Surgical robotic system and surgical operating device

Abstract

The application discloses a surgical robot system and a surgical operating device. The surgical robot system comprises a first surgical operating device comprising at least one first mechanical arm, a second surgical operating device comprising at least one second mechanical arm, an environment information acquisition assembly comprising a support arm with at least one joint and an environment information acquisition device, the support arm being arranged on at least one of the first surgical operating device and the second surgical operating device and supporting the environment information acquisition device, the environment information acquisition device being used for acquiring environment information comprising a target mechanical arm, the target mechanical arm comprising at least one mechanical arm of the one or more first mechanical arms and the one or more second mechanical arms, and a control device used for controlling the support arm to move in at least one degree of freedom. In the application, the environment information acquisition device can acquire the environment information comprising the target mechanical arm in the at least one degree of freedom.

Description

Technical Field

[0001] This application relates to the field of surgical robots, and more particularly to a surgical robot system and surgical operating device. Background Technology

[0002] In the current medical field, the use of surgical robots to improve surgical automation and outcomes has become a common practice. During surgery, the operator can perform the procedure based on video and images from the surgical field of view.

[0003] However, operating rooms typically contain instrument tables, operating beds, and other components, and surgical robots themselves have multiple robotic arms, all of which contribute to the complexity of the operating room environment. Operators who can promptly understand the operational status of these components can perform surgical procedures more effectively. Utility Model Content

[0004] To address the aforementioned technical problems, this application provides a surgical robot system and surgical operating device. The surgical robot of this application is capable of acquiring environmental information of a multi-degree-of-freedom target robotic arm.

[0005] This application is achieved through the following technical solution.

[0006] A first aspect of this application provides a surgical robot system, comprising: a first surgical operating device including at least one first robotic arm; a second surgical operating device including at least one second robotic arm; an environmental information acquisition component including a support arm having at least one joint and an environmental information acquisition device, the support arm being disposed on at least one of the first surgical operating device and the second surgical operating device and supporting the environmental information acquisition device, the environmental information acquisition device being used to acquire environmental information including a target robotic arm, the target robotic arm including at least one of one or more first robotic arms and one or more second robotic arms; and a control device for controlling the drive mechanism to drive the support arm to move in at least one degree of freedom.

[0007] In this application, the environmental information acquisition device is driven to move in at least one degree of freedom by the support arm, thereby enabling the environmental information acquisition device to acquire environmental information including the target robotic arm in at least one degree of freedom, which helps the surgical operation device to perform surgical operations more effectively.

[0008] In some embodiments of this application, the surgical robot system further includes: a first input control device for controlling the first robotic arm and / or the second robotic arm; a second input control device for controlling the first robotic arm and / or the second robotic arm; at least one of the first input control device and the second input control device is used to input instruction information for controlling the environmental information acquisition component, the instruction information including the target position of the environmental information acquisition component; the control device is used to receive the instruction information and control the movement of the support arm according to the instruction information to move the environmental information acquisition component to the target position.

[0009] This application allows the robotic arm to be controlled via either a first input control device or a second input control device. Therefore, both input control devices can control the movement of the robotic arm, making the surgical robot system applicable to scenarios such as teaching, conferences, and telemedicine.

[0010] In some embodiments of this application, the surgical robot system further includes: a first input control device for controlling the first robotic arm and / or the second robotic arm, the first input control device including a first display device for displaying the environmental information; and a second input control device for controlling the first robotic arm and / or the second robotic arm, the second input control device including a second display device for displaying the environmental information.

[0011] In some embodiments of this application, the control device includes a processing unit that is communicatively connected to the environmental information acquisition component to obtain the environmental information acquired by the environmental information acquisition component; the processing unit generates a motion range of at least one of one or more first robotic arms and one or more second robotic arms based on the environmental information, and the control device controls the movement of at least one of one or more first robotic arms and one or more second robotic arms based on the motion range.

[0012] The processing element can generate the range of motion of the robotic arm based on the environmental information collected by the environmental information acquisition device. By controlling the robotic arm to move according to the range of motion, it helps to reduce collisions between multiple robotic arms and collisions between the robotic arm and other components in the operating room, thereby enabling the surgical operation device to perform surgical operations more effectively.

[0013] In some embodiments of this application, the processing unit is communicatively connected to the first robotic arm and the second robotic arm respectively to obtain kinematic data of the first robotic arm and the second robotic arm; the processing unit generates a range of motion of at least one of the first robotic arm and at least one of the second robotic arms according to the environmental information and the kinematic data, and the control device controls the movement of at least one of the first robotic arm and at least one of the second robotic arms according to the range of motion.

[0014] Combining kinematic data and environmental information to generate the range of motion of the robotic arm helps to obtain a more accurate and precise range of motion, thereby further reducing collisions between multiple robotic arms and collisions between the robotic arm and other components in the operating room.

[0015] In some embodiments of this application, the support arm includes a linkage assembly; wherein the linkage assembly includes at least one of the following linkage assemblies: a first linkage assembly that moves in a forward-backward direction; a second linkage assembly that moves in a left-right direction; a third linkage assembly that moves in a vertical direction; a fourth linkage assembly that rotates about a yaw direction; a fifth linkage assembly that rotates about a pitch direction; and a sixth linkage assembly that rotates about a roll direction.

