-slave control function of the slave tool controlled by operating a master operation device (for example, the at least one master operator 140) under normal master-slave control. The normal master-slave control function can include, for example, a pose adjustment function of an end instrument (for example, a surgical instrument) at the end of the slave tool based on the master operation device, and a clamping control function of the end instrument (for example, a surgical instrument) at the end of the slave tool based on the master operation device. The "at least one auxiliary function" is an auxiliary function other than the normal master-slave control function realized by operating the "at least one auxiliary operation device" for the slave tool, for example, one or more of the following auxiliary functions in some embodiments below: energy delivery, suction, irrigation, motion restriction, etc., which are described in detail in some embodiments below. The "at least one auxiliary operation device" can be various input devices for user operation, and some embodiments of the present disclosure are described by taking a pedal group as an example of the "at least one auxiliary operation device", but the "at least one auxiliary operation device" is not limited thereto, for example, it can also be a button, a key, a knob, a graphical user interface, etc.

[0042] In some embodiments, the at least one driven tool can be a surgical tool, which can include an operating arm and an end instrument disposed at the end of the operating arm. In some embodiments, the end instrument includes a surgical effector, which can be various effectors to perform various surgical procedures. In some embodiments, the surgical effector can include energy instruments and non-energy instruments. Energy instruments perform surgical operations by delivering specific forms of energy, for example, can perform operations such as cutting, separating, coagulating, hemostasis, etc. on tissues in surgery. Common energy types include electrical energy, ultrasound, laser, etc. Non-energy instruments do not rely on external energy sources, and perform surgical operations by mechanical action, for example, can perform operations such as grabbing, clamping, suturing, cutting, etc. on tissues in surgery.

[0043] In some embodiments, the energy instruments can include electrical energy instruments, for example, monopolar electrical energy instruments, bipolar electrical energy instruments, or monopolar-bipolar hybrid electrical energy instruments. Monopolar electrical energy instruments usually transmit electrical energy through a monopolar and a return electrode, where the return electrode returns electrical energy to an energy generator disposed outside the patient. Monopolar electrical energy instruments may, for example, include, but are not limited to, monopolar electrical hooks, monopolar electrical shovels, monopolar surgical curved scissors, etc., and can be used for tissue disconnection and hemostasis operations. Bipolar electrical energy instruments usually transmit electrical energy through two poles separately, and the return path of the current is from the first electrode through the other electrode. Bipolar electrical energy instruments may, for example, include, but are not limited to, bipolar electrocoagulation forceps, bipolar electrocoagulation forceps, etc., which are usually used for closing blood vessel and vascular tissue, grasping blood vessels, burning or coagulating tissues, etc. Monopolar-bipolar hybrid electrical energy instruments integrate monopolar electrical energy instruments and bipolar electrical energy instruments, and can achieve mixed use of monopolar energy and bipolar energy. In some embodiments, the energy instruments can also include instruments that transmit other types of energy (e.g., ultrasound, laser, etc.), such as ultrasonic knives, laser instruments. In some embodiments, at least one auxiliary function of the at least one driven tool can include energy (e.g., electrical energy, ultrasound, laser) delivery. In some embodiments, energy delivery can include energy delivery under different energy parameters, for example, monopolar electrical energy instruments are usually used for monopolar cutting and monopolar coagulation surgical operations, therefore, at least one auxiliary function for monopolar electrical energy instruments can include monopolar cutting energy delivery, monopolar coagulation energy delivery. For another example, bipolar electrical energy instruments are usually used for bipolar coagulation surgical operations, therefore, at least one auxiliary function for bipolar electrical energy instruments can include bipolar coagulation energy delivery.

[0044] In some embodiments, the at least one slave tool can include suction and / or irrigation lines for intraoperative irrigation and suction of blood, smoke, etc. in the surgical operating region. In some embodiments, the at least one auxiliary function of the at least one slave tool can further include at least one of suction, irrigation. For example, for the energy instrument (e.g., an electrical energy instrument) in some of the above embodiments, the energy instrument can include suction and / or irrigation lines, and the at least one auxiliary function of the energy instrument can include at least one of energy delivery, suction, irrigation.

[0045] In some embodiments, a master-slave mapping can be established between the at least one master operator and the at least one slave tool. Under the master-slave mapping, the at least one surgical tool can operate in a normal master-slave control mode, and the at least one slave tool can be teleoperatively controlled by the at least one master operator. In some embodiments, the auxiliary function can include a motion restriction function to initiate a motion restriction mode, which can include but is not limited to, for example, a degree of freedom restriction mode, a range of motion restriction mode, wherein the degree of freedom restriction mode can include but is not limited to one or more of a combination of a position restriction mode, a posture restriction mode, a jaw restriction mode. Thus, in some embodiments, the at least one auxiliary function of the at least one slave tool can include a motion restriction function to enable the at least one slave tool to operate in a motion restriction mode (e.g., including but not limited to a degree of freedom restriction function, a range of motion restriction function, wherein the degree of freedom restriction function can include but is not limited to one or more of a combination of a position restriction function, a posture restriction function, a jaw restriction function), which is described in detail in some of the following embodiments.

[0046] In some embodiments, in the normal master-slave control mode, the motion degrees of freedom of the at least one slave tool are fully controlled by the at least one master operator. In some embodiments, the motion degrees of freedom of the at least one slave tool include at least one position degree of freedom of the at least one slave tool, at least one orientation degree of freedom of the at least one slave tool. In some embodiments, for a slave tool having a gripping function at the tip thereof, the motion degrees of freedom of the at least one slave tool include at least one position degree of freedom of the at least one slave tool, at least one orientation degree of freedom of the at least one slave tool, and a gripping degree of freedom of the tip instrument of the at least one slave tool. In some embodiments, the at least one position degree of freedom includes at least one translational degree of freedom of the at least one slave tool along three coordinate axes of a motion space coordinate system, for example, including an x-axis translational degree of freedom, a y-axis translational degree of freedom, and a z-axis translational degree of freedom. In some embodiments, the at least one orientation degree of freedom includes at least one rotational degree of freedom of the at least one slave tool about three coordinate axes of a motion space coordinate system, for example, including a pitch degree of freedom, a yaw degree of freedom, and a roll degree of freedom. In some embodiments, in the normal master-slave control mode, the at least one master operator is used for a user of the surgical robotic system to operate, and the control device (e.g., the control device 130) can control all motion degrees of freedom of the at least one slave tool to follow the motion of the at least one master operator based on the user input received by the at least one master operator, to perform a surgical related operation.

[0047] In some embodiments, in the motion limited mode, the at least one slave tool can work in a motion range limited mode to limit the motion of the at least one slave tool within a set motion range, for example, to limit the motion of the at least one slave tool within a virtual motion boundary. The virtual motion boundary can be pre-set or determined based on the surrounding environment of the at least one slave tool. For example, during the execution of a surgical task by the surgical robot, the at least one slave tool works in a narrow channel (e.g., oral cavity), the motion range limited function of the at least one slave tool can be activated, the virtual motion boundary of the at least one slave tool can be set, and the motion of the at least one slave tool is controlled within the virtual motion boundary to enable the at least one slave tool to execute the surgical task in the narrow channel. For another example, in some embodiments, obstacles (e.g., human tissue, slave tools in non-motion state) around the at least one slave tool can be identified to determine the virtual motion boundary of the at least one slave tool based on the position of the at least one slave tool and the position of the obstacles, and the motion of the at least one slave tool is controlled within the virtual motion boundary to enable the at least one slave tool to execute the surgical task while automatically avoiding obstacles. Therefore, in some embodiments, the at least one auxiliary function of the at least one slave tool can include a motion limited function, and the motion limited function can include a motion range limited function.

[0048] In some embodiments, in the motion-limited mode, the at least one slave can operate in a degree-of-freedom-limited mode. In the degree-of-freedom-limited mode, the at least one slave tool includes at least one limited degree-of-freedom and non-limited degrees-of-freedom. In some embodiments, the at least one limited degree-of-freedom can include any one or more of at least one position degree-of-freedom of the at least one slave tool, at least one orientation degree-of-freedom of the at least one slave tool, and at least one grip degree-of-freedom of an end instrument of the at least one slave tool, and the non-limited degrees-of-freedom can include other degrees-of-freedom of the at least one slave tool other than the at least one limited degree-of-freedom. The at least one position degree-of-freedom includes at least one translational degree-of-freedom of the at least one slave tool along three coordinate axes of a motion space coordinate system, e.g., including an x-axis translational degree-of-freedom, a y-axis translational degree-of-freedom, and a z-axis translational degree-of-freedom. The at least one orientation degree-of-freedom includes at least one rotational degree-of-freedom of the at least one slave control about three coordinate axes of the motion space coordinate system, e.g., including a pitch degree-of-freedom, a yaw degree-of-freedom, and a roll degree-of-freedom. In some embodiments, the degree-of-freedom-limited mode includes a position-limited mode, an orientation-limited mode, and a grip-limited mode.

