Surgical instrument, surgical procedure and surgical device

Abstract

The present description discloses a surgical device, a surgical method, and a surgical apparatus. The surgical device comprises a robotic arm and a control device, wherein a surgical instrument assembly is arranged on the robotic arm; the surgical instrument assembly comprises several surgical instruments configured on a switching device.The control device determines the surgical instrument required for the surgical procedure, generates an instruction for instrument change based on the specific surgical instrument and sends this to the robot arm, and the robot arm controls the switching device to move based on the instruction for instrument change, so that the surgical instrument located at the position to be selected is switched into the intervention position and then, according to the control instruction sent by the control device, the specific surgical instrument is controlled to perform the surgical procedure.It is evident that the rapid exchange between multiple surgical instruments made possible by the surgical device eliminates the need for operating personnel to manually exchange surgical instruments during surgery in surgical scenarios where a large number of surgical instruments must be used, further improving the accuracy of surgical procedures and reducing the operational workload of the operating personnel.

Description

TECHNICAL AREA

[0001] The present description concerns the field of medical technology, in particular a surgical device, a surgical procedure and a surgical apparatus. STATE OF THE ART

[0002] With the development of minimally invasive surgical techniques, the demands on minimally invasive and precise surgical procedures are constantly increasing. Minimally invasive endoscopic spinal surgery, a previously established minimally invasive technology, is frequently used in clinical practice. Compared to conventional open surgery, minimally invasive endoscopic spinal surgery offers the advantages of less trauma, less bleeding, faster recovery, and a more clearly defined therapeutic effect. Similar minimally invasive techniques, such as neuroendoscopic minimally invasive surgery, are also frequently used in clinical practice and play an important role in operations such as those for pituitary tumors and skull base gliomas in the neurological field, while offering similar minimally invasive benefits as described above.

[0003] To reduce the workload of the operating staff, state-of-the-art surgical equipment can be used to assist the operating staff in performing surgical procedures, thereby reducing the uncertainty of manual interventions during the operation, which not only improves operational safety but also reduces the strain on the operating staff during the operation.

[0004] Although the current surgical device can reduce the workload of the operating staff to some extent, in surgical scenarios requiring the use of a large number of surgical instruments, the operating staff still have to manually exchange the surgical instruments on the surgical device, which increases the complexity of the surgical procedures. CONTENT OF THE PRESENT INVENTION

[0005] This description provides a surgical device, a surgical procedure, and a surgical apparatus to partially solve the above-mentioned prior art problems.

[0006] This description uses the following technical solutions: This description provides a surgical device, wherein the surgical device comprises a robot arm 1 and a control device 2; wherein a surgical instrument arrangement 11 is arranged on the robot arm 1, the surgical instrument arrangement 11 comprising several surgical instruments 111 which are arranged on a switching device 112; wherein the control device 2 is used to determine a surgical instrument 111 required for a surgical procedure, to generate an instruction for instrument change according to the determined surgical instrument 111 and to send the instruction to the robot arm 1; wherein a control instruction is generated and sent according to the position of the determined surgical instrument 111; wherein the robot arm 1 is used to control the surgical instrument assembly 11 in response to the instrument change instruction sent by the control device 2, so that the instrument assembly moves into a specific position, and to control the switching device 112 so that it moves to switch the specific surgical instrument 111, located at a selectable position in the surgical instrument assembly 11, into an operating position; in response to the control instruction sent by the control device 2, the surgical instrument assembly 11 is controlled to move into the surgical position. The surgical procedure corresponding to the control instruction is performed with the specific surgical instrument 111.

[0007] Optionally, a switching method in which the switching device 112 switches the specified surgical instrument 111 from the position to be selected to the intervention position includes at least one of rotation and translation.

[0008] Optionally, the switching device 112 also includes an engagement component 1121; wherein, in response to an intervention action entered by an operating person via an intervention component 1121, the switching device 112 is controlled to move.

[0009] Optionally, the robot arm 1 is also configured with an auxiliary instrument arrangement 12, wherein the auxiliary instrument arrangement 12 comprises at least one working sleeve 121 and an endoscope 122; wherein the mounting position of the working sleeve 121 on the robot arm 1 is on a first axis, wherein the mounting position of the endoscope 122 on the robot arm 1 is on a second axis and the mounting position of the surgical instrument 111 on the robot arm 1 is on a third axis; where the first axis, the second axis and the third axis coincide or run parallel to each other.

[0010] Optionally, the distance between any two axes of the first axis, the second axis, and the third axis is no greater than a preset threshold if the first axis, the second axis, and the third axis are parallel to each other.

[0011] Optionally, several instrument mounting slots are configured uniformly on the switching device 112, with at least one surgical instrument 111 mounted in each instrument mounting slot; wherein one of the instrument mounting slots configured on the switching device 112 is located at an intervention position, and the remaining instrument mounting slots are located at a selectable position.

[0012] Optionally, the control device 2 is used to generate an instruction for instrument change according to the mounting positions of the specified surgical instrument 111 and the current surgical instrument 111 on the instrument mounting slot and to send this instruction to the robot arm 1 when the specified surgical instrument 111 and the current surgical instrument 111 are mounted in the same instrument mounting slot.

[0013] Optionally, the control device 2 is used to determine the control parameters of the switching device 112 depending on the position to be selected and the intervention position of the specific surgical instrument 111, and to generate the instruction for changing the instrument depending on the control parameters, wherein the control parameters include at least one of the direction of movement, the distance of movement and the angle of rotation.

[0014] Optionally, the surgical device also includes a positioning device 3; wherein a first positioning mark 13 is configured on the surgical instrument 111, wherein a second positioning mark 5 is configured within a preset area of ​​the patient's diseased body part; wherein the positioning device 3 is used such that it detects the positions of the first positioning mark 13 and the second positioning mark 5 and transmits them to the control device; wherein the control device 2 is used to determine, based on the position of the second positioning mark 5, a specific position in which each surgical instrument 111 can be changed in the surgical instrument arrangement 11, and to determine a surgical position in which each surgical instrument 111 can perform a surgical procedure.

[0015] Optionally, the surgical device further includes a scanning device 4, wherein the scanning device 4 is configured with a third positioning marker 41; wherein the scanning device 4 is used to scan the patient and obtain the scan result of the patient's diseased body part and send it to the control device 2; wherein the positioning device 3 is used to detect and transmit the position of the third positioning marker 41; wherein the control device 2 is used to determine the relative position of the scan device 4 and the patient based on the position of the second positioning marker 5 and the position of the third positioning marker 41; wherein the scan result is registered depending on the relative position of the scan device 4 and the patient.

[0016] Optionally, the robot arm 1 further comprises a mounting base 14; wherein the surgical instrument arrangement 11 further comprises a slide 113 and a clamping device 114; wherein the clamping device 114 clamps the switching device 112, wherein the clamping device 114 is slidably connected to the slide 113, wherein the slide 113 is slidably connected to the mounting base 14; wherein the slider 113 is used to drive the clamping device 114 so that it slides along the extension direction of the mounting base 14 when the slider slides on the mounting base 14 in order to drive the surgical instrument 111 so that it slides along the extension direction of the mounting base 14; wherein the clamping device 114 is used to drive the surgical instrument 111 so that it slides along the extension direction of the mounting base 14 when the clamping device slides on the slider 113.

[0017] Optionally, the control device 2 is used to determine a surgical path according to the surgical instrument arrangement 11 and the position of the patient's diseased body part, wherein the surgical instrument 111 will perform a surgical procedure on the diseased body part using this surgical path; wherein a movement instruction is generated according to the surgical path and this is sent to the robot arm 1; wherein the robot arm 1 is moved according to the received movement instruction, so that the extension direction of the mounting base 14 is parallel to the surgical path, so that the surgical instrument 111 reaches the diseased body part along the surgical path.

[0018] Optionally, the control device 2 also includes a human-machine interaction unit 21; wherein the human-machine interaction unit 21 is used to determine a specific surgical instrument 111 in response to an intervention by operating personnel.

[0019] Optionally, the human-machine interaction unit 21 includes a touchscreen 211 and / or a control rod 212.

[0020] Optionally, the surgical device further comprises a base 6 and a suspension platform 61, wherein the head end of the suspension platform 61 is mounted on the base 6; wherein the robot arm 1 is suspended at the rear end of the suspension platform 61.

[0021] Optionally, the surgical device also includes a base 6, with the robot arm 1 mounted on the base 6.

[0022] The description provides a surgical procedure applied to a control device, the procedure comprising the following: Determining a specific surgical instrument required for a surgical procedure;

[0023] Generating an instruction to change instruments based on the specified surgical instrument, and sending the instruction to a robotic arm, wherein the robotic arm, in response to the instruction to change instruments, controls a surgical instrument assembly configured on the robotic arm to move the instrument assembly to the specified position, and controls the switching device in the surgical instrument assembly to move the specified surgical instrument, which is located at a selectable position in the surgical instrument assembly, into an intervention position;

[0024] Generating and sending a control instruction according to the position of the specific surgical instrument, so that in response to the control instruction the robot arm controls the surgical instrument arrangement to move it into the surgical position and performs a surgical procedure according to the control instruction with the specific surgical instrument.