[0016] In some embodiments of this application, the environmental information acquisition device is disposed on the linkage assembly and moves with the linkage assembly. The environmental information acquisition device includes one or more cameras. The cameras are communicatively connected to the control device. The cameras are used to acquire image information and transmit the image information to the processing unit of the control device. The processing unit obtains the environmental information image of the target robotic arm through the image information.

[0017] By acquiring environmental information through cameras, environmental images can be obtained. These images can then be used to display the operating room environment, providing the operator with a clearer and more precise picture of the conditions.

[0018] In some embodiments of this application, the environmental information acquisition device includes a base and one or more cameras. The cameras are used to acquire image information and transmit the image information to the processing unit of the control device. The processing unit obtains an environmental information image through the image information. The base is disposed on the linkage assembly, and the cameras are disposed on the base. The base includes a base driving device, which is communicatively connected to the control device. The base driving device drives the cameras to rotate according to control signals received from the control device.

[0019] The rotatable base allows for greater freedom of movement for the environmental information acquisition device.

[0020] A second aspect of this application provides a surgical robot system, comprising: a plurality of robotic arms; a first input control device for controlling one or more of the plurality of robotic arms; a second input control device for controlling one or more of the plurality of robotic arms; and an environmental information acquisition component for acquiring environmental information including a target robotic arm, the environmental information being displayed on one or more of a first display device and a second display device, wherein the target robotic arm includes one or more robotic arms controlled by the first input control device and / or one or more robotic arms controlled by the second input control device.

[0021] In this application, environmental information including the target robotic arm can be acquired through the environmental information acquisition component, and the environmental information can be displayed through display devices (first display device and second display device), which helps the surgical operating device to perform surgical operations more effectively.

[0022] Furthermore, the robotic arm can be controlled via either a first input control device or a second input control device. This allows both input control devices to control the movement of the robotic arm, making the surgical robot system of this application suitable for applications such as teaching, conferences, and telemedicine.

[0023] In some embodiments of this application, the surgical robot system further includes a first surgical operating device and a second surgical operating device, wherein one or more robotic arms controlled by the first input control device are disposed in the first surgical operating device, and one or more robotic arms controlled by the second input control device are disposed in the second surgical operating device; or one or more robotic arms controlled by the first input control device are disposed in the first surgical operating device, and a plurality of robotic arms controlled by the second input control device are respectively disposed in the first surgical operating device and the second surgical operating device; or a plurality of first robotic arms controlled by the first input control device are respectively disposed in the first surgical operating device and the second surgical operating device, and a plurality of second robotic arms controlled by the second input control device are respectively disposed in the first surgical operating device and the second surgical operating device.

[0024] In some embodiments of this application, the first surgical operating device is a multi-arm surgical operating device with multiple robotic arms, and the second surgical operating device is a single-arm surgical operating device with a single robotic arm.

[0025] In some embodiments of this application, the environmental information acquisition component includes an environmental information acquisition device and a support arm for supporting the environmental information acquisition device, the support arm being disposed in the second surgical operation device.

[0026] The support arm, mounted on the single-arm surgical device, facilitates the acquisition of environmental information by the environmental data acquisition device from the robotic arm of the multi-arm surgical device. Furthermore, the single-arm surgical device, with only one robotic arm, reduces interference between the robotic arm and the support arm, thereby enabling more efficient surgical procedures.

[0027] In some embodiments of this application, the environmental information is used to enable the surgical robot system to automatically generate the range of motion of at least one of the plurality of robotic arms.

[0028] A third aspect of this application provides a method for operating a surgical robot system. The surgical robot system includes multiple robotic arm environmental information acquisition components. Each environmental information acquisition component includes a support arm with at least one joint and an environmental information acquisition device. The support arm supports the environmental information acquisition device. The method includes: determining a target position of the environmental information acquisition device; controlling the support arm to move the environmental information acquisition device to the target position and acquiring environmental information including a target robotic arm, wherein the target robotic arm includes at least one of the multiple robotic arms; and controlling the movement of at least one of the multiple robotic arms based on the environmental information.

[0029] According to the operating method of the surgical robot system of this application, the robotic arm can be controlled to move according to the range of motion based on environmental information including the target robotic arm. This helps to reduce collisions between multiple robotic arms and collisions between the robotic arm and other components in the operating room, thereby enabling the surgical operating device to perform surgical operations more effectively.

[0030] In some embodiments of this application, controlling the movement of at least one of the plurality of robotic arms based on the environmental information includes: generating the range of motion of at least one of the plurality of robotic arms based on the environmental information; and controlling the movement of at least one of the plurality of robotic arms based on the range of motion.

[0031] In some embodiments of this application, generating the range of motion of at least one of the plurality of robotic arms based on the environmental information includes: generating the range of motion of at least one of the plurality of robotic arms based on the environmental information and the kinematic data of the robotic arms.