[0049] In some embodiments, in the position limited mode, the position change of the at least one slave tool can be limited, for example, the position of the at least one slave tool can be kept at a previous position (e.g., the position of a control cycle before switching to the position limited mode). In some embodiments, in the position limited mode, the at least one slave tool can move in non-limited degrees of freedom, which can include the pose degrees of freedom and / or the opening / closing degree of freedom of the end instrument. For example, in the process of performing a surgical task by using a surgical robot, in some possible scenarios, the position of the at least one slave tool can be kept unchanged, and the pose of the at least one slave tool can follow the movement of the at least one master operator. For example, when the at least one slave tool performs a surgical operation near the tissue being operated, at this time the at least one master operator has moved to the boundary of the operator's operation space under the operation of the operator, which greatly affects the operation experience. The at least one master operator can be repositioned to an ideal position (e.g., the center of the operation space) by operating the at least one master operator to obtain a more comfortable operation position. In the prior art, the master-slave mapping relationship between the at least one master operator and the at least one slave tool can be disconnected, and after the at least one master operator is repositioned, the master-slave mapping relationship between the at least one master operator and the at least one slave tool is established again to continue the surgical operation. In some embodiments, during the repositioning of the at least one master operator, the position degrees of freedom of the at least one slave tool can be limited, for example, the at least one slave tool can work in the position limited mode, in which the pose of the at least one slave tool follows the at least one master operator and the position change of the at least one slave tool is limited. Thus, during the repositioning of the at least one master operator, the master-slave mapping relationship between the at least one master operator and the at least one slave tool does not need to be disconnected, and after the repositioning of the at least one master operator is completed, the poses of the at least one slave tool and the at least one master operator are matched, and the master-slave mapping does not need to be re-established, and the surgical operation can continue. Those skilled in the art can understand that in the position limited mode, part of the at least one position degree of freedom of the at least one slave tool can also be limited, for example, one or more of the x-axis translation degree of freedom, the y-axis translation degree of freedom and the z-axis translation degree of freedom of the at least one slave tool can be limited. In some embodiments, the at least one auxiliary function of the at least one slave tool can include a movement limited function, which can include a degree of freedom limited function, which can include a position limited function.

[0050] In some embodiments, in the pose-limited mode, the pose change of the at least one slave tool can be limited, for example, the pose of the at least one slave tool can be maintained at a previous pose (e.g., the pose of a control cycle before switching to the pose-limited mode). In some embodiments, in the pose-limited mode, the at least one slave tool can move in non-limited degrees of freedom, which can include position degrees of freedom and / or a grip degree of freedom of the end instrument. For example, in some embodiments, during the execution of a surgical task using a surgical robot, in some possible scenarios, the pose of the at least one slave tool can be maintained unchanged, and the position of the at least one slave tool can follow the movement of the at least one master manipulator. For example, when performing tissue cutting or pulling, which requires cutting or pulling by the at least one surgical tool controlled by the at least one master manipulator, the pose degrees of freedom of the at least one slave tool can be limited, for example, the at least one slave tool can work in a pose-limited mode, in which the position of the at least one slave tool follows the at least one master manipulator and the pose change of the at least one slave tool is limited. Thus, during the cutting or pulling by the at least one master manipulator, the pose of the handle can be adjusted to improve the comfort of the operation. Those skilled in the art can understand that in the pose-limited mode, part of the at least one pose degree of freedom of the at least one slave tool can also be limited, for example, one or more of the pitch degree of freedom, the yaw degree of freedom and the roll degree of freedom of the at least one slave tool can be limited. In some embodiments, the at least one auxiliary function of the at least one slave tool can include a motion-limited function, which can include a degree-of-freedom-limited function, which can include a pose-limited function.

[0051] In some embodiments, in the limited opening mode, the opening angle and / or the clamping force of the end instrument of the at least one slave tool can be limited, for example, the opening angle of the end instrument of the at least one slave tool can be maintained at a previous opening angle (for example, the opening angle of the previous control cycle before switching to the limited opening mode) and / or the clamping force of the end instrument of the at least one slave tool can be maintained at a previous clamping force (for example, the clamping force of the previous control cycle before switching to the limited opening mode). In some embodiments, in the limited opening mode, the unlimited degrees of freedom of the at least one slave tool can include the position degrees of freedom and the attitude degrees of freedom, and the at least one master operator can control the at least one slave tool to move in the position degrees of freedom and the attitude degrees of freedom. For example, in the process of performing a surgical task by using a surgical robot system, in some possible scenarios, the opening angle and / or the clamping force of the end instrument of the at least one slave tool can be maintained unchanged. For example, in the process of holding a suture needle by using needle holders to perform suturing, the opening angle and / or the clamping force of the end of the needle holder can be maintained unchanged. In the prior art, in the normal master-slave control mode, the operator maintains the pinch angle of the clamps of the at least one master operator substantially unchanged, which increases the fatigue of the operator. In some embodiments, the opening function of the end instrument can be limited, for example, the at least one surgical tool can work in the limited opening mode, in which the end instrument can be limited to open to a set angle or close and maintain a set clamping force. Thus, the opening degree of freedom of the end instrument of the at least one slave tool does not follow the movement of the clamps of the at least one master operator, thereby the fatigue of the operator can be alleviated. In some embodiments, the at least one auxiliary function of the at least one slave tool can include the limited movement function, the limited movement function can include the limited degree of freedom function, and the limited degree of freedom function can include the limited opening function.

[0052] Those skilled in the art can understand that the limited movement function of the at least one slave tool can include a combination of one or more of the limited movement range function, the limited position function, the limited attitude function, and the limited opening function listed in some embodiments described above, for example, the at least one slave tool can also move in the limited position mode and the limited opening mode at the same time, and the limited movement function of the at least one slave tool can be a combination of the limited position function and the limited opening function.

[0053] Those skilled in the art can understand that the auxiliary functions such as energy delivery, suction, irrigation, and limited movement in some embodiments described above are only a list of part of the auxiliary functions of the slave tool, but are not limited to the above list, which can be determined according to the surgical functions that can be implemented by the slave tool.

[0054] In some embodiments, any one of the at least one driven tool may have multiple different auxiliary functions. The type of driven tool used may differ for different surgeries or different surgical stages, and the auxiliary functions that the same driven tool needs to perform may also differ at different surgical stages. The control system for surgical robots provided in this disclosure (e.g., control system 100) can meet the control requirements for different auxiliary functions of driven tools of different types and at different stages.

[0055] In some embodiments, the control device 130 may be used to perform a configuration operation on at least one auxiliary operation device 110 based on at least one configuration menu, so as to assign at least one auxiliary function of at least one slave tool to at least one auxiliary operation device 110.

[0056] In some embodiments, such as Figure 2 As shown, at least one auxiliary operating device 110 may include a first set of auxiliary operating mechanisms 111 and a second set of auxiliary operating mechanisms 112. The first set of auxiliary operating mechanisms 111 and the second set of auxiliary operating mechanisms 112 are communicatively connected to the control device 130, for example, via cable or wireless connection. In some embodiments, the first set of auxiliary operating mechanisms 111 may be used to control at least one auxiliary function of a first driven tool. The second set of auxiliary operating mechanisms 112 may be used to control at least one auxiliary function of a second driven tool. In some embodiments, the first set of auxiliary operating mechanisms 111 and / or the second set of auxiliary operating mechanisms 112 may be used to receive user operation actions. The first set of auxiliary operating mechanisms 111 and / or the second set of auxiliary operating mechanisms 112 may also be used to control at least one auxiliary function of at least one driven tool based on user operation actions.

[0057] In some embodiments, the control device 130 may be used to perform configuration operations on the first set of auxiliary operating mechanisms 111 and / or the second set of auxiliary operating mechanisms 112 based on at least one configuration menu, so as to configure at least one auxiliary function of the first driven tool and / or the second driven tool, thereby operating the first set of auxiliary operating mechanisms 111 and / or the second set of auxiliary operating mechanisms 112 to control the execution of the auxiliary function of at least one driven tool (the first driven tool and / or the second driven tool).

[0058] In some embodiments, such as Figure 2As shown, at least one master operator 140 includes a left master operator 141 and a right master operator 142. The left master operator 141 receives left-hand operations from the user and generates left master operation information, while the right master operator 142 receives right-hand operations from the user and generates right master operation information. Based on the left master operation information, a first control signal for a first slave tool that establishes a master-slave mapping relationship with the left master operator 141 can be determined to remotely control the first slave tool. Based on the right master operation information, a second control signal for a second slave tool that establishes a master-slave mapping relationship with the right master operator 142 can be determined to remotely control the second slave tool.

[0059] Figure 3 A schematic diagram of at least one master manipulator 300 according to some embodiments of the present disclosure is shown. In some embodiments, the at least one master manipulator 300 includes a multi-degree-of-freedom robotic arm 310, which includes multiple arm bodies (311-316) and multiple joints (3111-3117) connecting the multiple arm bodies. Adjacent arm bodies are connected by joints. In some embodiments, the master manipulator 300 also includes a handle 330 disposed at the end of the arm body 316. During operation, the multiple joints drive the multiple arm bodies to adjust the configuration of the multi-degree-of-freedom robotic arm 310, so that the arm bodies 316 of the multi-degree-of-freedom robotic arm 310 move to an appropriate pose, and drive the handle 330 to move to a suitable pose (e.g., a target pose) to control at least one driven tool to reach the corresponding pose. In some embodiments, a clamp is disposed on the handle 330, which may include a first clamping member 331, a second clamping member 332, and a clamp sensor. Figure 3(Not shown in the image). The first clamping member 331 and the second clamping member 332 are hinged to the main body of the handle 330 and cooperate with each other to open and close. It should be understood that the clamp sensor 333 may include a contact displacement sensor or a non-contact displacement sensor (e.g., a photoelectric sensor, an electromagnetic sensor). For example, the first clamping member 331 and the second clamping member 332 are respectively disposed on both sides of the main body of the handle 330, and the first clamping member 331 and the second clamping member 332 extend outward in a direction gradually away from the main body of the handle 320. The operator achieves clamping closure by rotating the first clamping member 331 and the second clamping member 332 around the main body of the handle 320, for example, by rotating closer to the main body of the handle 330, and achieves opening and release by rotating away from the main body of the handle 330. When the first clamping member 331 and the second clamping member 332 rotate, they drive the clamp sensor to move along the axial direction of the main body of the handle 330. By converting the rotation angle signal change of the clamping member into a displacement signal change, and then converting the displacement signal change into an electrical signal change, the movement of at least one driven tool, such as the movement of the end instrument of a surgical tool, is controlled. This enables the real-time reproduction of the opening and closing of the end instrument through the opening and closing of the clamps, and / or the control of the opening and closing angle and / or clamping force of the end instrument through the opening and closing angle of the clamps.