[0025] The description provides a surgical device that is applied to the control device, the surgical device comprising the following: a selection module used to identify a specific surgical instrument required for a surgical procedure; an instrument change instruction generation module, which is used to generate an instrument change instruction based on the specific surgical instrument, and send the instruction to a robotic arm, wherein the robotic arm, in response to the instrument change instruction, controls a surgical instrument assembly configured on the robotic arm to move the instrument assembly to the specified position, and controls the switching device in the surgical instrument assembly to move the specific surgical instrument, which is located at a selectable position in the surgical instrument assembly, into an intervention position; A module for generating control instructions, which is used in such a way that a control instruction is generated and sent according to the position of the specific surgical instrument, so that the robot arm, in response to the control instruction, controls the surgical instrument arrangement to move it into the surgical position and performs a surgical procedure according to the control instruction with the specific surgical instrument.

[0026] The description provides a computer-readable storage medium, wherein a computer program is stored on the storage medium, and wherein the computer program, when executed by the processor, implements the procedure described above.

[0027] At least one of the above-mentioned technical solutions adopted in this description can achieve the following beneficial effects: The present description provides a surgical device comprising a robotic arm and a control device. A surgical instrument assembly is arranged on the robotic arm, comprising several surgical instruments configured on a switching device. The control device determines the surgical instrument required for the surgical procedure, generates an instrument change instruction based on the determined surgical instrument, and sends this instruction to the robotic arm. Based on the instrument change instruction, the robotic arm controls the switching device to move the surgical instrument located at the selected position into the operating position. The selected surgical instrument is then controlled, according to the control instruction sent by the control device, to perform the surgical procedure.It is evident that the rapid exchange between multiple surgical instruments made possible by the surgical device eliminates the need for operating personnel to manually exchange surgical instruments during the operation in surgical scenarios where a large number of surgical instruments must be used, further improving the accuracy of surgical operations and reducing the operational workload of the operating personnel. BRIEF DESCRIPTION OF THE DRAWING

[0028] The accompanying drawings described herein are intended to provide a deeper understanding of the present description and are an integral part thereof. The schematic embodiments of the present description and their descriptions serve to illustrate the present description and do not constitute an undue limitation of the present description. In the figures: Fig. 1A is a schematic representation of a surgical device in this description; Fig. 1B is a schematic representation of a surgical device in this description; Fig. 2A is a schematic representation of a surgical device in this description; Fig. 2B is a schematic representation of a surgical device in this description; Fig. 2C is a schematic representation of a surgical device in this description; Fig. 2D is a schematic representation of a surgical device in this description; Fig. 3A is a schematic representation of a surgical device in this description; Fig. 3B is a schematic representation of a surgical device in this description; Fig. 3C is a schematic representation of a surgical device in this description; Fig. Figure 4 is a schematic representation of a surgical instrument in this description; Fig. Figure 5 is a schematic representation of a surgical instrument in this description; Fig. 6A is a schematic representation of a surgical device in this description; Fig. 6B is a schematic representation of a surgical device in this description; Fig. 7A is a schematic representation of a surgical device in this description; Fig. 7B is a schematic representation of a surgical device in this description; Fig. 7C is a schematic representation of a surgical device in this description; Fig. 7D is a schematic representation of a surgical device in this description; Fig. Figure 8 is a schematic representation of a surgical instrument in this description; Fig. Figure 9 is a schematic representation of a surgical instrument in this description; Fig. Figure 10 is a schematic flowchart of a surgical procedure in this description; Fig. Figure 11 is a schematic representation of a surgical device provided in this description. DETAILED DESCRIPTION

[0029] To clarify the purpose, technical solutions, and advantages of this description, the technical solutions are described below in conjunction with the specific embodiments and corresponding drawings. Obviously, the described embodiments are only some of the embodiments in this description, not all of them. All other embodiments that a person skilled in the art in this field could derive from the embodiments in this description without any creative effort are within the scope of protection of this description.

[0030] Furthermore, it should be noted that all actions for capturing signals, information or data within the scope of the present invention are carried out in compliance with the relevant data protection laws and guidelines of the country in which they are located and with the authorization granted by the owner of the relevant device.

[0031] Currently, minimally invasive surgical techniques are used in orthopedics, neurology, interventional therapy, and similar fields. The demands on minimally invasive and precise surgical procedures are constantly increasing, and effective treatment requires minimizing trauma and precisely accessing the affected body part. The minimally invasive technique of spinal endoscopy, a previously developed minimally invasive technique, causes less damage to the paraspinal muscles and largely preserves the intact spinal structure, thus maintaining spinal stability after surgery. The advantages include less trauma, less bleeding, faster recovery, fewer complications, and clear therapeutic effects.Another minimally invasive technique similar to spinal endoscopy is the neuroendoscopic minimally invasive technique, which is also widely used in clinical practice and plays an important role in operations such as pituitary tumors and skull base gliomas in the neurological field, while having similar minimally invasive effects as mentioned above.

[0032] For example, minimally invasive surgical equipment is currently used to assist surgical personnel (such as surgeons) in performing surgical procedures, which is widespread in the field of minimally invasive endoscopic spinal surgery. There are two main types of minimally invasive endoscopic spinal surgery: percutaneous endoscopic lumbar discectomy (PELD) and unilateral biportal endoscopy (UBE), and both can be assisted by minimally invasive surgical equipment. However, the fundamental purpose of using a minimally invasive operating table to assist surgical personnel in performing surgical procedures is to reduce the strain on the surgical staff during the procedure.However, in complex surgical procedures where a large number of surgical instruments must be used, the operating staff still has to manually exchange the surgical instrument on the surgical device during the operation, which increases the complexity of the surgical procedure.

[0033] Building on this, this description provides a surgical device that sends an instruction to change instruments to a robotic arm via a control device, so that the robotic arm controls the change between the surgical instruments configured on the switching device according to the instruction to change instruments, thus enabling a quick change between several surgical instruments, so that the operating staff no longer have to manually change the surgical instruments during the operation, which further improves the accuracy of surgical procedures and reduces the operational workload of the operating staff.

[0034] The technical solutions provided by the respective embodiments of this description are described in detail below in conjunction with the accompanying drawings.

[0035] Fig. Figure 1A is a schematic representation of a surgical device provided in this description.

[0036] This description provides a surgical device that can assist operating personnel in performing a surgical procedure. For ease of understanding, the embodiments described in this description use endoscopic spinal surgery as an example to illustrate the specific technical solution.

[0037] As in Fig. As shown in Figure 1A, the surgical device comprises at least one robotic arm 1 and a control device 2. The robotic arm 1 is configured with a surgical instrument array 11, the surgical instrument array 11 comprising several surgical instruments 111 arranged on a switching device 112. The control device 2 is used to send a control instruction to the robotic arm 1, and the robotic arm 1 is used to control the surgical instrument 111 according to the control instruction so that it performs various types of actions. Depending on the application scenario, the control instruction sent by the control device 2 can be preset and stored in the control device 2 or generated by the control device 2 in response to a surgical action entered by a surgical operator.

[0038] The robot arm 1 can be mounted on base 6 and the mounting method can be suspended (as shown in Fig. 1A shown), floor-standing (as in Fig. The control device 2 can be the robot arm shown in Figure 1B) or any existing mounting method not limited in this description. To ensure the flexibility of the robot arm 1, the robot arm 1 can be a robot arm 1 with six or more movable joints. The control device 2 can be a computer host on which specific software (such as 3D software, planning software, etc.) is installed and which is connected to the robot arm 1 via a wired or wireless method. The control device 2 can be located in the operating environment where the robot arm 1 is located or in other equipment environments, which is not limited in this description.

[0039] Optionally, the base 6, on which the robot arm 1 is located, can be temporarily fixed to the floor or equipped with movable casters to move it as needed. Fig. 1A and Fig. 1B are merely examples of the optional placement of the base in the embodiments described in this description, and its actual position can be determined depending on the application scenario.

[0040] The robot arm 1 is configured with at least one surgical instrument array 11. In practical applications, different surgical instruments 111 are used for different conditions (such as a hernia of the nucleus pulposus, spinal canal stenosis, nerve root compression, hyperplasia of the dura mater sac and bone tissue, or the like), and different conditions may need to be considered during a surgical procedure on a single patient. Repeatedly changing a single surgical instrument 111 configured on the robot arm 1 manually during the operation not only increases the operating time but also makes it more difficult for the operating personnel to handle.Based on this, in one or more embodiments of the present description, the surgical instrument arrangement 11 configured on the robot arm 1 can comprise several surgical instruments 111. Therefore, the operating personnel can configure a variety of surgical instruments 111 in the surgical instrument arrangement 11 according to the actual condition of the patient's diseased body part, and the robot arm 1 can change the surgical instrument 111 in response to the instruction to change the instrument, thus meeting the need to use different surgical instruments 111 during an operation to perform different surgical procedures (such as removing protruding tissue, removing bone, repairing a damaged annulus fibrosus with radiofrequency electrodes).