[0032] In some embodiments of this application, the surgical robot system further includes a first input control device and a second input control device. The first input control device is used to control the first robotic arm and / or the second robotic arm, and the second input control device is used to control the first robotic arm and / or the second robotic arm. Controlling the support arm to move the environmental information acquisition device to the target position to obtain environmental information containing the target robotic arm includes: at least one of the first input control device and the second input control device inputting instruction information to control the environmental information acquisition component, the instruction information including the target position of the environmental information acquisition device; and controlling the support arm to move according to the instruction information so that the environmental information acquisition device moves to the target position to obtain environmental information containing the target robotic arm.

[0033] The robotic arm can be controlled via either a first input control device or a second input control device. This allows both input control devices to control the movement of the robotic arm, making the surgical robot system of this application suitable for applications such as teaching, conferences, and telemedicine. Attached Figure Description

[0034] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0035] Figure 1 This is a three-dimensional structural diagram of a surgical robot system provided in some embodiments of this application;

[0036] Figure 2 This is a side view structural diagram of a surgical robot system provided in some embodiments of this application;

[0037] Figure 3 This is a top view schematic diagram of a surgical robot system provided in some embodiments of this application;

[0038] Figure 4 This is a first-view structural diagram of an environmental information acquisition component provided in some embodiments of this application;

[0039] Figure 5 This is a second-view structural diagram of an environmental information acquisition component provided in some embodiments of this application;

[0040] Figure 6 A third-view structural diagram of an environmental information acquisition component provided in some embodiments of this application;

[0041] Figure 7 A block diagram illustrating the operation method of a surgical robot system provided in some embodiments of this application;

[0042] Figure 8 A block diagram illustrating the operation method of a surgical robot system provided in some embodiments of this application;

[0043] Figure 9 A block diagram illustrating the operation method of a surgical robot system provided in some embodiments of this application;

[0044] Figure 10 This is a block diagram illustrating the operation method of a surgical robot system provided in some embodiments of this application.

[0045] Explanation of reference numerals in the attached figures

[0046] 1. Surgical robot system; 11. First input control device; 12. Second input control device; 110. First robotic arm; 120. Second robotic arm; 2. Operating table; 21. First surgical operating device; 22. Second surgical operating device; 220. Column; 30. Environmental information acquisition device; 300. Support arm; 31. Environmental information acquisition device; 301. Linkage assembly; 310. Camera; 320. Joint. Detailed Implementation

[0047] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0048] In the current medical field, the use of surgical robots to improve surgical automation and outcomes has become a common practice. During surgery, the operator can perform the procedure based on video and images from the surgical field of view.

[0049] However, operating rooms typically contain instrument tables, operating beds, and other components, and surgical robots themselves have multiple robotic arms, all of which contribute to the complexity of the operating room environment. Operators who can promptly understand the operational status of these components can perform surgical procedures more effectively.

[0050] To address the aforementioned technical problems, this application provides a surgical robot system and a method for operating the surgical robot system. The surgical robot of this application is capable of acquiring environmental information of a multi-degree-of-freedom target robotic arm.

[0051] This application provides a surgical robot system, comprising: a first surgical operating device including at least one first robotic arm; a second surgical operating device including at least one second robotic arm; an environmental information acquisition component including a support arm having at least one joint and an environmental information acquisition device, wherein the support arm is disposed on at least one of the first surgical operating device and the second surgical operating device and supports the environmental information acquisition device, the environmental information acquisition device being used to acquire environmental information including a target robotic arm, the target robotic arm including at least one of one or more first robotic arms and one or more second robotic arms; and a control device for controlling the drive mechanism to drive the support arm to move in at least one degree of freedom.

[0052] In this application, the environmental information acquisition device is driven to move in at least one degree of freedom by the support arm, thereby enabling the environmental information acquisition device to acquire environmental information including the target robotic arm in at least one degree of freedom, which helps the surgical operation device to perform surgical operations more effectively.

[0053] The surgical robot described in this application can be applied to various scenarios such as surgical procedures, teaching, and conference presentations.

[0054] like Figures 1 to 6 As shown, the surgical robot system 1 of this application may include multiple robotic arms, an environmental information acquisition device 30, and a control device. The robotic arms can be used for surgical operations; for example, the end effector of the robotic arm may be connected to surgical instruments for performing surgical operations such as traction, cauterization, and cutting on the lesion area. For example, the robotic arm can be used to set up an endoscope assembly. The robotic arm can move in multiple degrees of freedom to drive the surgical instruments to perform surgical operations.

[0055] The environmental information acquisition device 30 may include a support arm 300 and an environmental information acquisition device 31 disposed on the support arm 300. The support arm 300 may move in at least one degree of freedom to drive the environmental information acquisition device 31 to acquire environmental information including the target robotic arm.

[0056] The control device can control the environmental information acquisition device 30 to collect environmental information including the target robotic arm.

[0057] In this application, the target robotic arm can be at least one of multiple robotic arms. During surgical procedures, the operator may need to monitor the operation of surgical instruments controlled by one or more robotic arms; in this case, the robotic arm can be defined as the target robotic arm. Similarly, during meetings or teaching sessions, the operator needs to focus on demonstrating the operation of surgical instruments controlled by one or more robotic arms; in this case, the robotic arm can be defined as the target robotic arm.