[0060] In some embodiments, such as Figure 3 As shown, at least one master operator 300 may include a left master operator 310 and a right master operator 320, with the left master operator 310 located to the left of the right master operator 320. The left master operator 310 is used to remotely operate a first slave tool, and the right master operator 320 is used to remotely operate a second slave tool. In some embodiments, a first set of auxiliary operating mechanisms 111 may be located to the left of a second set of auxiliary operating mechanisms 112. The first set of auxiliary operating mechanisms 111 may be used to configure at least one auxiliary function of the first slave tool that establishes a master-slave mapping relationship with the left master operator 310, and the second set of auxiliary operating mechanisms 112 may be used to configure at least one auxiliary function of the second slave tool that establishes a master-slave mapping relationship with the right master operator 320, thereby enabling intuitive operation of the first set of auxiliary operating mechanisms 111 and / or the second set of auxiliary operating mechanisms 112 to control the execution of at least one auxiliary function of at least one slave tool (the first slave tool and / or the second slave tool).

[0061] In some embodiments, the surgical robot system may include a main control carriage, and the control system of this disclosure (e.g., control system 100) may be disposed on the main control carriage. For example, some or all of at least one auxiliary operating device 110, control device 130, at least one main operator 140, trigger 150, and display 120 may be disposed on the main control carriage. Figure 4This diagram illustrates the structure of a main control carriage 400 of a surgical robot system according to some embodiments of the present disclosure. In some embodiments, the main control carriage 400 includes: a control device (which may be configured on a computer device and disposed within the main control carriage 400), at least one main operator 401, a display (e.g., displays 402-404), and at least one auxiliary operating device (e.g., pedals 405-408, 410). In some embodiments, at least one auxiliary operating device 110 includes a first set of auxiliary operating mechanisms 111 and a second set of auxiliary operating mechanisms 112. The first set of auxiliary operating mechanisms 111 and / or the second set of auxiliary operating mechanisms 112 may include a set of pedals, for example, such as... Figure 4 As shown, the first set of auxiliary operating mechanisms 111 can be a first pedal group composed of pedals 405 and 406, and the second set of auxiliary operating mechanisms 112 can be a second pedal group composed of pedals 407 and 408. In some embodiments, at least one auxiliary function of the first driven tool operated by the left master operator 141 can be assigned to pedals 405 and 406 of the first auxiliary operating mechanism 111 located to the left of the second set of auxiliary operating mechanisms 112, and pedals 405 and 406 can each correspond to an auxiliary function of the first driven tool. In some embodiments, at least one auxiliary function of the second driven tool operated by the right master operator 142 can be assigned to pedals 407 and 408 of the second set of auxiliary operating mechanisms 112 located to the right of the first auxiliary operating mechanism 111, and each can correspond to an auxiliary function of the second driven tool.

[0062] Those skilled in the art will understand that Figure 4 The number of pedals in the first pedal group (pedal 405, pedal 406) and the second pedal group (pedal 407, pedal 408) shown in the diagram is for illustrative purposes only. Other numbers of pedals can also be configured, and the number of pedals in the first pedal group and the second pedal group can be equal or unequal.

[0063] In some embodiments, the control device 130 may be configured to perform a configuration operation on at least one auxiliary operating device 110 in response to a configuration trigger signal, based on configuration information. The configuration information includes a mapping relationship between at least one auxiliary function of at least one driven tool and at least one auxiliary operating device 110.

[0064] In some embodiments, a slave tool installation completion signal is generated based on the completion of installation of at least one slave tool in the surgical robot system, for example, when at least one slave tool is installed onto the robotic arm of the surgical cart and connected to the drive unit. A configuration trigger signal may include a slave tool installation completion signal.

[0065] In some embodiments, the control system 100 may include at least one master operator. The at least one master operator can be used to manipulate at least one driven tool. Figure 3 As shown, in some embodiments, at least one master operator 300 includes a left master operator 310 and a right master operator 320. One or more of the at least one slave tool can be assigned to the left master operator 310, and the remaining slave tools can be assigned to the right master operator 320. In some embodiments, the left master operator 310 and / or the right master operator 320 can establish a master-slave mapping relationship with one of the assigned slave tools, respectively. In some embodiments, the slave tools that have established a master-slave mapping relationship with the left master operator 310 and / or the right master operator 320 can be switched based on the assignment relationship. In some embodiments, the left master operator 310 is used to receive user left-hand operations and generate left master operation information, and the right master operator 320 is used to receive user right-hand operations and generate right master operation information, so as to control the movement of the slave tools that have established a master-slave mapping relationship with the left master operator 310 and / or the right master operator 320 through the left master operation information and / or the right master operation information. In some embodiments, completing the assignment of at least one slave tool, and / or completing the establishment of the master-slave mapping relationship between the left master operator 310 and / or the right master operator 320 and the slave tool, and / or completing the switching of the master-slave mapping relationship between the left master operator 310 and / or the right master operator 320 and the slave tool, can generate a slave tool state ready signal. The configuration trigger signal may include the slave tool state ready signal.

[0066] In some embodiments, such as Figure 2 As shown, the control system 100 may include at least one trigger 150, which is used to receive a user-triggered action and generate a configuration activation signal. The configuration trigger signal may include a configuration activation signal. In some embodiments, the at least one trigger 150 may include any of the following: a button (e.g., a button set to...). Figure 4 The buttons on the touch display 401 shown in the image), and buttons (e.g., Figure 4 Button 409 shown), toggle switch (e.g., as shown in the image) Figure 4 At least one toggle mechanism of the main operator 401 shown), and a graphical user interface (e.g., Figure 4 The graphical user interface displayed on the monitor 404 shown in the figure) or the pedal (e.g., Figure 4 (See pedal 410 shown). Those skilled in the art will understand that at least one trigger 150 is not limited to the forms listed above and may include other suitable forms. In some implementations, the user triggering action may be pressing, flicking, or touching at least one trigger 150.

[0067] In some embodiments, the configuration trigger signal may be any one of the slave tool installation completion signal, slave tool status ready signal, and configuration start signal in the above embodiments. The control device 130 may be used to determine at least one configuration menu of at least one slave tool in response to the configuration trigger signal.

[0068] In some embodiments, at least one configuration menu may include a single configuration menu comprising multiple partitions, each partition corresponding to a single slave tool and including multiple configuration bars. Each configuration bar is used for auxiliary function configuration of each auxiliary operating mechanism (e.g., a single auxiliary operating mechanism in the first group of auxiliary operating mechanisms 111 and / or the second group of auxiliary operating mechanisms 112) corresponding to the slave tool in that partition. In some embodiments, at least one configuration menu may include multiple configuration menus, each configuration menu corresponding to a single slave tool and used for auxiliary function configuration of the respective slave tool. In some embodiments, each configuration menu may include multiple configuration bars, each configuration bar being used for auxiliary function configuration of each auxiliary operating mechanism (e.g., a single auxiliary operating mechanism in the first group of auxiliary operating mechanisms 111 and / or the second group of auxiliary operating mechanisms 112) corresponding to the respective slave tool.

[0069] In some embodiments, the multiple configuration fields may include multiple options, each corresponding to an available accessibility function of the slave tool to be configured. In some embodiments, the multiple options include a target option to be confirmed, which corresponds to a target accessibility function of the slave tool to be configured.

[0070] In some embodiments, configuring the trigger signal may include configuring the start signal. For example... Figure 2 As shown, the control system 100 includes at least one trigger 150 for generating a configuration start signal. In one embodiment, the at least one trigger 150 may be a single trigger, for example, a single trigger is as follows: Figure 4 The pedal 410 shown, or the toggle mechanism on the master operator 110 with a single trigger, for example, as shown in the figure. Figure 3 A toggle mechanism on either the left master operator 310 or the right master operator 320 shown. A single trigger is communicatively connected to the control device 130 for receiving user trigger actions and generating a configuration start signal. The control device 130 can be used to determine at least one configuration menu of at least one slave tool based on the configuration start signal of the single trigger, for example, a single configuration menu or multiple configuration menus as described in some of the above embodiments. In some embodiments, at least one trigger 150 can be multiple triggers; for example, at least one trigger 150 can include a first trigger and a second trigger. For example, the first trigger can be as follows: Figure 3The toggle mechanism on the left master operator 310 shown in the figure, the second trigger can be as follows: Figure 3 The toggle mechanism on the right master operator 320 is shown in the diagram. Multiple triggers are communicatively connected to the control device 130, respectively, for receiving user-triggered actions and generating multiple configuration start signals. For example, a first trigger receives a user-triggered action and generates a first configuration start signal, and a second trigger receives a user-triggered action and generates a second configuration start signal. The control device 130 can determine multiple configuration menus based on the multiple configuration start signals from the multiple triggers. For example, the control device 130 can determine a first configuration menu based on the first configuration start signal from the first trigger, and the control device 130 can also determine a second configuration menu based on the second configuration start signal from the second trigger.

[0071] In some implementations, the control device 130 is further configured to determine at least one configuration menu for at least one driven tool based on available auxiliary function information of at least one driven tool. In some embodiments, the available auxiliary function information includes a plurality of available auxiliary functions corresponding to the driven tool type of the at least one driven tool. The available auxiliary function information may be determined based on the driven tool type of the at least one driven tool. In some embodiments, the control device 130 may be configured to obtain the available auxiliary function information of the at least one driven tool in response to a configuration trigger signal, and determine at least one configuration menu for the at least one driven tool based on the available auxiliary function information.