[0041] The surgical instrument arrangement 11 comprises a switching device 112, and a number of surgical instruments 111 can be mounted on the switching device 112. The switching device 112 can switch between the surgical instruments 111 by moving itself, thus switching the specific surgical instrument 111 required for the surgical procedure from the position to be selected to the surgical position. The switching device 112 can move by rotation, translation, or a combination of both, and of course, it can also move in any other possible manner not limited to this description.The surgical instrument arrangement 11 can include one or more surgical instruments 111 for minimally invasive spinal surgery procedures, such as nucleus pulposus forceps, an electrocoagulation electrode, a microsurgical knife, micro-forceps, a microwave ablation needle, or the like. The specific type of surgical instrument 111 can be configured according to the specific application scenario and is not limited by this description. In exemplary embodiments of this description, the intervention position is the position of the surgical instrument 111 on the switching device 112 at which the surgical procedure can be performed, and accordingly, the position to be selected is a position on the switching device 112 other than the intervention position.

[0042] Specifically, the switching device 112 in the surgical instrument assembly 11 can be a component with at least two mounting surfaces for surgical instruments, each mounting surface being configured with an instrument mounting slot, and at least one surgical instrument 111 being mounted in each instrument mounting slot. Furthermore, the surgical instrument 111 can be mounted on the switching device 112 before or during the operation, and this description does not limit this. For example, as shown in the cross-sectional view of the surgical instrument assembly 11 in Fig. As shown in Figure 2A, the dashed line section represents the instrument mounting groove in which the surgical instrument 111 is temporarily not mounted, and the operating personnel can disassemble and assemble the surgical instrument mounted on the switching device 112 depending on the actual conditions.

[0043] If the switching method of the switching device 112 for switching the specific surgical instrument 111 from the position to be selected to the intervention position is a rotation, the switching device 112 optionally includes a column-shaped component configured with at least two mounting surfaces for surgical instruments, and each surgical instrument 111 is mounted along the axis of the switching device 112, and the axis of each surgical instrument 111 is parallel to the axis of the switching device 112; the robot arm 1 is used to respond to an instruction to change the instrument and to control the switching device 112 to rotate about its own axis in order to switch the specific surgical instrument 111 from a position to be selected to an intervention position.For example, if the switching method of the switching device 112 is rotation, the surgical instrument arrangement 11 can be a switchable spiral structure centered around the switching device 112. Furthermore, each surgical instrument 111 can be arranged on two or more sides of the switching device 112, for example, on four sides (as in ). Fig. 2A shown) or five pages (as shown in Fig. 2B shown), and this description does not limit this.

[0044] If the switching method of the switching device 112 for switching the specific surgical instrument 111 from the position to be selected to the intervention position is translation, the switching device 112 optionally includes a guide rail 1122 configured with at least two mounting surfaces for surgical instruments, with each surgical instrument 111 being mounted on the guide rail 1122 via the mounting surface for surgical instruments and moving along the guide rail 1122; the robot arm 1 responds to the instruction to change the instrument and controls the movement of the guide rail 1122 to move the specific surgical instrument 111 from the position to be selected to the intervention position. It is evident that the switching device 112 can include a guide rail 1122 if the switching method of the switching device 112 is translation.The guide rail 1122 can be a ring guide rail, a linear guide rail, or a guide rail with any geometric shape, and the shape of the guide rail 1122 is not specifically limited in this description. For example, the one shown in . Fig. The guide rail 1122 shown in Figure 2C is a ring guide rail, and each surgical instrument 111 can be mounted on the guide rail 1122. The surgical instrument 111 can move on the guide rail 1122 to allow for changing between surgical instruments 111.

[0045] If the switching method of the switching device 112 for switching the specific surgical instrument 111 from the position to be selected to the surgical position is a rotation and a translation, the switching device 112 optionally comprises a column-shaped component configured with at least two mounting surfaces for surgical instruments, each mounting surface for surgical instruments being provided with a guide rail 1122, wherein at least one surgical instrument 111 is mounted on the guide rail 1122 and moves on the guide rail 1122; the robot arm 1 responds to the instruction to change the instrument and controls the switching device 112 so that it rotates about its own axis in a first direction according to the instruction to change the instrument in order to switch the guide rail on which the specific surgical instrument 111 is mounted from the position to be selected to the surgical position;The guide rail 1122 is controlled to move in the second direction according to the instrument change instruction, and the specified surgical instrument 111 is moved into the surgical position. The guide rail 1122 can be a ring guide rail, a linear guide rail, or a guide rail of any geometric shape, and the shape of the guide rail 1122 is not specifically limited in this description. As in ; Fig. As shown in 2D, the guide rail 1122 is a ring guide rail, whereby more surgical instruments can be mounted on the switching device 112 by rotation and translation, which is better suited for scenarios in which a large number of surgical instruments are required for an operation, improves the efficiency of the operation based on the surgical device and reduces the complexity of the surgical procedure.

[0046] The three optional switching methods of the switching device described above are merely exemplary embodiments of this description and do not imply that the switching device 112 has only the above structure and can only switch in the above manner. In one exemplary embodiment of this description, the switching device 112 can switch the surgical instrument by rotation, translation, or a combination of rotation and translation, and of course, it can also move in any other possible way not limited in this description. The guide rail 1122 can be a ring guide rail, a linear guide rail, or a guide rail of any geometric shape, and the shape of the guide rail 1122 is not specifically limited in this description.

[0047] The assembly sequence and specific mounting positions of the surgical instruments 111 on the switching device 112 are not restricted in the embodiments described, and the arrangement of the surgical instruments 111 is not necessarily uniform. The operating personnel can arrange the multiple surgical instruments 111 contained in the surgical instrument arrangement 11 according to the specific surgical requirements, and the embodiments described in this description do not restrict the specific arrangement of the surgical instruments 111.

[0048] In one or more embodiments of the present description, the switching device 112 is moved to switch between the surgical instruments 111 contained in the surgical instrument arrangement 11, wherein the control can be carried out in response to an instruction to change instruments sent by the control device 2 or manually by the operating personnel.

[0049] The instruction to change the instrument sent by the control device 2 can be sent by the operating personnel via the operating control rod 2122 configured on the control device 2, or it can be sent according to the pre-planned surgical action of the surgical instrument 111 on the diseased body part, or it can be sent via the instrument change option configured in the control device 2, and this description does not represent a limitation thereon.

[0050] Optionally, the operating personnel manually control the movement of the switching device 112 to switch the surgical instrument 111 as follows: the switching device 112 further comprises an intervention component 1121, which moves the switching device 112 in response to an intervention action inputted by an operating personnel via the intervention component 1121 to move the specified surgical instrument 111 from the selected position to the surgical position. The intervention component 1121 can be controlled to tilt in several different directions to control the movement of the switching device in several different directions, and the intervention component can also be controlled to rotate the switching device. The intervention action inputted by the operating personnel via the intervention component 1121 can be at least a rotation or translation.As in . Fig. As shown in Figure 2A, the engagement component 1121 is a rotating component, and as shown in Fig. As shown in Figure 2C, the engagement component is a translational component. Naturally, the engagement component 1121 can implement both the control of the rotation of the switching device 112 and the control of the translation of the switching device 112, as shown in Figure 2C. Fig. Shown in 2D.

[0051] It is evident that the rapid exchange between several surgical instruments 111, made possible by the surgical device, eliminates the need for operating personnel to manually exchange surgical instruments 111 during the operation in surgical scenarios where a large number of surgical instruments 111 need to be used, further improving the accuracy of surgical operations and reducing the operational workload of the operating personnel.

[0052] In addition, each surgical instrument 111 has at least three degrees of freedom, such as forward and backward movement, opening and closing of the instrument, and instrument rotation.

[0053] Based on the structure that allows multiple surgical mechanisms to be mounted on the aforementioned switching device 112, the control device 2, in an optional embodiment of this description, can determine the control parameters of the switching device 112 according to the difference between the position to be selected and the intervention position, and generate an instruction for instrument change according to these control parameters. The control parameters can include a direction of rotation, a rotation angle, a direction of movement, and a movement distance. For example, if the control parameters are direction of rotation and rotation angle, switching from the position to be selected to the intervention position requires rotating the switching device 112 60° clockwise. Subsequently, the direction of rotation is set to clockwise and the rotation angle to 60°, and the instruction for instrument change is generated accordingly.Optionally, the direction of rotation of the switching device 112 can be a direction with a smaller angle of rotation when rotating from the position to be selected to the engagement position. For example, switching from the position to the engagement position requires a 60° clockwise rotation of the switching device 112; however, switching from the position to the engagement position can also be a 300° counterclockwise rotation, with the preferred direction of rotation typically being a direction with a smaller angle of rotation, i.e., a clockwise rotation. Of course, the above-mentioned determination of the direction of rotation is only an optional solution provided in the embodiments described in this document, and the specific solution for determining the control parameters can be determined according to the specific application scenario and is not limited by this description.

[0054] In an optional embodiment of the present description, the solution in which the switching device 112 can be configured with several surgical instruments 111 can be as follows: The switching device 112 can have several instrument mounting slots arranged uniformly, with at least one surgical instrument 111 mounted in each slot. Specifically, at least one of the instrument mounting slots is located in the engagement position, so that the surgical instrument 111 required to perform a surgical procedure is mounted in the slot located in the engagement position, allowing a surgical procedure to be performed with the surgical instrument 111 in the engagement position.Furthermore, the above-mentioned multiple instrument mounting slots can be configured evenly or unevenly on the switching device 112, and this description does not limit this.