[0058] In this application, the surgical robot system 1 may include a first input control device 11 and a second input control device 12, both of which can be used to operate one or more robotic arms to perform operations.

[0059] In some embodiments, the control device may be disposed on the first input control device 11 or the second input control device 12. In some embodiments, there may be two control devices, which may be disposed on the first input control device 11 and the second input control device 12 respectively.

[0060] However, this application is not limited to this. In some embodiments, a control device may not be provided, and the environmental information acquisition device 30 may be controlled directly through the first input control device 11 and / or the second input control device 12. In such embodiments, the control device may be considered to be integrated into the first input control device 11 and / or the second input control device 12, or the first input control device 11 and / or the second input control device 12 may be considered to be configured as a control device.

[0061] In some embodiments, the surgical robot system 1 may include one surgical operating device, or it may include two or more surgical operating devices. Thus, multiple robotic arms may be disposed on one surgical operating device, or multiple robotic arms may be disposed on multiple surgical operating devices, and the number of robotic arms disposed on each surgical operating device may be the same or different.

[0062] In some embodiments, the surgical robot system 1 may include a first surgical manipulation device 21 and a second surgical manipulation device 22. A first input control device is used to control at least one of a plurality of robotic arms, and a second input control device is used to control at least one of the plurality of robotic arms.

[0063] In some embodiments, the first input control device 11 can be used to control the first surgical operating device 21 and the second surgical operating device 22. Thus, two surgical operating devices can be controlled to perform surgical operations through one input control device.

[0064] In some embodiments, the second input control device 12 is used to control the first surgical operation device 21 and the second surgical operation device 22.

[0065] In some embodiments, both the first input control device 11 and the second input control device 12 can control the first surgical operating device 21. Since both input control devices can control the same surgical operating device, two operators can cooperate or teach each other using this setup. For example, in telemedicine operations, remote and local operators can cooperate or teach each other using this setup, improving the effectiveness and efficiency of telemedicine.

[0066] In some embodiments, both the first input control device 11 and the second input control device 12 can control the second surgical operation device 22.

[0067] In some embodiments, one or more robotic arms controlled by a first input control device 11 are disposed in a first surgical operating device 21, and one or more robotic arms controlled by a second input control device 12 are disposed in a second surgical operating device 22. In such an embodiment, the first input control device 11 is used to control the first surgical operating device 21, and the second input control device 12 is used to control the second surgical operating device 22.

[0068] In some embodiments, one or more robotic arms controlled by a first input control device 11 are disposed in a first surgical operating device 21, and multiple robotic arms controlled by a second input control device 12 are disposed in a first surgical operating device 21 and a second surgical operating device 22, respectively. In such an embodiment, the first input control device 11 is used to control the first surgical operating device 21, and the second input control device 12 is used to control the first surgical operating device 21 and the second surgical operating device 22.

[0069] In some embodiments, a plurality of first robotic arms 110 controlled by a first input control device 11 are respectively disposed in a first surgical operating device 21 and a second surgical operating device 22, and a plurality of second robotic arms 120 controlled by a second input control device 12 are respectively disposed in the first surgical operating device 21 and the second surgical operating device 22. The first input control device 11 can be used to control the first surgical operating device 21 and the second surgical operating device 22. The second input control device 12 is used to control the first surgical operating device 21 and the second surgical operating device 22.

[0070] In this application, the first robotic arm 110 moves in at least one degree of freedom, and the second robotic arm 120 moves in at least one degree of freedom.

[0071] In some embodiments of this application, the first surgical operating device 21 is a multi-arm surgical operating device equipped with multiple robotic arms, and the second surgical operating device 22 is a single-arm surgical operating device equipped with a single robotic arm. In the operating room, the first surgical operating device 21 and the second surgical operating device 22 can be located to the side of the operating table 2 for surgical operations.

[0072] In some embodiments of this application, the support arm 300 may be disposed on the second surgical operating device 22. For example, the support arm 300 may be disposed at the top of the second surgical operating device 22. Disposing it at the top not only facilitates better acquisition of environmental information by the environmental information acquisition device 31, but also reduces interference between the support arm 300 and the robotic arm of the second surgical operating device 22 during movement. Furthermore, the environmental information acquisition device 31 disposed at the top can obtain a wider field of view and acquire environmental information over a greater range.

[0073] like Figure 1 and Figure 2 As shown, the second surgical operating device 22 may include a column 220, a second robotic arm 120, and a support arm 300 disposed on the column 220. The support arm 300 may be disposed at the top of the column 220.

[0074] The second surgical device 22 may include a signal receiving element for receiving an input signal, and the support arm 300 moves in at least one degree of freedom according to the input signal.

[0075] In this application, the support arm 300 is mounted on the single-arm surgical operating device, which helps the environmental information acquisition device 31 to acquire environmental information of the robotic arm of the multi-arm surgical operating device.