[0072] In some embodiments, the control device 130 can also be used to perform a configuration operation on at least one auxiliary operating device 110 based on at least one configuration confirmation signal. In some embodiments, the control device 130 can be used to obtain configuration information based on at least one configuration confirmation signal. The configuration information corresponds to the target option of the auxiliary operating mechanism to be configured in the current configuration column of the configuration menu. The target option corresponds to the target auxiliary function of the driven tool to be configured. Those skilled in the art will understand that the configuration information obtained based on the configuration confirmation signal includes a mapping relationship between at least one auxiliary function of at least one driven tool and at least one auxiliary operating device 110. In some embodiments, the control device 130 can be used to perform a configuration operation on at least one auxiliary operating device 110 based on the configuration information, matching some or all of the at least one auxiliary operating device 110 with at least one auxiliary function of at least one driven tool, completing the user configuration of the auxiliary operating function of at least one auxiliary operating device 110, so that at least one driven tool can be controlled to perform operations by operating at least one auxiliary operating device 110.

[0073] In some embodiments, a configuration confirmation signal can be obtained based on a user configuration operation to determine the target option of at least one configuration bar in at least one configuration menu. Those skilled in the art will understand that the user configuration operation can be a single operation or a combination of multiple operations, thereby enabling switching between multiple configuration bars in at least one configuration menu, or switching between and / or confirming the target option among multiple options in a single configuration bar. For example, a user configuration operation can be selecting a target option in each configuration bar on a display 120 (e.g., display 404). As another example, a user configuration operation can include operating at least one auxiliary operation device 110 (e.g., pedals 405-408) to switch the movement of target option indicators (e.g., pointers, selection boxes, etc.) in each configuration bar of the configuration menu displayed on the display 120 (e.g., displays 402 and / or display 403) to switch the target option, and operating at least one auxiliary operation device 110 (e.g., pedals 405-408) to confirm the target option based on the target option indicator moving to the target option.

[0074] In some implementations, based on the completion of configuration operations, such as the automatic configuration of the auxiliary operation functions of at least one auxiliary operation device 110 or the user configuration of the auxiliary operation functions of at least one auxiliary operation device 110 in some of the above embodiments, the configuration result can be displayed on the display 120 (e.g., displays 402-404). In some embodiments, the control device 130 can be configured to control the display 120 to display the configuration result based on the completion of the configuration operation.

[0075] In this disclosure, for different surgeries or different surgical stages, at least one auxiliary operating device 110 can be used for configuration operations to match different driven tools or different auxiliary functions of the same driven tool. Furthermore, at least one auxiliary operating device 110 can be used to control the execution of the auxiliary functions of the driven tool, thereby expanding the auxiliary functions of the driven tool. In addition, the same auxiliary operating device can be used to match different auxiliary functions, achieving both the expansion of the auxiliary functions of the driven tool and the simplification and integration of the control system's hardware.

[0076] In some embodiments, based on the configuration operation of at least one auxiliary operation device 110, the at least one auxiliary operation device 110 can be used to control at least one slave tool to perform operations based on at least one assigned auxiliary function.

[0077] In some implementations, such as Figure 2As shown, at least one auxiliary operating device 110 may include a first set of auxiliary operating mechanisms 111 and a second set of auxiliary operating mechanisms 112. The first set of auxiliary operating mechanisms 111 may be used for auxiliary function control of a first driven tool, and the second set of auxiliary operating mechanisms 112 may be used for auxiliary function control of a second driven tool, as detailed in some of the above embodiments. In some embodiments, the first set of auxiliary operating mechanisms 111 may be used to control the first driven tool to perform operations based on at least one assigned auxiliary function, and the second set of auxiliary operating mechanisms 112 may be used to control the second driven tool to perform operations based on the at least one assigned auxiliary function.

[0078] In some embodiments, at least one auxiliary operating device 110 may also be used to control at least one slave tool to perform at least one assigned auxiliary function on or off based on user operation actions.

[0079] In some embodiments, at least one auxiliary operating device 110 may be used to receive a first user operation action and, based on the first user operation action, control the activation of at least one auxiliary function assigned to at least one slave tool.

[0080] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action and, based on the second user operation action, control the shutdown of at least one auxiliary function assigned to at least one slave tool.

[0081] In some embodiments, at least one auxiliary operation device 110 can be used to receive user operation actions, generate auxiliary operation information based on the user operation actions, and send the auxiliary operation information to the control device 130. The control device 130 can be used to receive the auxiliary operation information from at least one auxiliary operation device 110, generate an auxiliary operation signal based on the auxiliary operation information, and send the auxiliary operation signal to at least one slave tool. At least one slave tool can control the activation or deactivation of at least one assigned auxiliary function based on the auxiliary operation signal. In some embodiments, user operation actions may include a first user operation action and a second user operation action. Correspondingly, the auxiliary operation information may include auxiliary operation trigger information and auxiliary operation deactivation information. The auxiliary operation signal may include an auxiliary operation activation signal and an auxiliary operation deactivation signal, wherein the auxiliary operation activation signal is used to control the activation of at least one assigned auxiliary function of at least one slave tool, and the auxiliary operation deactivation signal is used to control the deactivation of at least one assigned auxiliary function of at least one slave tool.

[0082] In some embodiments, the first user action may be holding down a press, holding down a flick, or holding down a touch on at least one auxiliary operating device 110, and the second user action may be releasing at least one auxiliary operating device 110. For example, at least one auxiliary operating device 110 may be as follows: Figure 4 The pedals 405-408 shown generate auxiliary operation trigger information when the user continuously presses the pedals 405-408, and the trigger 150 generates auxiliary operation deactivation information when the user releases the pedals 405-408.

[0083] In some embodiments, the first user operation may be pressing, flicking, or touching at least one auxiliary operating device 110, and the second user operation may be pressing, flicking, or touching at least one auxiliary operating device 110 again. For example, at least one auxiliary operating device 110 may be as follows: Figure 4 The pedals 405-408 shown generate auxiliary operation trigger information when the user presses the pedals 405-408, and generate auxiliary operation deactivation information when the user presses the pedals 405-408 again.

[0084] In some embodiments, at least one driven tool may include an energy device (e.g., an electrical energy device), and at least one auxiliary function of at least one driven tool may include an energy delivery function.

[0085] In some embodiments, at least one auxiliary operating device 110 may be used to receive user operation actions and, based on the user operation actions, control at least one driven tool to perform the energy delivery function to be turned on or off.

[0086] In some embodiments, at least one auxiliary operating device 110 can be used to receive a first user operation action and, based on the first user operation action, control at least one driven tool to activate the energy delivery function. In some embodiments, at least one auxiliary operating device 110 can be used to receive the first user operation action, generate energy delivery trigger information based on the first user operation action, and send the energy delivery trigger information to the control device 130. The control device 130 can be used to receive the energy delivery trigger information, generate an energy activation signal based on the energy delivery trigger information, and send the energy activation signal to at least one driven tool. At least one driven tool can control the energy output to start based on the energy activation signal, thereby enabling at least one driven tool to activate the energy delivery function.

[0087] In some embodiments, at least one auxiliary operating device 110 can be used to receive a second user operation action and, based on the second user operation action, control at least one driven tool to shut down its energy delivery function. In some embodiments, at least one auxiliary operating device 110 can be used to receive the second user operation action, generate energy delivery shutdown information based on the second user operation action, and send the energy delivery shutdown information to the control device 130. The control device 130 can be used to receive the energy delivery shutdown information, generate an energy shutdown signal based on the energy delivery shutdown information, and send the energy shutdown signal to at least one driven tool or energy generator. At least one driven tool or energy generator can control the energy output to shut down based on the energy shutdown signal, thereby shutting down the energy delivery function of at least one driven tool.

[0088] In some implementations, at least one auxiliary function of at least one driven tool may also include at least one of suction or rinsing.

[0089] In some embodiments, at least one auxiliary operating device 110 may be used to receive user operation actions and, based on the user operation actions, control at least one driven tool to perform suction and / or rinsing functions to be turned on or off.

[0090] In some embodiments, at least one auxiliary operating device 110 may be used to receive a first user operation action and, based on the first user operation action, control at least one driven tool to perform suction and / or rinsing functions.

[0091] In some embodiments, at least one auxiliary operating device 110 can be used to receive a first user operation action, generate suction trigger information based on the first user operation action, and send the suction trigger information to the control device 130. The control device 130 can be used to receive the suction trigger information, generate a suction start signal based on the suction trigger information, and send the suction start signal to at least one driven tool. At least one driven tool can control the opening of the suction pipeline based on the suction start signal, thereby enabling at least one driven tool to perform the suction function.

[0092] In some embodiments, at least one auxiliary operating device 110 can be used to receive a first user operation action, generate flushing trigger information based on the first user operation action, and send the flushing trigger information to the control device 130. The control device 130 can be used to receive the flushing trigger information, generate a flushing start signal based on the flushing trigger information, and send the flushing start signal to at least one driven tool. At least one driven tool can control the opening of the flushing pipeline based on the flushing start signal, thereby enabling at least one driven tool to perform the flushing function.

[0093] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action and, based on the second user operation action, control at least one driven tool to shut down the suction function and / or rinsing function.

[0094] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action, generate suction closure information based on the second user operation action, and send the suction closure information to the control device 130. The control device 130 may be used to receive the suction closure information, generate a suction closure signal based on the suction closure information, and send the suction closure signal to at least one driven tool. At least one driven tool may control the suction conduit to close based on the suction closure signal, thereby closing the suction function performed by at least one driven tool.