[0055] Based on the structure of the switching device 112, optionally if several instrument mounting slots are configured on the switching device 112, and if the instrument mounting slot in which the surgical instrument 111 required for the specific surgical procedure is located is at the position to be selected, and if not only the specific surgical instrument 111 but also other surgical instruments 111 are mounted in the instrument mounting slot, an instruction for instrument change can first be generated according to the difference between the position to be selected and the intervention position, whereby the instrument mounting slot in which the specific surgical instrument 111 is located rotates and moves into the intervention position.Subsequently, according to the mounting position of the specific surgical instrument 111 and other surgical instruments 111 in the instrument mounting groove, the control parameters of the switching device 112 are determined and another instruction for instrument change is generated to move the specific surgical instrument 111 into the intervention position.

[0056] In an optional embodiment of this description, the instrument mounting groove can be configured with a first mounting mark, and the surgical instrument 111 can be configured with a second mounting mark, with a corresponding relationship existing between the first and second mounting marks. This relationship can be determined before the surgical procedure is performed. When the surgical instrument 111 is mounted on the switching device 112 via the instrument mounting groove, the first mounting mark of the instrument mounting groove can be aligned with the second mounting mark of the surgical instrument 111 to be mounted. Only when the first mounting mark aligns with the second mounting mark can the surgical instrument 111 be mounted in the instrument mounting groove.

[0057] In an optional embodiment of the present description, as in Fig. As shown in Figure 3A, the robot arm 1 includes a mounting base 14, and the surgical instrument assembly 11 is configured on the mounting base 14. The surgical instrument assembly 11 further includes a slide 113 and a clamping device 114, and the clamping device 114 serves to clamp the switching device 112. It can be seen that the movement of the clamping device can move the switching device 112, and the movement of the switching device 112 can drive the movement of the surgical instrument 111. Furthermore, the slide 113 is slidably connected to the mounting base 14, and the clamping device 114 is slidably connected to the slide 113.

[0058] Based on the structure described above, when the slider 113 slides on the mounting base 14, it drives the clamping device 114, causing it to slide along the extension direction of the mounting base 14. This, in turn, drives the surgical instrument 111, causing it to slide along the extension direction of the mounting base 14. The clamping device 114 drives the surgical instrument 111 to slide along the extension direction of the mounting base 14 when the clamping device slides on the slider 113. It is understood that the extension direction of the mounting base 14 refers to a direction parallel to the axis of the mounting base 14.It is evident that the surgical instrument 111 can slide over the slider 113 on the mounting base 14 based on the two-stage sliding structure described above, if the extension direction of the mounting base 14 is aligned with the surgical path, and / or the clamping device 114 slides on the slider 113 to reach a specific part of the patient and perform a surgical procedure.

[0059] In an optional embodiment of the present description, the robot arm 1 is further configured with an auxiliary instrument assembly 12, and the auxiliary instrument assembly 12 comprises at least one working sleeve 121 and an endoscope 122. The working sleeve 121 is used to open the puncture wound and create a surgical channel from the outside to the affected part of the patient's body, in order to prevent the surgical instrument 111 from touching other parts of the body where surgical intervention is not permitted; the endoscope 122 is used to acquire a real-time image of the affected part of the body and thus to support the surgical intervention with the surgical instrument 111.

[0060] The mounting position of the working sleeve 121 is on a first axis on the robot arm 1, the mounting position of the endoscope 122 is on a second axis on the robot arm 1, and the mounting position of the surgical instrument 111 required for performing the surgical procedure is on a third axis on the robot arm 1, and the spatial positional relationship between the first axis, the second axis, and the third axis can overlap (as in Fig. 3B) or parallel (as shown in Fig. (3C shown). Therefore, during the operation, the axes of the working sleeve 121, the endoscope 122, and the surgical instrument 111 required to perform the surgical procedure are aligned to plan the surgical path. Without multiple alignments, it can be ensured that the working sleeve 121, the endoscope 122, and the surgical instrument 111 required to perform the surgical procedure all move along the surgical path, thereby reducing the difficulty of the surgical procedure and improving its efficiency and accuracy.

[0061] In particular, as in Fig. As shown in Figure 3C, the distance between any two axes of the first, second, and third axes is no greater than a preset threshold if the spatial positional relationship between the first, second, and third axes is such that all three are parallel to each other. This is because the working channel created by the working sleeve 121 has a certain width. Even if the second axis of the endoscope 122 does not coincide with the axis of the working sleeve 121, the endoscope 122 can penetrate the working sleeve 121 without secondary alignment as long as the distance between the first and second axes is no greater than a preset threshold. The same applies to the endoscope 122 and the surgical instrument 111.As long as the distance between the second axis of the endoscope 122 and the third axis of the surgical instrument 111 is not greater than the preset threshold, the surgical instrument 111 can enter the instrument channel of the endoscope 122 directly without a second alignment, thus improving the efficiency and accuracy of the surgical procedure. Of course, limiting the distance between the first and third axes can also determine whether the surgical instrument needs to be aligned twice before entering the instrument channel of the endoscope 122; that is, if the distance between the first and third axes is not greater than the preset threshold, the surgical instrument 111 can enter the instrument channel of the endoscope 122 directly without a second alignment.Furthermore, the first axis, the second axis and the third axis may or may not lie on the same plane, which is not a limitation in this description.

[0062] The preset threshold can be determined on the basis of at least two of the following factors: the size of the surgical instrument 111, the size of the instrument channel of the endoscope 122, the size of the endoscope 122 and the size of the working channel formed by the working sleeve 121, and it can of course also be determined by the operating personnel before the operation, and this description does not constitute a limitation thereon.

[0063] Furthermore, in an optional embodiment of the present description, the surgical device also includes a positioning device 3. As described in Fig. As shown in Figure 4, the positioning device 3 can be mounted on a device at one side of the operating table or suspended directly above the patient (above the operating table). Alternatively, it can be mounted on another device in the operating environment and placed near the operating table at a location suitable for detecting positioning markers. This facilitates the detection of the positions of positioning markers configured near the patient's affected body part, on the robot arm 1, and on the scanning device 4.The positioning marker can be an optical positioning marker of the light rays emitted or reflected by an infrared light emission device, a light-emitting diode (LED) or a passive reflective sphere, or another type of positioning marker, wherein in exemplary embodiments of the present description the positioning device 3 receives the light emitted or reflected by the positioning marker and thereby detects the position of each device equipped with the positioning marker.

[0064] In an optional embodiment of this description, the surgical device comprises a scanning device 4, wherein the operating personnel can scan the patient's diseased body part using a scanning device 4 (for example, by means of intraoperative computed tomography (CT), a three-dimensional (3D) C-arm X-ray unit, or the like) in the operating environment. The scanning device 4 sends the scan result to the control device 2, so that a three-dimensional image of the patient's diseased body part is simulated, and the three-dimensional image can be uploaded for display on the control device 2 to provide the operating personnel with a reference for the surgical procedure.Additionally, the scanning device 4 can be provided with a third positioning mark 41, so that the detection device 3 is thus able to determine the position of the scanning device 4 and the relative position between the scanning device 4 and the patient according to the position of the patient, as in . Fig. 5 shown.

[0065] The process of performing a surgical procedure using the above-mentioned surgical device is described in detail below with reference to the attached drawings.

[0066] The first stage: Before the operation begins, the patient lies prone on the operating table so that the operating staff and the surgical equipment can perform the surgical procedure on the patient's diseased body part.

[0067] The second stage: After it has been confirmed that the patient is in position, the patient's diseased body part is scanned with the scan device 4 to obtain a scan result (X-ray or CT image), and the scan device 4 can send the scan result to the control device 2 to serve as a reference and aid for subsequent surgical procedures.

[0068] In an optional embodiment of this description, a second positioning marker 5 is configured within a preset area of ​​the patient's affected body part, and a third positioning marker 41 can be configured on the scanning device 4. The positioning device 3 detects and transmits the position of the first positioning marker 13 and the position of the third positioning marker 41. The control device 2 serves to determine the relative position of the scanning device 4 and the patient based on the position of the second positioning marker 5 and the position of the third positioning marker 41, and to register the scan result based on the relative position of the scanning device 4 and the patient.Subsequently, using the 3D software in the control device 2, a three-dimensional image of the patient's diseased body part is simulated in the coordinate system of the operating environment based on the registered scan result and optionally displayed on the display 22 of the control device 2 to provide the operating personnel with a reference for the surgical procedure.

[0069] The third stage: the control device 2 also includes a planning module (not shown in the figure). The planning module can determine the position of the patient's affected body part and the scan result of the affected body part after registration according to the positioning device 3, plan the surgical path, plan the specific position at which the individual surgical instruments 111 can be changed in the surgical instrument arrangement 11, and plan the surgical position at which the individual surgical instruments 111 may perform surgical procedures. When defining the working channel, the surgical path includes at least the puncture position and puncture direction. The pre-planned surgical path, the specific position, and the surgical position achieve the goal of minimizing trauma to the patient's body while simultaneously ensuring a safe operation.

[0070] Furthermore, during surgery on a patient, the area near the affected body part (such as nerve roots, spinal cord, and the like) is often very dangerous. If a surgical error occurs, there is a high probability of further complications for the patient or even endangering their life. Therefore, the control device 2 can also plan a safe operating area, based on the scan results of the registered affected body part, as the designated area that allows the surgical instrument 111 to perform surgical procedures. In contrast, all areas except the designated area are designated as danger zones, and the danger zone is an area in which no operations may be performed with the surgical instrument 111.