[0076] Specifically, because the support arm 300 has at least one degree of freedom, the movement of the environmental information acquisition device mounted on the support arm 300 can be more flexible. During surgical procedures, multiple robotic arms need to move and coordinate with each other, and there are also movement and coordination relationships between the robotic arms and other components within the operating room. The movement of the robotic arms is complex and variable. Under such complex and variable conditions, the support arm, with a certain degree of freedom, can move flexibly according to the actual situation to obtain the environmental information needed by the operator.

[0077] In this application, the support arm 300 is mounted on a single-arm surgical operating device. When collecting environmental information from the robotic arm of a multi-arm surgical operating device, the movement of the environmental information acquisition device is more flexible, convenient, and safe because the support arm 300 and the target robotic arm are located on different surgical operating devices. In this implementation, the support arm has a relatively large range of motion during movement, allowing it to move to the target position from multiple angles and along multiple routes. This relatively large range of motion also reduces the requirements for the support arm's degrees of freedom, thereby lowering the manufacturing complexity of the surgical operating device. Furthermore, since the single-arm surgical operating device has only one robotic arm, interference and collisions with the robotic arm during the support arm's movement are reduced, improving the safety of the support arm's movement.

[0078] As mentioned earlier, surgical procedures are complex and varied, with potential for obstruction and collisions between multiple robotic arms. By incorporating a support arm into a single-arm surgical device, obstruction and collisions are reduced during movement to the target position, resulting in clearer images. Conversely, if the support arm is in a multi-arm surgical device, the movement of the support arm itself may be obstructed by the robotic arms, leading to unclear images.

[0079] In the single-arm surgical device, since there is only one robotic arm, the interference between the robotic arm and the support arm 300 of the single-arm surgical device itself is reduced, which makes it easier for the surgical device to perform surgical operations more effectively.

[0080] In remote surgery, compared to the local operator, the remote operator has a lower level of understanding of the surgical site and a higher need for local environmental information. The remote operator can control the surgical apparatus via remote input control devices, and can also control the environmental information acquisition device to move to the target location as needed. The environmental information acquisition component, installed in the single-arm surgical apparatus, provides clearer environmental information about the target robotic arm, allows for more angles of movement, and enables more flexible operation.

[0081] In some embodiments of this application, the support arm 300 may include a linkage assembly 301. The linkage assembly 301 may rotate or move about the joint 320. In some embodiments, the support arm 300 may have a drive device, which may be disposed at the joint 320.

[0082] Link assembly 301 may include at least one of the following link assemblies: a first link assembly that moves in a forward-backward direction; a second link assembly that moves in a left-right direction; a third link assembly that moves in a vertical direction; a fourth link assembly that rotates in a yaw direction; a fifth link assembly that rotates in a pitch direction; and a sixth link assembly that rotates in a roll direction.

[0083] It should be noted that in this application, the front-back, left-right, and up-down directions are relative positional relationships and can be determined according to the actual usage scenario. Figure 4 The forward / backward, left / right, and up / down directions shown are merely examples. Similarly, in this application, the yaw, pitch, and roll directions are relative positions and can be determined based on the actual usage scenario.

[0084] In this application, the support arm 300 may have at least one degree of freedom, which is achieved by the linkage assembly moving in at least one degree of freedom.

[0085] In some embodiments, taking the environmental information acquisition component as an example of being installed in the second surgical operating device, the clarity of the images acquired by the environmental information acquisition component is insufficient when the second surgical operating device is a certain distance away from the target robotic arm. Since the support arm of this application has at least one degree of freedom, it can move to a position relatively close to the target robotic arm, thereby obtaining clearer and more accurate images.

[0086] For example, in some embodiments, if the target robotic arm is located in front of and at a certain distance from the environmental information acquisition component, the support arm can be controlled to move forward. After the environmental information acquisition component completes information acquisition, the support arm also moves backward to avoid interfering with the movement of other components.

[0087] In some implementations, if the operator needs a wider field of view or requires environmental information from a top-down perspective, the support arm can be moved upwards. When the target robotic arm is obstructed, the support arm can be moved forward / backward, left / right, and up / down to obtain environmental information about the target robotic arm.

[0088] In surgical procedures involving multiple robotic arms, complex situations such as obstruction and collisions can arise. The support arm, capable of movement in at least one degree of freedom, can flexibly address these challenges. Even when the target robotic arm is obstructed in the operating room, adjusting the support arm's movement across six degrees of freedom (forward, backward, left, right, up, and down) allows for the acquisition of clear, unobstructed environmental information from multiple angles.

[0089] In this application, the aforementioned multiple linkage assemblies 301 can be configured according to the actual application of the surgical robot system 1. Specifically, in some embodiments, the application scenario of the surgical robot system requires the environmental information acquisition device 31 to be able to move at least in the back-and-forth direction, then the support arm 300 of the surgical robot system 1 may include a first linkage assembly capable of moving in the back-and-forth direction.