[0095] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action, generate flushing shutdown information based on the second user operation action, and send the flushing shutdown information to the control device 130. The control device 130 may be used to receive the flushing shutdown information, generate a flushing shutdown signal based on the flushing shutdown information, and send the flushing shutdown signal to at least one driven tool. At least one driven tool may control the flushing pipeline to close based on the flushing shutdown signal, thereby closing the flushing function performed by at least one driven tool.

[0096] Those skilled in the art will understand that during the execution of any auxiliary functions listed in some of the above embodiments, such as energy delivery, suction, and rinsing, at least one slave tool can operate in a normal master-slave control mode. In some embodiments, in the normal master-slave control mode, the control device 130 can be used to control the movement of at least one slave tool. The control device 130 can obtain master operation information from at least one master operator, and, based on the master operation information, determine a motion control signal for at least one slave tool. The motion control signal is used to control the movement of at least one slave tool. For example, the motion control signal may include a pose control signal for controlling at least one slave tool to follow the pose changes of at least one master operator and / or a tension control signal for controlling the tension angle of the end effector of at least one slave tool.

[0097] In some embodiments, at least one assistive function of at least one driven tool may also include a motion-limiting function.

[0098] In some embodiments, at least one auxiliary operating device 110 may be used to control at least one driven tool to perform operations under motion-restricted functionality based on user operation actions (e.g., a first user operation action). In some embodiments, at least one auxiliary operating device 110 may also be used to control the disabling of motion-restricted functionality of at least one driven tool based on user operation actions (e.g., a second user operation action).

[0099] In some embodiments, at least one auxiliary operating device 110 may be used to receive a first user operation action and, based on the first user operation action, control at least one driven tool to perform operations under motion-restricted functionality. In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action and, based on the second user operation action, control the disabling of motion-restricted functionality of at least one driven tool.

[0100] In some embodiments, at least one auxiliary operation device 110 can be used to receive user operation actions, generate auxiliary operation information based on the user operation actions, and send the auxiliary operation information to the control device 130. The control device 130 can be used to receive the auxiliary operation information from at least one auxiliary operation device 110, generate an auxiliary operation signal based on the auxiliary operation information, and control at least one driven tool to perform an operation under motion-restricted functionality or control the disabling of motion-restricted functionality of at least one driven tool based on the auxiliary operation signal. In some embodiments, user operation actions may include a first user operation action and a second user operation action. Correspondingly, the auxiliary operation information may include restricted trigger information and restricted deactivation information, and the auxiliary operation signal may include a restricted activation signal and a restricted deactivation signal, wherein the restricted activation signal is used to control at least one driven tool to perform an operation under motion-restricted functionality, and the restricted deactivation signal is used to control the disabling of motion-restricted functionality of at least one driven tool.

[0101] In some embodiments, the first user operation and / or the second user operation may be similar to some of the embodiments described above, and will not be repeated here.

[0102] In some embodiments, the control device 130 may be configured to activate a motion-restricted mode in response to a restricted activation signal, thereby controlling at least one driven tool to perform operations under motion-restricted functionality. In motion-restricted mode, the control device 130 may be configured to generate a restricted control signal controlling at least one driven tool to perform operations under motion-restricted functionality, the restricted control signal being used to limit partial movement of at least one driven tool. In some embodiments, in motion-restricted mode, the control device 130 may be configured to obtain master operation information from at least one master operator, and determine the restricted control signal for at least one driven tool based on the master operation information.

[0103] In some embodiments, the control device 130 may be used to exit the motion-restricted mode in response to a restricted shutdown signal, thereby controlling the shutdown of the motion-restricted function of at least one slave tool. In some embodiments, based on the exit from the motion-restricted mode, at least one slave tool may operate in a normal master-slave control mode, and at least one slave tool may perform operations in the normal master-slave mode. In some embodiments, in the normal master-slave control mode, a motion control signal for at least one slave tool may be determined based on a method similar to some of the embodiments described above, the motion control signal being used to control the motion of at least one slave tool.

[0104] In some embodiments, motion restriction may include degree-of-freedom restriction. In some embodiments, at least one auxiliary operating device 110 may be used to control at least one driven tool to perform operations under degree-of-freedom restriction function based on a first user operation action. The degree-of-freedom restriction function is used to restrict the movement of at least one driven tool in at least one restricted degree of freedom. The at least one restricted degree of freedom includes at least one of the following: at least one positional degree of freedom of at least one driven tool, at least one posture degree of freedom of at least one driven tool, and at least one opening and closing degree of freedom of the end effector of at least one driven tool. In some embodiments, at least one auxiliary operating device 110 may also be used to control the deactivation of the degree-of-freedom restriction function of at least one driven tool based on a second user operation action.

[0105] In some embodiments, degree-of-freedom restriction includes at least one of position restriction, orientation restriction, and opening / closing restriction. The degree-of-freedom restriction function includes at least one of position restriction, orientation restriction, and opening / closing restriction functions. The position restriction function is used to restrict the movement of at least one driven tool in at least one positional degree of freedom. The orientation restriction function is used to restrict the movement of at least one driven tool in at least one orientation degree of freedom. The opening / closing restriction function is used to restrict the movement of the opening / closing degree of freedom of at least one end effector of the driven tool.

[0106] In some embodiments, at least one auxiliary operating device 110 may be used to receive a first user operation action, generate degree-of-freedom restricted trigger information based on the first user operation action, and send the degree-of-freedom restricted trigger information to the control device 130. The control device 130 may be used to receive the degree-of-freedom restricted trigger information, generate a degree-of-freedom restricted activation signal based on the degree-of-freedom restricted trigger information, and control at least one driven tool to perform operations under degree-of-freedom restricted functionality based on the degree-of-freedom restricted activation signal. The degree-of-freedom restricted trigger information may include at least one of position restricted trigger information, posture restricted trigger information, and opening / closing restricted trigger information; correspondingly, the degree-of-freedom restricted activation signal may include at least one of position restricted activation signal, posture restricted activation signal, and opening / closing restricted activation signal.

[0107] In some embodiments, the control device 130 may be configured to activate a position-restricted mode in response to a position-restricted opening signal. In the position-restricted mode, a position-restricted control signal may be determined for controlling at least one driven function to perform operations under the position-restricted function. The position-restricted control signal is used to allow the posture of at least one driven tool to follow and to restrict the position change of at least one driven tool. And / or, the control device 130 may be configured to activate a posture-restricted mode in response to a posture-restricted opening signal. In the posture-restricted mode, a posture-restricted control signal may be determined for controlling at least one driven function to perform operations under the posture-restricted function. The posture-restricted control signal is used to allow the position of at least one driven tool to follow and to restrict the posture change of at least one driven tool. And / or, the control device 130 may be configured to activate a tension-tension-restricted mode in response to a tension-tension-restricted opening signal. In the tension-tension-restricted mode, a tension-tension-restricted control signal is used for controlling at least one driven function to perform operations under the tension-tension-restricted function. The tension-tension-restricted control signal is used to maintain the tension-tension angle and / or clamping force of the end effector of at least one driven tool.

[0108] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action, generate degree-of-freedom restricted closure information based on the second user operation action, and send the degree-of-freedom restricted closure information to the control device 130. The control device 130 may be used to receive the degree-of-freedom restricted closure information, generate a degree-of-freedom restricted closure signal based on the degree-of-freedom restricted closure information, and control the closure of the degree-of-freedom restricted function of at least one driven tool based on the degree-of-freedom restricted closure signal. The degree-of-freedom restricted closure information may include at least one of position restricted closure information, posture restricted closure information, and opening / closing restricted closure information; correspondingly, the degree-of-freedom restricted closure signal may include at least one of position restricted closure signal, posture restricted closure signal, and opening / closing restricted closure signal.

[0109] In some embodiments, the control device 130 may be used to exit the position-restricted mode and switch to a previous operating mode (e.g., normal master-slave control mode) in response to a position-restricted shutdown signal; and / or, the control device 130 may be used to exit the attitude-restricted mode and switch to a previous operating mode (e.g., normal master-slave control mode) in response to an attitude-restricted shutdown signal; and / or, the control device 130 may be used to exit the opening-closing-restricted mode and switch to a previous operating mode (e.g., normal master-slave control mode) in response to an opening-closing-restricted shutdown signal.

[0110] In some implementations, the degree-of-freedom restriction function may include a position-restricted function. At least one auxiliary operating device 110 may be used to receive a first user operation action, generate position-restricted trigger information based on the first user operation action, and send the position-restricted trigger information to the control device 130. The control device 130 may be used to receive the position-restricted trigger information, generate a position-restricted activation signal based on the position-restricted trigger information, and control at least one driven tool to perform operations under the position-restricted function based on the position-restricted activation signal.

[0111] In some embodiments, the control device 130 may be configured to activate a position-restricted mode in response to a position-restricted activation signal. In the position-restricted mode, it may obtain master operation information from at least one master operator and determine a position-restricted control signal for at least one slave tool based on the master operation information. The position-restricted control signal is used to allow the at least one slave tool to follow the posture and restrict the position change of the at least one slave tool.

[0112] In some embodiments, in a position-restricted mode, the control device 130 can be used to determine the current posture of at least one master operator based on operation information from at least one master operator.

[0113] In some embodiments, the current pose of at least one master manipulator can be the pose of at least one master manipulator relative to the master manipulator base coordinate system. For example, the current pose of at least one master manipulator can be the pose of the coordinate system defined by the handle of at least one master manipulator or a portion thereof relative to the master manipulator base coordinate system (e.g., the coordinate system defined by the support or base on which at least one master manipulator is located, or the world coordinate system). In some embodiments, determining the current pose of at least one master manipulator includes determining the current pose of the handle of at least one master manipulator relative to the master manipulator base coordinate system.