[0071] Optionally, based on the planning of the defined area, a danger zone can be planned according to the position of the robot arm 1 determined by the positioning device 3. The danger zone is an area in which no surgical procedures may be performed with the surgical instrument 111. During an operation, the surgical instrument 111 can normally only move within a defined area and angle, thus ensuring that the surgical instrument 111 performs surgical procedures only within a defined area and does not enter a danger zone.

[0072] The fourth stage: the control device 2 can plan the actions that the robot arm 1 must perform and then control the surgical instrument 111 carried by the robot arm 1 to carry out the surgical procedure. The robot arm 1 can be equipped with a positioning marker, and in particular, the surgical instrument 111 can be equipped with at least one first positioning marker 13, enabling the positioning device to determine the position of the surgical instrument 111 by detecting the position of the first positioning marker 13 on the surgical instrument 111, and then monitoring the behavior and movement of the surgical instrument 111 in real time.

[0073] Since several surgical instruments 111 are configured in the surgical instrument arrangement 11, each surgical instrument 111 can optionally be configured with a first positioning mark 13. In practical applications, different first positioning marks 13 can be configured on different surgical instruments 111, so that when the positioning device detects the positions of several first positioning marks 13, it is possible to distinguish which surgical instrument 111 the first positioning mark 13 refers to.

[0074] The fifth stage: provided that the control device 2 determines the surgical path and can ascertain the position of the robot arm 1 via the positioning device configured on the robot arm 1, the action to be performed by the robot arm 1 can be planned by the planning device built into the control device 2.

[0075] Specifically, the robot arm 1 in the surgical device provided in this description can have multiple degrees of freedom. Therefore, in one or more embodiments of this description, the robot arm 1 can change the orientation of the surgical instrument assembly 11 and the auxiliary instrument assembly 12 mounted on the robot arm 1 by adjusting its orientation in response to the pivot instruction sent by the control device 2. For example, the robot arm 1 is mounted suspended from the base 6, as shown in Figure 1. Fig. As shown in Figure 6A, the surgical device further comprises a base 6 and a suspension platform 61, wherein the head end of the suspension platform 61 is mounted on the base 6; wherein the robot arm 1 is suspended at the rear end of the suspension platform 61.

[0076] Optionally, the robot arm 1 further comprises a swivel mechanism 15, wherein the swivel mechanism 15 comprises at least a first arm 151, a second arm 152, a third arm 153 and a fourth arm 154; the robot arm 1 is suspended via the swivel mechanism 15 at the rear end of the suspension platform 61.

[0077] The first end of the first arm 151 is attached to the rear end of the suspension platform 61, and the second end of the first arm 151 is rotatably connected to the first end of the second arm 152; the first end of the third arm 153 is connected to the second end of the second arm 152, the second end of the third arm 153 being rotatably connected to the first end of the fourth arm 154; the second end of the fourth arm 154 being rotatably connected to the rotary element 143, which is configured on the mounting base 14 of the robot arm 1.

[0078] As in Fig. As shown in Figure 6A, the robot arm 1 responds to the first pivot instruction sent by the control device 2, controls the first arm 151 so that it rotates around the rear end of the suspension platform 61 as its center of rotation, and drives the pivot mechanism 15 and the robot arm 1 connected to the pivot mechanism 15 to rotate, so that the surgical instrument 111, which is contained in the surgical instrument assembly 11 configured on the mounting base 14, is driven so that the instrument rotates around the end of the surgical instrument 111 as its center of rotation, and so that the working sleeve 121, which is contained in the auxiliary instrument assembly 12 configured on the mounting base 14, is driven so that the working sleeve rotates with the rear end of the working sleeve 121 as its center of rotation.

[0079] As in Fig. As shown in Figure 6B, in response to the second pivot instruction sent by the control device 2, the robot arm 1 controls the third arm 153 to rotate around the second end of the second arm 152 as its center of rotation, thereby moving the fourth arm 154 connected to the third arm 153, which in turn moves the robot arm 1 connected to the fourth arm 154, causing the surgical instrument 111 contained in the surgical instrument assembly 11 mounted on the mounting base 14 to oscillate with its end as its center of rotation, and driving the working sleeve 121 contained in the auxiliary instrument assembly 12 configured on the mounting base 14 to oscillate with its rear end as its center of rotation.

[0080] In the solution above, the first pivot instruction and the second pivot instruction can be generated and sent by the control device 2 according to the position of the robot arm 1, the connection relationship between the robot arm 1 and the suspension platform 61, and the mounting position of the surgical instrument assembly 11 on the robot arm 1. The solution above allows the robot arm 1 to self-control and move into the spatial position specified by the first and second pivot instructions, ensuring that the axis of the surgical instrument 111, required for the surgical procedure within the surgical instrument assembly 11, aligns with the surgical path.

[0081] It should be noted that the pivoting process of the aforementioned robot arm 1 is described only using the example of the robot arm 1 mounted suspended on the base 6. This does not mean that the robot arm 1 can only be mounted suspended, but can also be mounted upright on the base 6. The specific mounting method can be determined depending on the particular application scenario, and this description does not restrict the mounting method of the robot arm 1 on the base 6.

[0082] Optionally, the surgical instrument 111 is mounted on the robot arm 1, and the purpose of limiting the movement of the surgical instrument 111 within a defined area and angle can be achieved by limiting the oscillation of the robot arm 1 to ensure that the surgical instrument 111 cannot leave the defined area on the robot arm 1, thereby further ensuring the safety of the operation.

[0083] The sixth stage: the control device 2 can send a control instruction to the robot arm 1 according to the specific surgical path planned for the diseased body part, so that the robot arm 1 performs a surgical procedure on the specified area in response to the control instruction. In exemplary embodiments of this description, the robot arm 1 is optionally configured with an auxiliary instrument assembly 12 when the surgical instrument assembly 11 is configured; therefore, the robot arm 1 can not only perform a surgical procedure using the surgical instrument 111 in the surgical instrument assembly 11, but can also provide preoperative and intraoperative support during the surgical procedure using the auxiliary instrument assembly 12.Preoperative support may include insertion, assembly of the working sleeve 121, and control of the working sleeve 121 to perform tilting, rotating, and other actions; intraoperative support may include control of the working sleeve 121 to perform actions such as tilting and rotating, as well as control of the surgical instrument 111 to perform actions such as forward and backward movements, rotation, tilting, and the execution of surgical procedures.

[0084] Specifically, the robot arm 1 can include a mounting base 14, and the auxiliary instrument arrangement 12 and the surgical instrument arrangement 11 can be configured on the mounting base 14.

[0085] The auxiliary instrument arrangement 12 comprises a first auxiliary slide 124, a first auxiliary clamping device 125 and a second auxiliary clamping device 126; the first auxiliary slide 124 slides on the mounting base 14, the first auxiliary clamping device 125 and the second auxiliary clamping device 126 each being slidably connected to the first auxiliary slide 124; the first auxiliary slide 124 slides on the mounting base 14 and drives the first auxiliary clamping device 125 and the second auxiliary clamping device 126 so that they slide along the extension direction of the mounting base 14, so that the tool clamped by the first auxiliary clamping device 125 and the second auxiliary clamping device 126 slides along the extension direction of the mounting base 14.

[0086] The tool clamped by the first auxiliary clamping device 125 and the second auxiliary clamping device 126 can be a puncture tool 123, a working sleeve 121, an endoscope 122, and the like. The following describes in detail the process of clamping the puncture tool 123 with the first auxiliary clamping device 125 to perform a puncture, clamping the working sleeve 121 to create a working channel, and clamping the endoscope 122 with the second auxiliary clamping device 126: For the process of clamping the puncture tool 123 for puncturing the patient by the first auxiliary clamping device 125: as in Fig. As shown in Figure 7A, the first auxiliary clamping device 125 clamps the puncture tool 123 when the patient is on the operating table and the robot arm 1 pivots into a position suitable for performing the surgical procedure. In response to the puncture instruction sent by the control device 2, the robot arm performs a puncture from a pre-planned puncture position and along a pre-planned puncture direction, so that the head of the puncture tool 123 enters the designated area and creates a puncture wound. Since a subsequent surgical procedure requires the insertion of instruments such as the working sleeve 121 through the puncture wound, the puncture wound can be created by piercing with the puncture tool 123 and then widening the puncture channel created by the puncture tool 123 with an expansion tool.Naturally, the puncture tool 123 itself can also have the functions of puncturing and dilating. The puncture tool 123 used in the embodiments of this description can be any currently available puncture tool 123 with puncture and dilatation functions, and this description does not limit the specific material and the puncture and dilatation method of the puncture tool 123.

[0087] Furthermore, in the case of a puncture wound resulting from puncture and dilation, the operating personnel can replace the puncture tool 123 with the working sleeve 121, or leave the outermost working sleeve 121 in place when withdrawing the puncture tool 123. As in Fig. As shown in Figure 7B, the working sleeve 121 is inserted into the puncture wound along the puncture direction 9, so that the head end of the working sleeve 121 is located in the specified area.