[0090] In some embodiments, the application scenario of the surgical robot system requires that the environmental information acquisition device 31 can move at least in the forward and backward direction and rotate in the yaw direction. Therefore, the support arm 300 of the surgical robot system 1 may include a first link assembly capable of moving in the forward and backward direction and a fourth link assembly capable of rotating in the yaw direction. In such an embodiment, the first link assembly and the fourth link assembly are connected. One of the first link assembly and the fourth link assembly is connected to the surgical operating device (first surgical operating device 21 and second surgical operating device 22), and the other of the first link assembly and the fourth link assembly can be connected to the environmental information acquisition device 31 to support the environmental information acquisition device 31.

[0091] In some embodiments, the application scenario of the surgical robot system requires the environmental information acquisition device 31 to have six degrees of freedom. In such embodiments, the support arm 300 of the surgical robot system 1 may include the aforementioned first link assembly, second link assembly, third link assembly, fourth link assembly, fifth link assembly, and sixth link assembly. The first link assembly, second link assembly, third link assembly, fourth link assembly, fifth link assembly, and sixth link assembly may be connected sequentially or adjusted. Any one of the first link assembly, second link assembly, third link assembly, fourth link assembly, fifth link assembly, and sixth link assembly may be connected to the surgical operating device (first surgical operating device 21 and second surgical operating device 22). Any of the remaining link assemblies among the first link assembly, second link assembly, third link assembly, fourth link assembly, fifth link assembly, and sixth link assembly may be connected to the environmental information acquisition device 31 to support the environmental information acquisition device 31.

[0092] In some embodiments, a fourth link assembly capable of rotating in the yaw direction, a fifth link assembly capable of rotating in the pitch direction, and a sixth link assembly capable of rotating in the roll direction may be disposed inside the base. However, this application is not limited thereto. In some embodiments, the first, second, and third link assemblies may be alternately arranged with the fourth, fifth, and sixth link assemblies.

[0093] like Figures 4 to 6 As shown, the support arm 300 can be configured as a gimbal, which has multiple linkage assemblies 301. The multiple linkage assemblies can realize the movement of the support arm 300 in multiple degrees of freedom.

[0094] In some embodiments of this application, the control device may include a processing unit that is communicatively connected to the environmental information acquisition device 30 to obtain environmental information collected by the environmental information acquisition device 31.

[0095] In some embodiments of this application, environmental information can be used to enable the surgical robot system to generate the range of motion of at least one of a plurality of robotic arms.

[0096] In this application, the control device can generate the range of motion of at least one of one or more first robotic arms 110 and one or more second robotic arms 120 based on environmental information, and control the movement of at least one of one or more first robotic arms 110 and one or more second robotic arms 120 based on the range of motion.

[0097] The processing element can generate the range of motion of the robotic arm based on the environmental information collected by the environmental information acquisition device 31. By controlling the robotic arm to move according to the range of motion, it helps to reduce collisions between multiple robotic arms and collisions between the robotic arm and other components in the operating room, thereby enabling the surgical operation device to perform surgical operations more effectively.

[0098] The processing element can determine the potential collision probability of the target robotic arm based on environmental information such as its position and the distance between it and surrounding components. For example, the processing element can determine the potential collision probability if the distance between the target robotic arm and surrounding components is less than a preset distance. Based on this judgment, the processing element can further determine the range of motion, which can refer to an obstacle avoidance route or a range encompassing a certain space. Within this range of motion, the target robotic arm will not have the potential for collision. This reduces the likelihood of collisions between the target robotic arm and other components, facilitating the smooth execution of surgical procedures.

[0099] In some embodiments of this application, the processing unit is communicatively connected to the first robotic arm 110 and the second robotic arm 120 respectively to obtain kinematic data of the first robotic arm 110 and the second robotic arm 120; the processing unit generates the motion range of at least one of the first robotic arm 110 and the first robotic arm 120 based on environmental information and kinematic data, and the control device controls the movement of at least one of the first robotic arm 110 and the first robotic arm 120 based on the motion range.

[0100] Kinematic data can include parameters of the robotic arm's rotary joints, translational joints, and links, such as rotation angles of the rotation axis, link lengths, link torsion angles, link offsets, and joint angles. The processing unit can use this kinematic data to determine the likelihood of a potential collision with the target robotic arm, thereby generating the range of motion.

[0101] It should be noted that in this application, the generation of the motion range of at least one of the multiple robotic arms by the processing element based on environmental information can be considered as the surgical robot system automatically generating the motion range of at least one of the multiple robotic arms based on environmental information. That is, environmental information is used to enable the surgical robot system to automatically generate the motion range of at least one of the multiple robotic arms. However, this application is not limited to this. In some embodiments, the operator may also actively control the motion range of at least one of the multiple robotic arms based on environmental information.

[0102] Combining kinematic data and environmental information to generate the range of motion of the robotic arm helps to obtain a more accurate and precise range of motion, thereby further reducing collisions between multiple robotic arms and collisions between the robotic arm and other components in the operating room.

[0103] In some embodiments of this application, the environmental information acquisition device 31 may be disposed on the linkage assembly 301 and move with the linkage assembly 301. The environmental information acquisition device 31 includes one or more cameras 310. The cameras 310 are communicatively connected to the control device. The cameras 310 are used to acquire image information and transmit the image information to the processing unit of the control device. The processing unit obtains the environmental information image of the target robotic arm through the image information.

