Surgical robot system

Abstract

A surgical robot system, which has a plurality of operation modes, wherein the plurality of operation modes at least comprise a following mode and a camera mode. In the following mode, the posture of a surgical instrument (410, 430) is controlled by means of a first action of an input apparatus (23, 23L, 23R) to follow the posture of the input apparatus (23, 23L, 23R); and on the basis of an action of entering an endoscope mode and the first action, the operation mode is switched from the following mode to the camera mode. In the camera mode, the position and posture of an endoscope (420) are adjusted by means of a second action of the input apparatus (23, 23L, 23R), wherein the second action changes the position of the input apparatus (23, 23L, 23R) but does not change the posture of the input apparatus (23, 23L, 23R).

Description

surgical robotic system

[0001] This application claims priority to the Chinese patent application filed with the China Intellectual Property Office on September 7, 2023, with application number 202311146422.5, and invention name “Surgical Robot System”; and claims priority to the Chinese patent application filed with the China Intellectual Property Office on September 7, 2023, with application number 202311146445.6, and invention name “Surgical Robot System”; and claims priority to the Chinese patent application filed with the China Intellectual Property Office on September 7, 2023, with application number 202311146464.9, and invention name “Surgical Robot System”. Technical Field

[0002] The present application relates to the medical field, and in particular to a surgical robot. Background Art

[0003] Minimally invasive medical technology refers to a medical procedure that utilizes modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery or biopsies within human cavities. Compared to traditional surgical procedures, minimally invasive technology offers advantages such as less trauma, less pain, faster recovery, less discomfort for patients, and fewer harmful side effects.

[0004] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. These robots typically consist of a master control console and a slave operating device. The surgeon controls the slave operating device via the master console's input device. The slave operating device responds to control commands from the master console and performs the corresponding surgical procedure. The instrument is connected to the slave operating device's drive mechanism and is used to perform the surgical procedure. The distal end of the instrument includes an end device for performing the surgical procedure and a joint assembly connected to the end device that allows for multiple degrees of freedom of motion.

[0005] Before and during surgery, surgeons need to use the surgical robot's endoscope to detect the patient's internal environment. Currently, there is no better solution for how to use multiple endoscopic operation modes to facilitate doctors' detection of the patient's internal environment, and how to reduce training time and misoperation.

[0006] Summary of the Invention

[0007] Based on this, the present application provides a surgical robot in a first aspect, comprising:

[0008] a robotic arm having multiple joints;

[0009] a plurality of drive devices for driving surgical instruments and endoscopes;

[0010] an input device for manipulating the plurality of drive devices in a plurality of operating modes, the plurality of operating modes including at least a follow mode and a camera mode;

[0011] A control device configured to:

[0012] In the following mode, the first driving device of the plurality of driving devices is controlled to move according to a first action of the input device so that the posture of the surgical instrument follows the posture of the input device; the control device switches the operation mode from the following mode to the camera mode in response to an action of entering an endoscope mode and the first action;

[0013] In the camera mode, the second driving devices of the plurality of driving devices are controlled to move according to a second action of the input device to adjust the position and posture of the endoscope, wherein the second action changes the position of the input device without changing the posture of the input device.

[0014] In a specific embodiment, the multiple operating modes also include an adjustment mode, in which the control device controls the movement of the robotic arm according to the second action of the input device to rotate the endoscope around a remote motion center to adjust the position and posture of the end of the endoscope and maintain the position and posture of the end of the surgical instrument unchanged.

[0015] In a specific embodiment, the multiple operation modes also include a repositioning mode, in which the control device controls the movement of the robotic arm according to the second action of the input device to simultaneously adjust the position and posture of the surgical instrument and the endoscope.

[0016] In a specific embodiment, in the following mode, the control device switches the operation mode from the following mode to the adjustment mode in response to entering the endoscope mode.