[0088] For the process of clamping the endoscope 122 using the second auxiliary clamping device 126 and inserting the endoscope 122 into the puncture wound: As in Fig. As shown in Figure 7C, the endoscope 122 can be clamped by the second auxiliary clamping device 126 after the working sleeve 121 has been fitted. In response to the endoscope control instruction sent by the control device 2, the first auxiliary slider 124 slides on the mounting base 14 and drives the endoscope 122, which is to be inserted into the working sleeve 121. The endoscope 122 can then acquire a real-time image of a specific area and transmit this image to the control device 2, allowing the operating personnel to perform a surgical procedure in the specific area according to the real-time image.

[0089] It is understood that the processes involved in clamping different instruments by the first auxiliary clamping device 125 and the second auxiliary clamping device 126 each have three or more degrees of freedom, i.e., the instruments can be moved forwards, backwards, tilted, rotated, and the like. The actions performed by the several auxiliary instruments contained in the auxiliary instrument arrangement 12 can be determined according to the operating personnel and the actual application scenario and are not limited by this description.

[0090] The seventh stage: after the working channel has been created through the working sleeve 121 and the endoscope 122 has been placed in the working sleeve 121, the slider 113 can be controlled to slide on the mounting base 14, and / or the clamping device 114 can be controlled to slide on the slider 113, so that the surgical instrument 111 required for the surgical procedure is inserted into the instrument channel of the endoscope 122, as shown in Fig. Figure 7D shows the procedure for reaching the specified area and performing the surgical intervention. It must be determined whether the surgical instrument 111 currently at the intervention position is the specific surgical instrument 111 required for the surgical procedure. If so, the control device 2 can directly generate an instrument movement instruction so that the robot arm 1 controls the specific surgical instrument 111 to move it along the surgical path and reach the specified area.If not, it is necessary to determine the position to be selected of the specific surgical instrument 111 required for the surgical procedure, and wherein the control parameters of the switching device 112 are determined according to the position to be selected and the intervention position of the specific surgical instrument 111, wherein the instruction to change the instrument is generated according to the control parameters in order to move the specific surgical instrument 111 into the intervention position, wherein the control parameters include at least one of the direction of movement, the distance of movement and the angle of rotation.

[0091] The eighth stage: During the operation, 111 different surgical procedures can be performed using different surgical instruments. Therefore, after the surgical instrument 111 required for the current surgical procedure has completed the current surgical procedure, the robot arm 1 can control the surgical instrument 111 to retract into the specified position for a surgical change and, after switching to the specific surgical instrument 111 required for the next surgical procedure, move back into the surgical position to continue the next surgical procedure.

[0092] In this process, the control device 2 can first assess, based on the current action performed by the surgical instrument 111 required for the current surgical procedure, whether the surgical instrument 111 has completed the procedure. If not, it waits until the surgical instrument 111 has completed the procedure. If so, it generates a return instruction to move the surgical instrument 111 to the specified position. It then determines the surgical instrument 111 required for the next surgical procedure and generates an instruction to change the instrument, based on the position to be selected and the operating position of the specific surgical instrument 111 required for the next surgical procedure, so that the specific surgical instrument 111 required for the next surgical procedure can be moved into the operating position.Furthermore, an instrument movement instruction is generated again to control the specific surgical instrument 111, which is currently at the intervention position, in order to move it into the surgical position and perform the surgical procedure.

[0093] In actual applications, the above-mentioned eighth and ninth steps may be repeated several times to achieve the goal of using several different surgical instruments 111 during this operation to perform several different procedures.

[0094] In an optional embodiment of the present description, the control device 2 of the surgical device provided in the present description can implement a master-slave control in response to a control instruction generated by the intervention of the operating personnel.

[0095] Specifically, the control device 2 also includes a display 22 and a human-machine interaction unit 21.

[0096] Images can be displayed on the display 22 to help the operating personnel control the robot arm 1, as well as the images used. The operating personnel can control the movement of the robot arm 1, control the auxiliary instrument arrangement 12 to perform a puncture, place and rotate the working sleeve 121, place the endoscope 122 and control the surgical instrument 111 in the surgical instrument arrangement 11 to perform surgical procedures, and the like, using human-machine interaction with the human-machine interaction unit 21. Fig. Figure 8 is a schematic representation of a control device provided in this description.

[0097] Specifically, the display 22 mounted on the control device 2 is used to show the scan results (CT images or X-ray images) of the patient's diseased body part, the three-dimensional image generated by the control device 2, and the real-time image of the diseased body part captured by the endoscope 122. Alternatively, other information, such as the patient's electrocardiogram (ECG) or electrophysiological monitoring data, can be displayed to serve as a reference for the operating personnel during the operation. As described in Fig. As shown in Figure 8, the scan result of the patient's diseased body part can be displayed in display area 221, and the three-dimensional image generated by the control device 2 can be displayed in display area 222. The real-time image of the diseased body part in the wound on the patient's body, captured by the endoscope 122, can be displayed in display area 223. The three-dimensional image displayed in display area 222 and generated by the control device 2 can be a three-dimensional image of the endoscope 122, the surgical instrument 111, and the patient's diseased body part, simulated by the control device 2 using its integrated 3D software.

[0098] The human-machine interaction unit 21 can include a touchscreen 211 and / or a control rod 212, wherein the control rod 212 can include an auxiliary control rod 2121 and an operating control rod 2122.

[0099] The auxiliary control rod 2121 can be controlled by rotating, pushing, and tilting it forward, backward, left, and right in various gears to generate different control instructions for the endoscope 122 in the auxiliary instrument arrangement 12, thus moving, rotating, or tilting the endoscope 122.

[0100] The operating control rod 2122 can also be controlled to rotate, push and tilt in various gears forward, backward, left and right in four directions, so that different control instructions are generated for the surgical instruments in the intervention position of the surgical instrument arrangement 11 to control the surgical instrument 111 to move, rotate, tilt and perform surgical procedures.

[0101] In addition, the operating personnel can view the image on the display 22, enter the intervention action via the auxiliary control rod 2121 and / or the operating control rod 2122, and generate different types of control instructions depending on the different intervention actions of the different control rods.

[0102] Optionally, the control rod can be divided into several sub-control rods according to different control functions, each configured in the control device 2, so that the intervention action originally entered via a single control rod is distributed across different sub-control rods. Although the complexity of the operation increases with the number of control rods, each sub-control rod can correspond to the action of a single instrument, thus reducing the difficulty of the master-slave control operation and still improving the efficiency of surgical procedures to some extent.

[0103] Additionally, an auxiliary foot brake 25, an operating foot brake 26 and an emergency stop foot brake 27 may be provided, which interact with the actuation of the auxiliary control rod 2121 and the operating control rod 2122.

[0104] Specifically, when the operator presses the auxiliary foot brake 25, they can control the auxiliary control rod 2121 to fine-tune the angle and position of the light source and camera at the rear end of the endoscope 122. However, if the operator does not press the auxiliary foot brake 35, they cannot operate the endoscope 122, even if they operate the auxiliary control rod 2121.

[0105] When the operating person steps on the operating foot brake 26, they can control the operating control rod 2122 to operate the surgical instrument 111 and adjust its position on the patient's body. This allows for fine-tuning of the angle and position of the surgical instrument 111 and enables the operator to control it to perform appropriate surgical procedures. However, if the operating person does not step on the operating foot brake 26, they cannot safely operate the surgical instrument, even if they control the control rod 24.

[0106] Furthermore, the control device 2 is also configured with an emergency stop foot brake 27. If the operating personnel notice that the robot arm 1 and / or the robot arm 1 is functioning abnormally during the execution of the puncture instruction, rotation instruction, or surgical operation instruction, and if the robot arm 1 and / or the robot arm 1 is functioning abnormally during a manual intervention by the operating personnel via the control device 2, the operating personnel can press the emergency stop foot brake 27 to stop the movement of the robot arm 1.

[0107] Of course, the operating personnel can also manually make minor adjustments to the angle and position of the endoscope 122 and the arm of the surgical instrument 111 in the wound according to the specific surgical situation and manually operate the surgical instrument 111 to perform surgical treatment on the diseased body part, and this description does not restrict this.

[0108] In an optional embodiment of this description, the patient can be scanned during surgery with an intraoperative CT or C-type X-ray arm to obtain an intraoperative X-ray image of a specific area within the patient's diseased body part. The intraoperative scan by the CT or C-type X-ray arm results in a certain amount of radiation in the surgical environment. To protect the physical safety of the surgical personnel, a protective device can therefore be installed outside the control device 2. For example, the protective device can be a radiation shield or a lead glass device with a Pb equivalent of ≥ 0.5 mm, thus protecting the surgical personnel from radiation in the surgical environment.

[0109] In an optional embodiment of the present description, it is also possible to configure a surgical robot arm 1A and an auxiliary robot arm 1B on the base 6, as shown in Fig. Figure 9 shows how to configure a surgical instrument assembly 11 on the surgical robot arm 1A and an auxiliary instrument assembly 12 on the auxiliary robot arm 1B to form a surgical device capable of performing UBE operations. The auxiliary robot arm 1B is configured with the auxiliary instrument assembly 12. The auxiliary robot arm 1B is controlled to successively insert the working sleeve 121 and the endoscope 122 into the patient to acquire the real-time image of the specified area of ​​the patient and transmit it to the control device 2. Through the surgical instrument 111, which is contained in the surgical instrument assembly 11 configured by the surgical robot arm 1A, the surgical instrument penetrates the patient's body through a different puncture wound, distinct from the one containing the working sleeve 121, and reaches the specified area.In response to a pre-planned surgical action or an intervention performed by operating personnel via control device 2, a surgical procedure is carried out on a specific area.