[0104] By acquiring environmental information through camera 310, environmental information images can be obtained. These images can then be used to visually display the operating room environment, providing the operator with a clearer and more comprehensive understanding of the conditions.

[0105] In some embodiments of this application, such as Figure 3 As shown, the environmental information acquisition device 31 may include a base and one or more cameras 310. The cameras 310 are used to acquire image information containing the target robotic arm and transmit the image information to the processing unit of the control device. The processing unit obtains an environmental information image through the image information. The base is disposed on the linkage assembly 301, and the cameras 310 are disposed on the base. The base includes a base drive device, which is communicatively connected to the control device. The base drive device drives the cameras 310 to rotate according to the control signals received from the control device.

[0106] The rotatable base helps to further increase the degree of freedom of movement of the environmental information acquisition device 31.

[0107] In this application, the first input control device 11 may include a first display device, and the second input control device 12 may include a second display device.

[0108] In this application, the first display device is an interactive component and can be configured as an input device. Similarly, the second display device is also an interactive component and can be configured as an input device. For example, it could be a touch display device. The operator can interact with the display device through direct contact, hovering contact, or contact using a touch device. For instance, when the display device displays an image, the operator can manipulate related devices within the displayed image on the display device.

[0109] By observing environmental information images through the display device, operators can gain a more intuitive understanding of the operating room environment. Furthermore, inputting commands through the display device is not only more convenient, but also allows operators to more accurately pinpoint target locations.

[0110] In some embodiments of this application, the first display device is a local display device, and the second display device is a remote display device. Therefore, the surgical robot system of this application can be used for telemedicine.

[0111] In some embodiments of this application, the surgical robot system 1 may include an input device for inputting instruction information for controlling the environmental information acquisition component. The instruction information includes the target position of the environmental information acquisition device 31. The control device is used to receive the instruction information and control the support arm 300 to move according to the instruction information so that the environmental information acquisition device 31 moves to the target position.

[0112] The input device is used to input instruction information for controlling one or more of the first surgical operation device 21, the second surgical operation device 22, and the environmental information acquisition device 30.

[0113] The operator can control the movement of the first surgical operating device 21, the second surgical operating device 22, and the environmental information acquisition device 30 through the input device.

[0114] In this application, the input device can be located on the display device, and the input device can be a foot pedal, joystick, or other component. The operator can input data by foot pedaling or similar means, without occupying the operator's hands.

[0115] In some embodiments, the input device may also be an input device with a voice input device, allowing the operator to input commands via voice. The input device may be located in the input control device (e.g., the first input control device 11 and the second input control device 12) in the foregoing embodiments.

[0116] In some embodiments, the input device may be an input device with gesture recognition functionality, for example, an operator may input commands through gestures. The input device may be disposed in the input control device (e.g., the first input control device 11 and the second input control device 12) in the foregoing embodiments.

[0117] In this application, the input device can be mounted on the display device or integrated into the component. In some embodiments, the display device can be configured as an input device, and in such embodiments, the display device can be a touch display device as described above. However, this application is not limited to this; in embodiments where the display device can be configured as an input device, the display device can also be a display device with voice input functionality or a display device with gesture recognition functionality.

[0118] In this application, the input device may also be the input control device in the foregoing embodiments (e.g., the first input control device 11 and the second input control device 12).

[0119] The operator can input commands via an input device, and the control device will then move the support arm 300 to the target position based on these commands. During surgery, the operator can control the environmental information acquisition device 31 to move to the designated position using the input device, according to the needs of the surgical procedure, to help obtain the corresponding environmental information.

[0120] Based on the same or similar concept, this application also provides an operation method for a surgical robot system. The surgical robot system includes an environmental information acquisition component, which includes a support arm and an environmental information acquisition device. The support arm supports the environmental information acquisition device and drives the environmental information acquisition device to move in multiple degrees of freedom so that the environmental information acquisition device can acquire environmental information from multiple angles.

[0121] like Figure 7 As shown, the operation method of the surgical robot system of this application includes the following steps:

[0122] S11: Determine the target location of the environmental information acquisition device.

[0123] S12: Control the support arm to move the environmental information acquisition device to the target position and acquire environmental information including the target robotic arm.

[0124] The target robotic arm includes at least one of a plurality of robotic arms.

[0125] S13: Control the movement of at least one of the multiple robotic arms based on environmental information.

[0126] According to the operating method of the surgical robot system of this application, the robotic arm can be controlled to move according to the range of motion based on environmental information including the target robotic arm. This helps to reduce collisions between multiple robotic arms and collisions between the robotic arm and other components in the operating room, thereby enabling the surgical operating device to perform surgical operations more effectively.

[0127] In some embodiments of this application, such as Figure 8 As shown, the surgical robot system can be operated through the following steps:

[0128] S21: Determine the target location of the environmental information acquisition device.

[0129] S22: Control the support arm to move the environmental information acquisition device to the target position and acquire environmental information including the target robotic arm.