[0017] In a specific embodiment, in the camera mode, the adjustment mode, and the repositioning mode, the first action does not cause movement of the plurality of driving devices and the joints of the robotic arm.

[0018] In a specific embodiment, the control device switches the operation mode from the following mode to the repositioning mode in response to an action of entering an endoscope mode and an action opposite to the first action.

[0019] In a specific embodiment, it also includes a pre-stored first motion boundary and a second motion boundary for constraining the movement of the robotic arm. After the operating mode is switched from the adjustment mode to the repositioning mode, the control device synchronously switches the motion range of the robotic arm from the first motion boundary to the second motion boundary.

[0020] In a specific embodiment, the first motion boundary is determined according to the motion range of the joint assembly of the surgical instrument, and the second motion boundary is determined according to the motion range of multiple joints of the robotic arm.

[0021] In a specific embodiment, the control device calculates the first target position of the robotic arm based on the second action. When the first target position exceeds the first motion boundary or the second motion boundary, the control device constrains the robotic arm from further movement and generates an impedance force command for the input device to hinder the input device from continuing to move, so as to generate an impedance force on the input device to hinder the input device from continuing to move.

[0022] In a specific embodiment, the impedance force increases as the distance between the first target position and the first movement boundary or the second movement boundary increases.

[0023] In a specific embodiment, the control device calculates the second target position of the robotic arm based on the second action. If the second target position is closer to the first motion boundary or the second motion boundary than the first target position, the control device releases the constraint on the motion of the robotic arm and stops generating the impedance force command.

[0024] In a specific embodiment, the endoscope includes a camera, a wrist joint and a parallel joint, the wrist joint is connected between the camera and the parallel joint, the movement of the wrist joint changes the position and posture of the camera, the movement of the parallel joint changes the position of the camera and keeps its posture unchanged, and the second action manipulates the movement of the wrist joint without manipulating the movement of the parallel joint.

[0025] In a second aspect, the present application provides a surgical robot system, comprising:

[0026] a robotic arm having multiple joints;

[0027] a plurality of drive devices for driving at least one surgical instrument and an endoscope;

[0028] an input device for manipulating the plurality of drive devices in a plurality of operating modes, the plurality of operating modes including at least a follow mode and a repositioning mode;

[0029] A control device configured to:

[0030] In the following mode, the surgical robot system is switched from the following mode to the repositioning mode according to the action of entering the endoscope mode and the first action of the input device. In the repositioning mode, in response to the second action of the input device, the control device controls the movement of the robotic arm to simultaneously change the posture of the surgical instrument and the endoscope, wherein the first action does not cause movement of the robotic arm or the multiple drive devices in the repositioning mode, and the second action changes the position of the input device without changing the posture of the input device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG1 is a schematic top view of a surgical robot system arranged in an operating room according to an embodiment of the present application;

[0032] FIG2A is a schematic diagram of a main control console of a surgical robot system according to an embodiment of the present application;

[0033] FIG2B is a schematic diagram of a slave operating device of a surgical robot system according to an embodiment of the present application;

[0034] FIG3A is a schematic diagram of a surgical tool according to an embodiment of the present application;

[0035] FIG3B is a schematic diagram of the internal structure of a weapon holding device according to an embodiment of the present application;

[0036] FIG4A is a schematic diagram of a slave operating device according to an embodiment of the present application;

[0037] FIG4B is a schematic diagram of a kinematic model of a slave operating device according to an embodiment of the present application;

[0038] FIG5 is a schematic diagram of a kinematic model of a surgical tool according to an embodiment of the present application;

[0039] FIG6 is a schematic diagram of multiple surgical tools passing through a cannula according to one embodiment of the present application;

[0040] FIG7A is a schematic diagram illustrating the relationship between the coordinate system of an input device and the coordinate system of a display device according to an embodiment of the present application;

[0041] FIG7B is a schematic diagram illustrating the relationship between the coordinate system of the surgical tool tip and the coordinate system of the endoscope tip according to one embodiment of the present application;

[0042] FIG8 is a flow chart of a following mode control method according to an embodiment of the present application;

[0043] FIG9 is a flow chart of a control method for an adjustment mode according to an embodiment of the present application;

[0044] FIG10 is a flow chart of an endoscope alignment control method according to an embodiment of the present application;

[0045] FIG11 is a flow chart of a control method for switching between multiple operation modes according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided for a more thorough and comprehensive understanding of the disclosure of the present application and are not intended to limit the present application.