[0114] In some embodiments, the current attitude of at least one master operator can be determined based on coordinate transformation. For example, the current attitude of at least one master operator's handle can be determined based on the transformation relationship between the coordinate system of the master operator's handle and the master operator's base coordinate system. Typically, the master operator's base coordinate system can be set on the bracket or base on which the master operator is located, and the master operator's base coordinate system remains unchanged during teleoperation.

[0115] In some embodiments, the operation information of at least one master manipulator may include joint information of at least one joint of the at least one master manipulator. The current pose of at least one master manipulator can be calculated based on the joint information of at least one joint; for example, the current pose of at least one master manipulator can be calculated based on a forward kinematics algorithm.

[0116] In some embodiments, at least one master operator may be such asFigure 3 The at least one master operator 300 shown may include at least one joint of the at least one master operator 300 (e.g., Figure 3 The joint information of joints 3111-3117 is shown. Based on the joint information of at least one joint, the current pose of the handle of at least one master manipulator relative to the base coordinate system of the master manipulator can be determined. For example, as Figure 3 The at least one master manipulator 300 shown has first joint 3111, second joint 3112, fifth joint 3115, sixth joint 3116, and seventh joint 3117 as attitude joints, used to adjust the attitude of the handle 330 of the at least one master manipulator 300. Based on joint information (such as angles) acquired by the master manipulator sensors and a forward kinematics algorithm, the current attitude of the handle 330 of the at least one master manipulator 300 is calculated. The current attitude of the handle of the at least one master manipulator can be used as the current attitude of the at least one master manipulator.

[0117] In some embodiments, in a position-constrained mode, the control device 130 can be used to obtain the current pose of at least one driven tool. In some embodiments, the current driving information (such as angle) of at least one driven tool is obtained through a driving device sensor, and the current pose of the driven tool is determined based on the current driving information. For example, the current pose of the driven tool can be calculated using a forward kinematics algorithm.

[0118] In some embodiments, in a position-constrained mode, the control device 130 can be used to determine the target pose of at least one slave tool based on the current pose of at least one master manipulator, the current pose of at least one slave tool, and the pose mapping relationship between at least one master manipulator and at least one slave tool.

[0119] In some embodiments, the pose mapping relationship between at least one master manipulator and at least one slave tool includes the relationship between the pose of at least one slave tool or the pose of its image on the display relative to a reference coordinate system and the pose of at least one master manipulator relative to the reference coordinate system. The reference coordinate system includes the coordinate system of the space in which at least one master manipulator resides or the world coordinate system. In some embodiments, the reference coordinate system may be based on the operator's haptic perception, thus taking into account the pose of the image of at least one slave tool on the display relative to the reference coordinate system.

[0120] In some implementations, under position-restricted functionality, the position change of at least one slave tool can be restricted. For example, the position of at least one slave tool can be maintained at a previous position (e.g., the position of the control cycle before switching to position-restricted mode). Therefore, the pose relationship between at least one master operator and at least one slave tool can include the attitude relationship between at least one master operator and at least one slave tool. The attitude relationship between at least one master operator and at least one slave tool can include the relationship between the attitude change of at least one master operator and the attitude change of at least one slave tool, such as equality.

[0121] In some embodiments, in a position-constrained mode, the control device 130 may be used to determine a position-constrained control signal based on the target posture of at least one driven tool.

[0122] In some embodiments, a position-constrained control signal for driving at least one drive device of at least one driven tool is generated based on the target pose of at least one driven tool. In some embodiments, the position-constrained control signal for driving at least one drive device of at least one driven tool is generated based on the current pose and target pose of at least one driven tool. For example, the position-constrained control signal for driving at least one drive device of at least one driven tool is calculated based on an inverse kinematics algorithm.

[0123] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action, generate position-restricted closure information based on the second user operation action, and send the position-restricted closure information to the control device 130. The control device 130 may be used to receive the position-restricted closure information, generate a position-restricted closure signal based on the position-restricted closure information, and control the closure of the position-restricted function of at least one slave tool based on the position-restricted closure signal. In some embodiments, the control device 130 may be used to exit the position-restricted mode in response to the position-restricted closure signal and switch to a previous operating mode (e.g., normal master-slave control mode). In some embodiments, in the normal master-slave control mode, a motion control signal for at least one slave tool may be determined based on a method similar to some of the embodiments described above, and the motion control signal is used to control the movement of at least one slave tool.

[0124] In some implementations, the degree-of-freedom restricted function may include an attitude restricted function. At least one auxiliary operation device 110 may be used to receive a first user operation action, generate attitude restricted trigger information based on the first user operation action, and send the position restricted trigger information to the control device 130. The control device 130 may be used to receive the position restricted trigger information, generate an attitude restricted activation signal based on the attitude restricted trigger information, and control at least one slave tool to perform operations under the attitude restricted function based on the attitude restricted activation signal.

[0125] In some embodiments, the control device 130 may be used to activate an attitude-restricted mode in response to an attitude-restricted activation signal. In the attitude-restricted mode, it may obtain master operation information from at least one master operator and determine an attitude-restricted control signal for at least one slave tool based on the master operation information. The attitude-restricted control signal is used to allow the position of at least one slave tool to follow and restrict the attitude change of at least one slave tool.

[0126] In some embodiments, in a posture-restricted mode, the control device 130 can be used to determine the current position of at least one master operator based on operation information from at least one master operator.

[0127] In some embodiments, the current position of at least one master operator can be the position of at least one master operator relative to a master operator base coordinate system. For example, the current position of at least one master operator can be the position of the coordinate system defined by the handle or a portion thereof of at least one master operator relative to the master operator base coordinate system (e.g., the coordinate system defined by the bracket or base on which at least one master operator is located, or the world coordinate system). In some embodiments, determining the current position of at least one master operator includes determining the current position of the handle of at least one master operator relative to the master operator base coordinate system.

[0128] In some embodiments, the current position of at least one master operator can be determined based on coordinate transformation. For example, the current orientation of at least one master operator's handle can be determined based on the transformation relationship between the coordinate system of the master operator's handle and the master operator's base coordinate system.

[0129] In some embodiments, the operation information of at least one master manipulator may include joint information of at least one joint of the at least one master manipulator. The current position of at least one master manipulator can be calculated based on the joint information of at least one joint, for example, the current position of at least one master manipulator can be calculated based on a forward kinematics algorithm.

[0130] In some embodiments, at least one master operator may be such as Figure 3 The at least one master operator 300 shown may include at least one joint of the at least one master operator 300 (e.g., Figure 3 The joint information of joints 3111-3117 is shown. Based on the joint information of at least one joint, the current position of the main manipulator's handle relative to the main manipulator's base coordinate system can be determined. For example, as Figure 3The at least one master actuator 300 shown has a first joint 3111, a second joint 3112, and a third joint 3113 as position joints for adjusting the position of the handle 330 of the at least one master actuator 300. Based on joint information (such as position) acquired by the master actuator sensors of the position joints and a forward kinematics algorithm, the current position of the handle 330 of the at least one master actuator 300 is calculated. The current position of the handle of the at least one master actuator can be used as the current position of the at least one master actuator.

[0131] In some embodiments, in a posture-constrained mode, the control device 130 can be used to obtain the current pose of at least one driven tool. In some embodiments, a method similar to that described in some of the above embodiments can be used to obtain the current pose of at least one driven tool, which will not be elaborated here.

[0132] In some embodiments, in a posture-constrained mode, the control device 130 can be used to determine the target position of the slave tool based on the current position of at least one master manipulator, the current pose of at least one slave tool, and the pose mapping relationship between at least one master manipulator and at least one slave tool.

[0133] In some embodiments, the pose mapping relationship between at least one master manipulator and at least one slave tool includes the relationship between the pose of at least one slave tool or the pose of its image on the display relative to a reference coordinate system and the pose of at least one master manipulator relative to the reference coordinate system. The reference coordinate system includes the coordinate system of the space in which at least one master manipulator resides or the world coordinate system. In some embodiments, the reference coordinate system may be based on the operator's haptic perception, thus taking into account the pose of the image of at least one slave tool on the display relative to the reference coordinate system.

[0134] In some implementations, under attitude-restricted functionality, attitude changes of at least one slave tool can be restricted. For example, the attitude of at least one slave tool can be maintained at a previous attitude (e.g., the attitude of the control cycle prior to switching to attitude-restricted mode). Therefore, the pose relationship between at least one master operator and at least one slave tool can include the positional relationship between at least one master operator and at least one slave tool, which can include the relationship between the positional change of at least one master operator and the positional change of at least one slave tool, such as proportionality.

[0135] In some embodiments, in a posture-restricted mode, the control device 130 may be used to determine a posture-restricted control signal based on the target position of the driven tool. The posture-restricted control signal is used to allow the position of at least one driven tool to follow and to restrict the posture change of at least one driven tool.

[0136] In some embodiments, a posture-constrained control signal for at least one drive device for driving at least one driven tool is generated based on the target position of at least one driven tool.

[0137] In some embodiments, an attitude-constrained control signal for driving at least one drive mechanism of at least one driven tool is generated based on the current position and target position of at least one driven tool. For example, the attitude-constrained control signal for driving at least one drive mechanism of at least one driven tool is calculated based on an inverse kinematics algorithm.

[0138] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action, generate attitude restriction closure information based on the second user operation action, and send the attitude restriction closure information to the control device 130. The control device 130 may be used to receive the attitude restriction closure information, generate an attitude restriction closure signal based on the attitude restriction closure information, and control the closure of the attitude restriction function of at least one slave tool based on the attitude restriction closure signal. In some embodiments, the control device 130 may be used to exit the attitude restriction mode in response to the attitude restriction closure signal and switch to a previous operating mode (e.g., normal master-slave control mode). In some embodiments, in the normal master-slave control mode, a motion control signal for at least one slave tool may be determined based on a method similar to some of the embodiments described above, and the motion control signal is used to control the movement of at least one slave tool.