[0130] S23: Generate the range of motion of at least one of the multiple robotic arms based on environmental information.

[0131] S24: Control the movement of at least one of the multiple robotic arms according to the range of motion.

[0132] In some embodiments of this application, such as Figure 9 As shown, the surgical robot system can be operated through the following steps:

[0133] S31: Determine the target location of the environmental information acquisition device.

[0134] S32: Control the support arm to move the environmental information acquisition device to the target position and acquire environmental information including the target robotic arm.

[0135] S33: Generate the range of motion of at least one of the multiple robotic arms based on environmental information and the kinematic data of the robotic arm.

[0136] S34: Control the movement of at least one of the multiple robotic arms according to the range of motion.

[0137] In some embodiments of this application, such as Figure 10 As shown, the surgical robot system can be operated through the following steps:

[0138] S41: At least one of the first input control device and the second input control device inputs instruction information to control the environmental information acquisition component. The instruction information includes the target location of the environmental information acquisition device.

[0139] S42: Control the movement of the support arm according to the instruction information so that the environmental information acquisition device moves to the target position to obtain environmental information containing the target robotic arm.

[0140] S43: Generate the range of motion of at least one of the multiple robotic arms based on environmental information.

[0141] S44: Control the movement of at least one of the multiple robotic arms according to the range of motion.

[0142] The robotic arm can be controlled via either a first input control device or a second input control device. This allows both input control devices to control the movement of the robotic arm, making the surgical robot system of this application suitable for applications such as teaching, conferences, and telemedicine.

[0143] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0144] In the description of the embodiments of this application, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0145] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0146] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0147] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0148] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0149] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0150] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A surgical robot system, characterized in that, include: A first surgical device includes at least one first robotic arm, which moves in at least one degree of freedom; The second surgical device includes at least one second robotic arm, which moves in at least one degree of freedom; An environmental information acquisition component includes a support arm having at least one joint and an environmental information acquisition device. The support arm is disposed on at least one of a first surgical operating device and a second surgical operating device and supports the environmental information acquisition device. The environmental information acquisition device is used to acquire environmental information including a target robotic arm. The target robotic arm includes at least one of one or more first robotic arms and one or more second robotic arms. as well as A control device for controlling the movement of the support arm in at least one degree of freedom.

2. The surgical robot system according to claim 1, characterized in that, The surgical robot system also includes: A first input control device is used to control the first robotic arm and / or the second robotic arm; A second input control device is used to control the first robotic arm and / or the second robotic arm; At least one of the first input control device and the second input control device is used to input instruction information for controlling the environmental information acquisition component, the instruction information including the target location of the environmental information acquisition device; The control device is used to receive the instruction information and control the movement of the support arm according to the instruction information so that the environmental information acquisition device moves to the target position.

3. The surgical robot system according to claim 1, characterized in that, The surgical robot system also includes: A first input control device is used to control the first robotic arm and / or the second robotic arm. The first input control device includes a first display device, which is used to display the environmental information. The second input control device can control the first robotic arm and / or the second robotic arm. The second input control device includes a second display device for displaying the environmental information.

4. The surgical robot system according to any one of claims 1 to 3, characterized in that, The support arm includes a linkage assembly; The linkage assembly includes at least one of the following linkage assemblies: A first link assembly, the first link assembly moves in the front-to-back direction; The second link assembly moves in the left-right direction; The third link assembly moves in the vertical direction; The fourth link assembly rotates about the yaw direction; The fifth link assembly rotates about the pitch direction; The sixth link assembly rotates about the roll direction.

5. The surgical robot system according to claim 4, characterized in that, The environmental information acquisition device includes a base and one or more cameras. The cameras are used to acquire image information and transmit the image information to the control device. The control device obtains an environmental information image through the image information. The base is disposed on the linkage assembly, and the cameras are disposed on the base. The base includes a base driving device, which is communicatively connected to the control device. The base driving device drives the cameras to rotate according to the control signals received from the control device.

6. A surgical operating device, characterized in that, include: Columns; One or more robotic arms, the robotic arms being mounted on the column; An environmental information acquisition component includes a support arm with at least one joint and an environmental information acquisition device. The support arm is disposed on the column and supports the environmental information acquisition device, which is used to acquire environmental information containing the target robotic arm.

7. The surgical operating device according to claim 6, characterized in that, The surgical device includes a signal receiving element for receiving input signals, and the support arm moves in at least one degree of freedom according to the input signals.

8. The surgical operating device according to claim 6, characterized in that, The support arm is located at the top of the column.

9. The surgical operating device according to any one of claims 6 to 8, characterized in that, The support arm includes a linkage assembly; The linkage assembly includes at least one of the following linkage assemblies: A first link assembly, the first link assembly moves in the front-to-back direction; The second link assembly moves in the left-right direction; The third link assembly moves in the vertical direction; The fourth link assembly rotates about the yaw direction; The fifth link assembly rotates about the pitch direction; The sixth link assembly rotates about the roll direction.

10. The surgical operating device according to any one of claims 6 to 8, characterized in that, The surgical operating device is a single-arm surgical operating device that includes a single robotic arm.

Images