[0047] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time, or it may refer to the two elements being interactively connected through signals. When an element is considered to be "coupled" / "coupled" to another element, it may be directly coupled to the other element or there may be a central element at the same time, or it may refer to the two elements being interactively connected through signals. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the drawings. For example, if the device is flipped in the drawings, the elements or features described as being "below" or "beneath" other elements or features will be oriented as being "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0048] The terms "distal" and "proximal" are used herein as directional terms, which are commonly used in the field of interventional medical devices. "Distal" refers to the end away from the surgeon during surgery, and "proximal" refers to the end closer to the surgeon during surgery. The term "plurality" as used herein includes two or more.

[0049] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including an end device, which may be a surgical tool for performing a surgical procedure, such as a biopsy needle, an electrocautery device, a clamp, a stapler, a shears, an imaging device (such as an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end device so that the position and orientation of the end device can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, the end device also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system elements.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0051] A surgical robot system according to an embodiment of the present application is shown in FIG1 . The surgical robot system includes a master console 20 and a slave operating device 10. The master console 20 is remotely connected to the slave operating device 10 via remote communication. A surgeon S can remotely operate and control the slave operating device 10 on the master console 20. The master console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 based on the surgeon S's operations. The surgeon S can observe three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the master console 10. By observing the three-dimensional images of the patient's body, the surgeon S can control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body) in an immersive manner.

[0052] The slave operating device 10 includes a control device, a robotic arm 11, and an instrument holder 12. The control device can be located in the base of the slave operating device 10 or on the robotic arm 11. In one embodiment, the control device is used to control the joint motion of the robotic arm 11 and the motion of the drive device in the instrument holder 12. The instrument holder 12 can be mounted with multiple surgical tools, and the drive device of the instrument holder 12 is used to drive the surgical tools to perform various surgeries.

[0053] In one embodiment, the surgical robotic system further includes a gas insufflation device, a lumen assembly (not shown), and a cannula 13. The lumen assembly connects the cannula 13 to the gas insufflation device in fluid communication. The cannula 13 is connected to the distal end of the instrument holder 12 and is inserted into the body cavity of a patient P lying on an operating table T. The distal end devices of multiple surgical tools or a camera at the distal end of an endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgical procedures or obtain images of the patient P's internal environment.

[0054] In one embodiment, surgeon S, through the main console 10, can control the operating mode of the gas insufflation device, for example, to inject gas from a gas source into the body cavity of patient P to form artificial pneumoperitoneum, or to extract gas from the body cavity of patient P. Assistant A, depending on the surgical situation, installs surgical tools 40 onto the instrument holder 12 or replaces surgical tools 40 from the instrument holder 12. Surgeon S, assistant A, and anesthesiologist B constitute a basic surgical team. Surgical tools 40 can be surgical tools such as electrocautery, forceps, staplers, ultrasonic scalpels, etc. used to perform surgical operations, or can be imaging devices (such as endoscopes) for capturing images or other surgical tools.