[0110] To facilitate understanding of the aforementioned surgical device, this description also provides a flowchart of a surgical procedure to illustrate the method for controlling the aforementioned surgical device during an actual surgical intervention, as shown in Fig. 10 shown.

[0111] Fig. Figure 10 is a flowchart of a procedure provided in this description for operating a minimally invasive surgical device, which includes the following steps: S100: Identifying a specific surgical instrument required for a surgical procedure.

[0112] In general, the control device can be a computer host on which specific software (such as 3D software, planning software, or the like) is installed and which is connected via cable or wirelessly to the robot arm, the positioning device, the scanning device 4, and other devices used in the operating environment. A surgical procedure provided in an embodiment of this description can be performed by a control device.

[0113] In practice, this means that once the patient is in position and the operator has reached the designated location, a working channel is established and the endoscope is positioned. The surgical procedure is then performed by manipulating the surgical instruments to penetrate the patient's affected body part. Before the surgical instrument is guided to the affected body part, it must be determined whether the instrument currently in the intervention position is the one required for the procedure. If so, the control device can generate an instrument control instruction to complete the surgical procedure. If not, the specific surgical instrument required for the procedure must be identified and moved into the intervention position.

[0114] Furthermore, in one embodiment of the present description, the method for determining the specific surgical instrument required for the surgical procedure can be determined based on the surgical instrument usage sequence pre-stored in the control device or determined by the operating personnel via the human-machine interaction unit configured in the control device, and this description does not limit this.

[0115] S102: Generating an instrument change instruction based on the specified surgical instrument, and sending the instruction to a robotic arm, wherein the robotic arm, in response to the instrument change instruction, controls a surgical instrument assembly configured on the robotic arm to move the instrument assembly to the specified position, and controls the switching device in the surgical instrument assembly to move the specified surgical instrument, which is located at a selectable position in the surgical instrument assembly, to an intervention position.

[0116] Once the specific surgical instrument has been determined, an instruction for instrument change can be generated according to the position to be selected and the intervention position of the specific surgical instrument, and the instruction for instrument change can include control parameters of the switching device.

[0117] S104: A control instruction is generated and sent according to the position of the specified surgical instrument, so that in response to the control instruction the robot arm controls the surgical instrument arrangement to move it into the surgical position and performs a surgical procedure according to the control instruction with the specified surgical instrument.

[0118] Once it has been determined that the specific surgical instrument is in the intervention position, the control device sends a control instruction to the robot arm, so that the robot arm responds to the control instruction sent by the control device and controls the surgical instrument contained in the surgical instrument arrangement configured on the robot arm to perform a surgical intervention in the specified area.

[0119] Based on the in Fig. In the 10 surgical procedures shown, the control device sends a control instruction to the robot arm depending on the position of the robot arm, the specified area, and the first intervention action of the operating personnel, so that the robot arm responds to the control instruction to control the surgical instrument contained in the surgical instrument arrangement and to perform a surgical procedure in the specified area, and the control device responds to the second intervention action of the operating personnel and sends an instruction to change instruments to the robot arm, so that the robot arm controls the change between the surgical instruments configured on the switching device according to the instruction to change instruments.It is evident that the rapid exchange between multiple surgical instruments made possible by the surgical device eliminates the need for operating personnel to manually exchange surgical instruments during the operation in surgical scenarios where a large number of surgical instruments must be used, further improving the accuracy of surgical operations and reducing the operational workload of the operating personnel.

[0120] The above describes a surgical procedure, which is provided in one or more embodiments of this description. Based on the same idea, this description also provides a corresponding surgical device, as shown in Fig. 11 shown.

[0121] Fig. 11 is a schematic representation of a surgical device provided in this description, which specifically includes the following: a determination module 200, which is used to determine a specific surgical instrument required for a surgical procedure; a module 202 for generating an instrument change instruction, which is used to generate an instrument change instruction based on the specified surgical instrument, and to send the instruction to a robotic arm, wherein the robotic arm, in response to the instrument change instruction, controls a surgical instrument assembly configured on the robotic arm to move the instrument assembly to the specified position, and controls the switching device in the surgical instrument assembly to move in order to switch the specified surgical instrument, which is located at a selectable position in the surgical instrument assembly, into an intervention position; A module 204 for generating control instructions, which is used to generate and send a control instruction according to the position of the specific surgical instrument, so that in response to the control instruction the robot arm controls the surgical instrument arrangement to move it into the surgical position and performs a surgical procedure according to the control instruction with the specific surgical instrument.

[0122] The present description also provides a computer-readable storage medium, wherein the storage medium stores a computer program and the computer program can be used to execute the in Fig. to perform 10 provided surgical procedures.

[0123] Of course, this description does not exclude other implementations besides software implementation, such as logic devices or a combination of software and hardware, etc. That is, the executor of the following processing flow is not limited to any logic unit, but can also be hardware or logic devices.

[0124] In the 1990s, it was still possible to clearly distinguish between hardware improvements (for example, improvements to circuit structures such as diodes, transistors, switches, and the like) and software improvements (improvements to method processes). However, with the advancement of technology, many improvements to current method processes can now be considered direct improvements to the hardware circuit structure. Designers almost always achieve the corresponding hardware circuit structure by programming the improved method process into the hardware circuit. Therefore, it cannot be said that improving a method process cannot be achieved through the use of hardware entity modules.For example, a programmable logic device (PLD), such as a field-programmable gate array (FPGA), is an integrated circuit whose logic function is determined by the user's programming of the device. Designers can "integrate" a digital system onto a PLD by programming it themselves, without having to commission a chip manufacturer to design and produce a dedicated integrated circuit chip. Furthermore, this type of programming is no longer done with manually manufactured integrated circuit chips, but rather with the help of "logic compiler" software, similar to the software compiler used in program development.To compile the original code, it must also be written in a specific programming language, known as a Hardware Description Language (HDL). There isn't just one HDL type, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), and others. The most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog.Experts in this field should also be aware that it is easy to obtain a hardware circuit that implements the logical method process by simply performing some logic programming on the method process using the aforementioned hardware description languages ​​and programming the method process into an integrated circuit.

[0125] The control can be implemented in any suitable way. For example, the control can take the form of a microprocessor or processor and a computer-readable medium on which computer-readable program code (such as software or firmware) is stored that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the control include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the memory control logic.Experts in this field also know that, in addition to implementing the control system in purely computer-readable program code, it is entirely possible to implement the same function through logical programming of the process steps, whereby the control system takes the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a control system can be considered a hardware component, and the devices it contains for realizing various functions can also be considered structures within the hardware component. Alternatively, the devices for realizing various functions can even be viewed both as a software module for implementing the process and as a structure within a hardware component.

[0126] The systems, devices, modules, or units described in the above examples can be specifically implemented by computer chips or entities, or by products with specific functions. A typical implementation device is a computer. Specifically, the computer could be, for example, a personal computer, a laptop, a mobile phone, a camera phone, a smartphone, a PDA, a media player, a navigation device, an email device, a game console, a tablet computer, a portable device, or a combination of any of these devices.

[0127] To simplify the description, the devices mentioned above are described according to their functions in different units. Naturally, when implementing this description, the functions of each unit can be implemented in the same or in multiple software and / or hardware.

[0128] Those skilled in the art in this field will understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Accordingly, the present invention can take the form of a purely hardware embodiment, a purely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage media, and the like) containing computer-usable program code.

[0129] The present invention is described with reference to flowcharts and / or block diagrams of the process, device (system), and computer program product according to exemplary embodiments of the present invention. It is understood that each process and / or block in the flowchart and / or block diagram, and any combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions.These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or any other programmable data processing device to create a machine such that the instructions executed by the processor of a computer or other programmable data processing device generate means for implementing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0130] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a particular way, such that the instructions stored in the computer-readable memory produce a manufactured product comprising an instruction means, wherein the instruction means implements the functions specified in one or more processes of the flowchart and / or one or more blocks of the block diagram.

[0131] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operations are performed on a computer or other programmable device to create a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps to implement the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0132] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, a network interface, and memory.

[0133] Memory can include non-permanent storage on a computer-readable medium, random access memory (RAM) and / or non-volatile memory, and similar forms such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0134] Computer-readable media encompasses both permanent and non-permanent, removable and non-removable media, which can be implemented using any method or technology for storing information. This information can consist of computer-readable instructions, data structures, program modules, or other data.Examples of computer storage media include, but are not limited to, Phase Change Memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash Memory or other storage technologies, Compact Disk Read-Only Memory (CD-ROM), Digital Versatile Disk (DVD) or other optical storage media, magnetic cartridges, tape, magnetic disk or other magnetic storage devices, or other non-transmittal media that can be used to store information accessible to a computing device. As defined in this article, computer-readable medium does not include temporary computer-readable (volatile) media such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "include," "contain," or other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, product, or device comprising a set of elements includes not only those elements but also other elements not explicitly listed or elements inherent in that process, method, product, or device. Without further limitation, an element defined by the statement "includes a..." does not preclude the presence of additional identical elements in the process, method, product, or device comprising that element.