[0139] In some embodiments, at least one driven tool has an opening / closing function at its end. Under position-restricted or posture-restricted functions, the unrestricted degrees of freedom of at least one driven tool may further include the opening / closing degree of freedom of the end-effector. Under position-restricted or posture-restricted functions, the opening / closing degree of freedom of the end-effector can be controlled based on the clamping information of at least one master manipulator. In some embodiments, in position-restricted or posture-restricted modes, the control device 130 can be used to determine an opening / closing control signal for driving the opening / closing of the end-effector of at least one driven tool based on clamping information from at least one master manipulator. In some embodiments, clamping information (position or angle) of the clamp can be obtained based on a clamping sensor. The opening / closing control signal of the end-effector of at least one driven tool can be determined by converting changes in the rotation angle signal of the clamping member into changes in the displacement signal, converting the changes in the displacement signal into changes in the electrical signal, and then determining the opening / closing control signal of the end-effector of at least one driven tool based on the changes in the electrical signal.

[0140] In some embodiments, the degree-of-freedom restriction function may include a tension-and-open restriction function. At least one auxiliary operation device 110 may be used to receive a first user operation action, generate tension-and-open restriction trigger information based on the first user operation action, and send the tension-and-open restriction trigger information to the control device 130. The control device 130 may be used to receive the tension-and-open restriction trigger information, generate a tension-and-open restriction opening signal based on the tension-and-open restriction trigger information, and control at least one driven tool to perform operations under the tension-and-open restriction function based on the tension-and-open restriction opening signal.

[0141] In some embodiments, the control device 130 may be configured to activate a tension-limited mode in response to a tension-limited opening signal. In the tension-limited mode, a tension-limited control signal of at least one driven tool may be determined to maintain the tension angle and / or clamping force of the end-effector of at least one driven tool.

[0142] In some embodiments, in the restricted opening / closing mode, the control device 130 may be used to obtain a prior opening / closing control signal for at least one driven tool, the prior opening / closing drive signal being used to control the prior opening / closing angle and / or clamping force of the end device of at least one driven tool.

[0143] In some embodiments, at least one drive unit of at least one driven tool includes a tensioning drive module (e.g., a motor) for driving the end tensioning and closing of at least one driven tool, and can obtain a previous tensioning and closing control signal of the tensioning and closing drive module of at least one driven tool, for example, the tensioning and closing control signal of the tensioning and closing drive module of at least one driven tool in the control cycle before at least one driven tool switches to a tensioning and closing restricted mode.

[0144] In some embodiments, in the tension-limited mode, the control device 130 can be used to determine a tension-limited control signal for at least one driven tool based on a previous tension-limited control signal. This tension-limited control signal is used to maintain the tension angle and / or clamping force of the end effector of at least one driven tool. In some embodiments, the previous tension-limited control signal can be used as the tension-limited control signal to control the movement of the tension-limited drive module, maintaining the tension angle and / or clamping force of the end effector of at least one driven tool at the previous tension angle and / or clamping force.

[0145] In some embodiments, under the tension-restriction function, the unrestricted degrees of freedom of at least one slave tool may include positional degrees of freedom and orientational degrees of freedom, and the at least one slave tool may move in positional and orientational degrees of freedom based on the control of at least one master manipulator. In some embodiments, in the tension-restriction mode, the control device 130 may be used to determine the current pose of at least one master manipulator based on the operation information of at least one master manipulator; obtain the current pose of at least one slave tool; determine the target pose of at least one slave tool based on the current pose of at least one master manipulator, the current pose of at least one slave tool, and the pose mapping relationship between at least one master manipulator and at least one slave tool; and determine the pose control signal of at least one slave tool based on the target pose of at least one slave tool.

[0146] In some embodiments, the current pose of at least one master manipulator includes the current position and current orientation of at least one master manipulator, which can be determined using the methods described in some of the above embodiments. The target pose of at least one slave tool includes the target position and target orientation of at least one slave tool, which can be determined using the methods described in some of the above embodiments. In some embodiments, a pose control signal for driving at least one drive device of at least one slave tool can be generated based on the current pose and target pose of at least one slave tool. For example, the pose control signal for driving at least one drive device of at least one slave tool can be calculated based on an inverse kinematics algorithm.

[0147] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action, generate tension-limited closing information based on the second user operation action, and send the tension-limited closing information to the control device 130. The control device 130 may be used to receive the tension-limited closing information, generate a tension-limited closing signal based on the tension-limited closing information, and control the closure of the tension-limited function of at least one driven tool based on the tension-limited closing signal. In some embodiments, the control device 130 may be used to exit the tension-limited mode in response to the tension-limited closing signal and switch to a previous operating mode (e.g., normal master-slave control mode). In some embodiments, in the normal master-slave control mode, a motion control signal for at least one driven tool may be determined based on a method similar to some of the embodiments described above, and the motion control signal is used to control the movement of at least one driven tool.

[0148] In some embodiments, at least one driven tool may simultaneously activate both a position-restricted function and a tension-restricted function, so that at least one driven tool can simultaneously perform operations under both the position-restricted function and the tension-restricted function. The control device 130 may be used to obtain restricted control signals, which may include position-restricted signals and tension-restricted control signals.

[0149] In some embodiments, at least one driven tool may simultaneously activate both its attitude restriction function and its opening / closing restriction function, so that at least one driven tool can simultaneously perform operations under both the attitude restriction function and the opening / closing restriction function. The control device 130 may be used to obtain restriction control signals, which may include attitude restriction control signals and opening / closing restriction control signals.

[0150] In some embodiments, motion restriction may include motion range restriction. In some embodiments, at least one auxiliary operating device 110 is used to control at least one driven tool to perform operations under the motion range restriction function based on user operation actions (e.g., a first user operation action), the motion range restriction function being used to limit the movement of at least one driven tool within a set range. In some embodiments, at least one auxiliary operating device 110 may also be used to control the disabling of the motion range restriction function of at least one driven tool based on user operation actions (e.g., a second user operation action).

[0151] In some embodiments, at least one auxiliary operating device 110 may be used to receive a first user operation action, generate area-restricted trigger information based on the first user operation action, and send the area-restricted trigger information to the control device 130. The control device 130 may be used to receive the area-restricted trigger information, generate an area-restricted activation signal based on the area-restricted trigger information, and control at least one driven tool to perform operations under the limited range of motion function based on the area-restricted activation signal.

[0152] In some embodiments, the control device 130 may be configured to activate a motion range restricted mode in response to a region restricted activation signal. In the motion range restricted mode, a region restricted control signal may be determined for controlling at least one driven function to operate under the motion range restricted mode. The region restricted control signal is used to restrict the movement of at least one driven tool within a set motion area. In some embodiments, the control device 130 may be configured to obtain master operation information from at least one master operator, and determine the region restricted control signal of at least one driven tool based on the master operation information.

[0153] In some embodiments, in a limited motion mode, the control device 130 can be used to obtain a virtual motion boundary of at least one driven tool. In some embodiments, the virtual motion boundary may be preset or determined based on the surrounding environment of at least one driven tool.

[0154] In some embodiments, under a limited range of motion mode, the control device 130 can be used to determine the current pose of at least one master operator based on operation information from at least one master operator. The current pose of at least one master operator includes the current position and current orientation of at least one master operator, which can be obtained using the methods described in some of the above embodiments, and will not be repeated here.

[0155] In some embodiments, in a limited motion mode, the control device 130 can be used to obtain the current pose of at least one driven tool. In some embodiments, a method similar to that described in some of the above embodiments can be used to obtain the current pose of at least one driven tool, which will not be repeated here.

[0156] In some embodiments, in a motion-limited mode, the control device 130 can be used to determine the target pose of at least one slave tool based on the current pose of at least one master manipulator, the current pose of at least one slave tool, and the pose mapping relationship between at least one master manipulator and at least one slave tool.

[0157] In some embodiments, in a motion-limited mode, the control device 130 can determine a region-limited control signal based on the target pose of at least one slave tool not exceeding a virtual motion boundary, and control at least one slave tool to follow the movement of at least one master manipulator based on the region-limited control signal. In some embodiments, the target pose of at least one slave tool includes a target position and a target orientation; the determination that the target pose of at least one slave tool does not exceed a virtual motion boundary is based on the target position not exceeding a virtual motion boundary.

[0158] In some embodiments, in a motion-limited mode, the control device 130 can be used to update the target pose of at least one slave tool based on the current pose of at least one slave tool, since the target pose of at least one slave tool exceeds the virtual motion boundary. And, in step 8013, a region-limited control signal is determined based on the updated target pose, so as to control the movement of at least one slave tool based on the region-limited control signal.

[0159] In some embodiments, the target pose of at least one slave tool includes a target position and a target orientation. Based on the fact that the target position of at least one slave tool exceeds the virtual motion boundary, it is determined that the target pose of at least one slave tool exceeds the virtual motion boundary.

[0160] In some embodiments, since the target pose of at least one follower tool exceeds the virtual motion boundary, the motion path of at least one follower tool can be determined based on its current pose and target pose. The target position of at least one follower tool can be updated to the intersection of the motion path and the virtual motion boundary, while the target pose of at least one follower tool remains unchanged, thus obtaining the updated target pose. The movement of at least one follower tool can be controlled based on the updated target pose, ensuring that the position of at least one follower tool does not exceed the virtual motion boundary and that the pose of at least one follower tool follows the target pose.