[0055] The master console 10 is also remotely connected to the electronic device cart 30, which is in turn remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generator, an image signal processing device, and the aforementioned gas insufflation device. In this embodiment, the master console 10, the slave operating device 10, and the electronic device cart 30 communicate remotely via wired Ethernet. However, remote communication is not limited to wired Ethernet and may also utilize other wired methods, such as, but not limited to, serial ports, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, 5G, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0056] In one embodiment, as shown in FIG2A , the main console 20 includes a display device 21, armrests 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 is used to display images captured by the imaging system. The armrests 22 are used to support the arms and / or hands of a doctor (e.g., surgeon S) to more comfortably operate the input device 23. The observation device 24 is used to observe the images displayed on the display device. Depending on practical needs, the armrests or observation device 24 may be omitted, allowing for direct observation. Doctor S manipulates the surgical tools of the slave operating device 10 by operating the input device 23. The control signal processing system of the main console 20 processes the input signals from the input device 23 and issues control commands to the slave operating device. The slave operating device 10 responds to the control commands from the main console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 may also be located within the slave operating device 10, for example, within its base. The control signal processing system 25 may be integrated with the aforementioned control device.

[0057] The surgical robot system typically also includes an imaging system portion (not shown) that enables the doctor S to observe the surgical site from outside the patient's body. The imaging system portion typically includes a surgical tool 40 with a video image acquisition function (e.g., a surgical tool 40 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 with an image acquisition function includes an optical device with one or more imaging sensors (e.g., a CCD or CMOS sensor) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the surgical tool 40 with an image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly to be processed and displayed on a video display device.

[0058] In one embodiment, as shown in FIG2B , the robotic arm 11 of the slave operating device 10 of the surgical robot system includes a base 110, a column 120 connected to the base 110, and a large arm 130, a small arm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes a plurality of joints J1-J5 for connecting the column 120, the large arm 160, the small arm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110. The lifting column 122 is connected to the support column 121 via a first joint J1. The first joint J1 is a linear motion joint. The lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all revolute joints, and the rotation axes 102, 103, and 104 of these three revolute joints are perpendicular to the horizontal plane. The vertical arm 150 is connected to the arm-carrying device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0059] The control device 160 is configured to control the linkage of multiple joints J1-J5 to achieve various positions of the entire robotic arm 11, adjust the position and posture of the arm holding device 112, and realize the rotational movement of the arm holding device 112 around the remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main console 20.

[0060] In one embodiment, the arm holding device 112 further includes a sleeve 115, which is detachably connected to the arm holding device 112 via a docking device 114. The central axis 106 of the arm holding device 112 substantially coincides with the axis 118 of the sleeve 115. The arm holding device 112 drives the sleeve 115 to rotate around a remote motion center 116. Since the remote motion center 116 is located at the incision 117, the patient P will not be injured when the sleeve 115 rotates around the remote motion center 116.

[0061] In one embodiment, the operating device 10 also includes a control panel 170 provided on the support column 121. The control panel 170 includes at least one switch 171. The switch 171 is used to input positioning instructions to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 11 to quickly realize the positioning of the robotic arm 11 in various predetermined postures, such as unfolding into a posture for arranging sterile curtains.

[0062] In one embodiment, the surgical tool holder 112 can be loaded with multiple surgical tools 40, which are inserted into the body through the same cannula 115 and the incision 117. As shown in FIG3A , the surgical tool 40 includes an instrument case 41, a long shaft 42, a joint assembly 43, and an end device 44. The surgical tool 40 is removably mounted on the drive system of the surgical tool holder 112 of the operating device 10. The instrument case 41 contains a transmission device (not shown) comprising multiple transmission units (e.g., winches). The transmission units are connected to the joint assembly 43 and the end device 44 via multiple cables. The multiple transmission units are respectively coupled to multiple actuators (e.g., motors) within the drive system and driven by the actuators. The multiple actuators receive control commands from the control device and, in response to the control commands, drive the transmission units to move, thereby driving the end device 44. For example, the drive unit rotates the transmission unit to retract / pull the cables to control the movement of the end device. End device 44, through joint assembly 43, is capable of performing multiple Cartesian degrees of freedom, such as translation (including lateral and / or longitudinal movement) to change the position of end device 44 and pitch, yaw, and roll to change the posture of pattern device 44. It will be appreciated that translation, pitch, translation, yaw, and roll can be performed independently or simultaneously. End device 44 is used to perform surgical procedures. Depending on the requirements of the surgical procedure, end device 44 may be an electrocauterizer, forceps, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., wherein the camera or imaging device is used to obtain images of the human body.