[0136] Those skilled in the art in this field will understand that the embodiments described herein can be provided as a method, a system, or a computer program product. Accordingly, this description may take the form of a purely hardware embodiment, a purely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, this description may take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) containing computer-usable program code.

[0137] This description can be applied in the general context of computer-executable instructions, such as program modules that are executed by a computer. Generally, program modules comprise routines, programs, objects, components, data structures, and so on, that perform specific tasks or implement certain abstract data types. The description can also be applied in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can reside on local computer storage media and remote computer storage media, including storage devices.

[0138] The various embodiments described in this document are presented sequentially, and identical or similar parts can be compared across the different embodiments. Each embodiment focuses on the differences from other embodiments. The description of the system embodiments is particularly straightforward, as they are fundamentally similar to the process embodiments, and relevant sections can be found in the partial descriptions of the process embodiments.

[0139] The above-mentioned examples are merely embodiments of the present description and are not intended to limit its scope. Various modifications and changes to the present description are possible for a person skilled in the art. All modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present description are included within the scope of the claims of the present description.

Claims

[1] Surgical instrument, characterized by , that the surgical device comprises a robot arm (1) and a control device (2); wherein a surgical instrument arrangement (11) is arranged on the robot arm (1), the surgical instrument arrangement (11) comprising several surgical instruments (111) arranged on a switching device (112); wherein the control device (2) is used to determine a surgical instrument (111) required for a surgical procedure, to generate an instruction to change the instrument according to the determined surgical instrument (111) and to send the instruction to the robot arm (1); wherein a control instruction is generated and sent according to the position of the determined surgical instrument (111); wherein the robot arm (1) is used to control the surgical instrument arrangement (11) in response to the instrument change instruction sent by the control device (2), so that the instrument arrangement moves into a specific position, and to control the switching device (112) so that it moves to switch the specific surgical instrument (111), which is located at a selectable position in the surgical instrument arrangement (11), into an intervention position; wherein, in response to a control instruction sent by the control device (2), the surgical instrument arrangement (11) is controlled to move into a surgical position, and a surgical intervention corresponding to the control instruction is performed with the specific surgical instrument (111). [2] Surgical device according to claim 1, characterized by, that a switching method in which the switching device (112) switches the specified surgical instrument (111) from the position to be selected to the intervention position includes at least one of rotation and translation. [3] Surgical device according to claim 1, characterized by , that the switching device (112) also includes an engagement component (1121); wherein, in response to an engagement action entered by an operating person via an engagement component (1121), the switching device (112) is controlled to move. [4] Surgical device according to claim 1, characterized by , that the robot arm (1) is also configured with an auxiliary instrument arrangement (12), wherein the auxiliary instrument arrangement (12) comprises at least one working sleeve (121) and an endoscope (122); wherein the mounting position of the working sleeve (121) on the robot arm (1) is on a first axis, wherein the mounting position of the endoscope (122) on the robot arm (1) is on a second axis and the mounting position of the surgical instrument (111) on the robot arm (1) is on a third axis; where the first axis, the second axis and the third axis coincide or run parallel to each other. [5] Surgical device according to claim 4, characterized by , that the distance between any two axes of the first axis, the second axis and the third axis is not greater than a preset threshold if the first axis, the second axis and the third axis are parallel to each other. [6] Surgical device according to claim 1, characterized bythat several instrument mounting slots are configured uniformly on the switching device (112), wherein at least one surgical instrument (111) is mounted in each instrument mounting slot; wherein one of the instrument mounting slots configured on the switching device (112) is located at an intervention position, wherein the remaining instrument mounting slots are located at a selectable position. [7] Surgical device according to claim 6, characterized by , that the control device (2) is used to generate an instruction to change the instrument according to the mounting positions of the specified surgical instrument (111) and the current surgical instrument (111) on the instrument mounting slot and to send this instruction to the robot arm (1) when the specified surgical instrument (111) and the current surgical instrument (111) are mounted in the same instrument mounting slot. [8] Surgical device according to claim 1, characterized by , that the control device (2) is used to determine the control parameters of the switching device (112) depending on the position to be selected and the intervention position of the specific surgical instrument (111) and to generate the instruction to change the instrument depending on the control parameters, wherein the control parameters include at least one of the direction of movement, the distance of movement and the angle of rotation. [9] Surgical device according to claim 1, characterized by , that the surgical device also includes a positioning device (3); wherein a first positioning mark (13) is configured on the surgical instrument (111), wherein a second positioning mark (5) is configured within a preset area of ​​the patient's diseased body part; wherein the positioning device (3) is used such that it detects the positions of the first positioning mark (13) and the second positioning mark (5) and transmits them to the control device; wherein the control device (2) is used to determine, based on the position of the second positioning mark (5), a specific position in which each surgical instrument (111) can be changed in the surgical instrument arrangement (11), and to determine a surgical position in which each surgical instrument (111) can perform a surgical procedure. [10] Surgical device according to claim 9, characterized by , that the surgical device further comprises a scanning device (4), wherein the scanning device (4) is configured with a third positioning marker (41); wherein the scanning device (4) is used to scan the patient and to obtain the scan result of the diseased part of the patient's body and to send it to the control device (2); wherein the positioning device (3) is used to detect and transmit the position of the third positioning marker (41); wherein the control device (2) is used to determine the relative position of the scanning device (4) and the patient based on the position of the second positioning mark (5) and the position of the third positioning mark (41); wherein the scan result is recorded depending on the relative position of the scanning device (4) and the patient. [11] Surgical device according to claim 2, characterized by, that the robot arm (1) further comprises a mounting base (14); wherein the surgical instrument arrangement (11) further comprises a slide (113) and a clamping device (114); wherein the clamping device (114) clamps the switching device (112), wherein the clamping device (114) is slidably connected to the slide (113), wherein the slide (113) is slidably connected to the mounting base (14); wherein the slider (113) is used to drive the clamping device (114) so ​​that it slides along the extension direction of the mounting base (14) when the slider slides on the mounting base (14) in order to drive the surgical instrument (111) so that it slides along the extension direction of the mounting base (14); wherein the clamping device (114) is used to drive the surgical instrument (111) so that it slides along the extension direction of the mounting base (14) when the clamping device slides on the slider (113). [12] Surgical device according to claim 11, characterized by , that the control device (2) is used to determine a surgical path according to the surgical instrument arrangement (11) and the position of the patient's diseased body part, wherein the surgical instrument (111) will perform a surgical procedure on the diseased body part using this surgical path; wherein a movement instruction is generated according to the surgical path and this is sent to the robot arm (1); wherein the robot arm (1) is moved according to the received movement instruction, such that the extension direction of the mounting base (14) is parallel to the surgical path, so that the surgical instrument (111) reaches the diseased part of the body along the surgical path. [13] Surgical device according to claim 1, characterized by , that the control device (2) further comprises a human-machine interaction unit (21); wherein the human-machine interaction unit (21) is used to determine a specific surgical instrument (111) in response to an intervention by an operating person. [14] Surgical device according to claim 13, characterized by , that the human-machine interaction unit (21) includes a touchscreen (211) and / or a control rod (212). [15] Surgical device according to any one of claims 1 to 14, characterized by, that the surgical device further comprises a base (6) and a suspension platform (61), wherein the head end of the suspension platform (61) is mounted on the base (6); wherein the robot arm (1) is suspended at the rear end of the suspension platform (61). [16] Surgical device according to any one of claims 1 to 14, characterized by , that the surgical device further comprises a base (6); wherein the robot arm (1) is mounted on the base (6). [17] Surgical procedure, characterized by that the method is applied to a control device, the method comprising the following: Determining a specific surgical instrument required for a surgical procedure; Generating an instruction to change instruments based on the specified surgical instrument, and sending the instruction to a robotic arm, wherein the robotic arm, in response to the instruction to change instruments, controls a surgical instrument assembly configured on the robotic arm to move the instrument assembly to the specified position, and controls the switching device in the surgical instrument assembly to move the specified surgical instrument, which is located at a selectable position in the surgical instrument assembly, into an intervention position; Generating and sending a control instruction according to the position of the specific surgical instrument, so that the robot arm, in response to the control instruction, controls the surgical instrument arrangement to move it into the surgical position, and performs a surgical procedure in accordance with the control instructions using the specified surgical instrument. [18] Surgical device, characterized by , that the surgical device is applied to the control device, the surgical device comprising the following: a selection module used to identify a specific surgical instrument required for a surgical procedure; a module for generating instrument change instructions, which is used to generate an instrument change instruction based on the specific surgical instrument, and sending the instruction to a robot arm, wherein the robot arm, in response to the instruction to change instruments, controls a surgical instrument arrangement configured on the robot arm to move the instrument arrangement to the specified position, and controls the switching device in the surgical instrument arrangement to move in order to switch the specific surgical instrument, which is located at a selectable position in the surgical instrument arrangement, into an intervention position; A module for generating control instructions, which is used in such a way that a control instruction is generated and sent according to the position of the specific surgical instrument, so that the robot arm, in response to the control instruction, controls the surgical instrument arrangement to move it into the surgical position and performs a surgical procedure according to the control instruction with the specific surgical instrument. [19] Computer-readable storage medium, characterized by , that a computer program is stored on the storage medium, wherein the computer program, when executed by the processor, implements the method described in claim 17.

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