[0161] In some embodiments, if the target pose of at least one slave tool exceeds the virtual motion boundary, an over-limit warning message can be fed back. For example, the over-limit warning message can be displayed on the display of the main operator (e.g., display 402, display 403) to remind the user and thus obtain a better operating experience.

[0162] In some embodiments, at least one auxiliary operating device 110 may be used to receive a second user operation action, generate area-restricted closure information based on the second user operation action, and send the area-restricted closure information to the control device 130. The control device 130 may be used to receive the area-restricted closure information, generate an area-restricted closure signal based on the area-restricted closure information, and control the closure of the motion range restriction function of at least one slave tool based on the area-restricted closure signal. In some embodiments, the control device 130 may be used to exit the motion range restriction mode in response to the area-restricted closure signal and switch to a previous operating mode (e.g., normal master-slave control mode). In some embodiments, in the normal master-slave control mode, a motion control signal for at least one slave tool may be determined based on a method similar to some of the embodiments described above, and the motion control signal is used to control the movement of at least one slave tool.

[0163] Some embodiments of this disclosure provide a surgical robot system. Figure 5 A structural block diagram of a surgical robot system 500 according to some embodiments of the present disclosure is shown. Figure 5 As shown, the robotic system 500 may include a surgical cart 510 and a master control cart 520. In some embodiments, the surgical cart 510 includes a robotic arm 511 and at least one driven tool 512, the robotic arm 511 being used to carry at least one driven tool 512. In some embodiments, the master control cart 520 includes a control system 521, which may be a control system for a surgical robot according to any of the embodiments of this disclosure, such as control system 100. In some embodiments, the master control cart 520 and the surgical cart 510 may be communicatively connected, for example, via a cable connection or a wireless connection.

[0164] Figure 6 A schematic diagram of a surgical robot system 600 according to some embodiments of the present disclosure is shown. In some embodiments of the present disclosure, see [reference] Figure 6 The surgical robot system 600 may include a surgical carriage 610 and a master carriage 620. In some embodiments, the surgical carriage 610 includes a robotic arm 611 and at least one slave tool 612.

[0165] In some embodiments, the robotic arm 611 is used to carry at least one driven tool 612. In some embodiments, the robotic arm 611 may include a multi-degree-of-freedom motion arm composed of multiple joints. In some embodiments, each joint of the robotic arm 611 may include a joint motor that drives the corresponding joint to rotate under the control of a control device, causing the multiple motion arms to move in space to form a desired configuration, thereby enabling the deployment and positioning of the robotic arm 611. In this disclosure, positioning refers to the adjustment of the configuration of the robotic arm 611 of the robot system to achieve a positioning configuration in which the task can be performed. In some embodiments, the positioning of the robotic arm 611 may include the deployment, adjustment, and positioning of at least one motion arm (e.g., connected to a surgical connection device).

[0166] In some embodiments, at least one slave tool 612 may include a manipulator and an end effector (e.g., a surgical instrument) disposed at the end of the manipulator. In some embodiments, at least one slave tool 612 is, for example, a surgical instrument or an imaging instrument.

[0167] In some embodiments, the main control carriage 620 is communicatively connected to the operating carriage 610, and is used to control surgical instruments to perform surgical operations or to control imaging instruments to perform intraoperative image acquisition operations. In some embodiments, the main control carriage 620 and the operating carriage 610 are connected via wired or wireless transmission. For example, the main control carriage 620 and the operating carriage 610 can be connected via a cable 630.

[0168] In some implementations, such as Figure 6 The main control carriage 620 shown may include a control system, which may be a control system for a surgical robot according to any of the embodiments of this disclosure, such as control system 100. In some embodiments, the main control carriage 620 may be, for example, as shown in the figure below. Figure 4The main control carriage 400 is shown. In some embodiments, the main control carriage 400 includes: a control device (which may be configured on a computer device and located inside the main control carriage 400), at least one main operator 401, a display (e.g., displays 402-404), and pedals (e.g., pedals 405-408, 410). The control device is communicatively connected to at least one main operator 401, the display, and the pedals, respectively, for signal interaction with at least one main operator 401, the main control carriage display, and the pedals, and for generating corresponding control commands based on collected control information. In some embodiments, the control device of the main control carriage 400 is also communicatively connected to a surgical carriage, for example, with... Figure 6 The surgical cart 610 shown is communicatively connected (e.g., communicatively connected to the control device of the surgical cart 610) for controlling surgical tools to perform surgical operations or controlling imaging tools to operate based on operation signals from at least one master operator 401. In some embodiments, the control device of the master control cart 400 may specifically be, for example, a master computer located inside the master control cart 400. In some embodiments, the displays in the master control cart 400 include a stereoscopic display 402, a master external display 403, and a master touch display 404. The stereoscopic display 402 displays surgical images and system status prompts, the master external display 403 is used to assist in displaying surgical images and system status prompts, and the touch display 404 displays the software user interface of the master control cart 400. In some embodiments, the master control cart 400 includes at least one auxiliary operating device for receiving user operation actions and generating auxiliary operation information. The control device can determine auxiliary operation actions and auxiliary operation signals based on the auxiliary operation information. The auxiliary operation signals are used to control the execution of at least one auxiliary function of at least one slave tool. In some embodiments, at least one auxiliary operating device may be a pedal, for example, pedals 405-408.

[0169] The control system disclosed herein can be configured with auxiliary functions of the auxiliary operation device according to different types of driven tools and different surgical stages, thereby expanding the functions of the driven tools and meeting surgical needs. Users can quickly and efficiently execute various functions of the driven tools by operating the auxiliary operation device, which helps to improve surgical efficiency and the operator's operating experience.

[0170] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art should understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A control system for a surgical robot, characterized by, The application comprises: at least one auxiliary operation device for receiving user operation actions; a display for displaying at least one configuration menu of at least one driven tool; and a control device in communication connection with the at least one auxiliary operation device and the display; the control device is used to perform a configuration operation on the at least one auxiliary operation device based on the at least one configuration menu, so as to assign at least one auxiliary function of at least one driven tool to the at least one auxiliary operation device, the at least one auxiliary operation device is used to control the at least one driven tool to perform an operation based on the assigned at least one auxiliary function.

2. The control system of claim 1, wherein, The control device is also used to perform the configuration operation on the at least one auxiliary operation device based on configuration information in response to a configuration trigger signal, the configuration information comprising a mapping relationship between the at least one auxiliary function of at least one driven tool and at least one auxiliary operation device.

3. The control system of claim 2, wherein, The configuration trigger signal comprises any one of a driven tool installation completion signal, a driven tool state ready signal, and a configuration start signal.

4. The control system of claim 3, wherein, The application further comprises: at least one trigger in communication connection with the control device, for receiving a user trigger action and generating the configuration start signal.

5. The control system of claim 3, wherein, The control device is also used to determine at least one configuration menu of the at least one driven tool in response to the configuration trigger signal.

6. The control system of claim 5, wherein, The control device is also used to determine at least one configuration menu of the at least one driven tool based on available auxiliary function information of the at least one driven tool, the available auxiliary function information comprising a plurality of available auxiliary functions corresponding to a driven tool type of the at least one driven tool.

7. The control system of claim 2, wherein, The control device is also used to perform the configuration operation on the at least one auxiliary operation device based on at least one configuration confirmation signal.

8. The control system of any one of claims 1 to 7, wherein, The display is also used to display a configuration result based on completion of the configuration operation.

9. The control system of any one of claims 1 to 7, wherein, The application further comprises: at least one main operator for manipulating the movement of the at least one driven tool; The at least one main operator comprises a left main operator and a right main operator, and the at least one driven tool comprises a first driven tool manipulated by the left main operator and a second driven tool manipulated by the right main operator; The at least one auxiliary operation device comprises a first group of auxiliary operation mechanisms and a second group of auxiliary operation mechanisms, and the first group of auxiliary operation mechanisms and the second group of auxiliary operation mechanisms are respectively in communication connection with the control device.

10. The control system of claim 9, wherein, The first group of auxiliary operation mechanisms is located on the left side of the second group of auxiliary operation mechanisms.

11. The control system of claim 9, wherein, The first group of auxiliary operation mechanisms and / or the second group of auxiliary operation mechanisms comprise a pedal group.

12. The control system of any one of claims 1 to 7, wherein, The at least one auxiliary function comprises at least one of energy delivery, suction, flushing, and movement restriction.

13. The control system of claim 12, wherein, The at least one auxiliary operation device is also used to control the at least one driven tool to turn on or off the assigned at least one auxiliary function based on the user operation action.

14. The control system of claim 12, wherein, The at least one auxiliary operation device is also used to control the at least one driven tool to perform an operation under the movement restriction function based on the user operation action.

15. The control system of claim 14, wherein, The motion limitation comprises a range limitation, and the at least one auxiliary operating device is configured to control the at least one driven tool to perform an operation in a range limitation function based on the user operation action, the range limitation function being configured to limit a motion of the at least one driven tool within a set range.

16. The control system of claim 14, wherein, The motion limitation comprises a degree of freedom limitation, and the at least one auxiliary operating device is configured to control the at least one driven tool to perform an operation in a degree of freedom limitation function based on the user operation action, the degree of freedom limitation function being configured to limit a motion of the at least one driven tool in at least one limited degree of freedom, the at least one limited degree of freedom comprising at least one of: at least one position degree of freedom of the at least one driven tool, at least one posture degree of freedom of the at least one driven tool, and a grip degree of freedom of an end instrument of the at least one driven tool.

17. A surgical robotic system, characterized by, The operating system comprises: a surgical trolley comprising a mechanical arm configured to carry at least one driven tool; and a master trolley comprising the control system according to any one of claims 1 to 16, the master trolley being communicatively connected to the surgical trolley. ​

Images