[0063] In one embodiment, as shown in FIG3B , the drive system of the instrument holding device 112 includes at least a first drive device 2201 and a second drive device 2202. A plurality of surgical instruments 310 are detachably mounted on the first drive device 2201, and a plurality of endoscopes 320 are detachably mounted on the second drive device 2202. Multiple actuators within the first drive device 2201 are coupled to a transmission within an instrument case 311 of the surgical instruments 310. The first drive device 2201 is configured to drive a joint assembly 313 of the surgical instrument 310 to perform multiple degrees of freedom motion and rotational motion of the long axis 312. Multiple actuators within the second drive device 2202 are coupled to a transmission within an instrument case 321 of the endoscope 320. The second drive device 2202 is configured to drive a joint assembly 323 of the endoscope 321 to perform multiple degrees of freedom motion and rotational motion of the long axis 322.

[0064] In one embodiment, the drive system of the arm holding device 112 further includes a first feed drive device 2211 and a second feed drive device 2212. The first feed drive device 2211 is used to linearly move the first drive device 2201 along the guide rail 2213, thereby driving the surgical instrument 310 to perform a feed movement between the proximal end and the distal end. The second feed drive device 2212 is used to drive the second drive device 2202 to linearly move along the guide rail 2214, thereby driving the endoscope 320 to perform a linear movement.

[0065] FIG4A is a schematic diagram of a slave operating device 200 according to an embodiment of the present application, and FIG4B is a schematic diagram of a kinematic model of a slave operating device 500 according to an embodiment. As shown in FIG4A , the kinematic model 500 includes kinematic information associated with a number of active devices. The kinematic information is based on known kinematic models of the various linkages (e.g., the aforementioned uprights, upper arms, lower arms, and vertical arms) and joints of the slave operating device 200. The kinematic information is further based on information associated with the position and posture of each joint of the slave operating device 200. The information associated with the position and posture of the joints is obtained by measuring the linear position of the linear motion joints and the rotational position of the rotational joints using one or more position sensors (e.g., encoders). The kinematic model 500 includes several coordinate systems or coordinate systems and coordinate system transformation relationships (e.g., homogeneous transformations of coordinate systems) for transforming the position and posture of the target object from a description in one coordinate system to a description in another coordinate system. The kinematic model 500 can simultaneously use one or more coordinate systems and coordinate system transformation relationships involved therein to establish kinematic relationships between adjacent or non-adjacent coordinate systems through forward or reverse transformation. In some embodiments, the kinematic model 500 is used to model the kinematic relationship of the slave operating device 200 in FIG. 4A .

[0066] The kinematic model 500 includes a base coordinate system 510 for kinematic modeling of the positions and postures of the joints of the slave operating device 200. The base coordinate system 510 is established on the base 210 and remains relatively stationary with respect to the base of the slave operating device 200. In some embodiments, the base coordinate system 510 is used as a reference point for modeling between the moving joints of the slave operating device 200. Once the base coordinate system 510 is determined, the geometric relationship between the origin of its coordinate system and the orientation of the coordinate axis on the mechanical components of the base 210 is also determined. In addition, in order to facilitate an intuitive description of the motion information of each moving joint, the Z-axis orientation of the base coordinate system 510 can be perpendicular to the ground or floor surface on which the slave operating device 200 is placed.

[0067] The kinematic model 500 further includes a column coordinate system 520, which is used to model the position and posture of the lifting column 240. This coordinate system remains stationary relative to the movable lifting column 240. In some embodiments, to facilitate and expedite the establishment of coordinate transformation relationships between adjacent coordinate systems, and subject to coordinate system establishment rules, the Z axis of the column coordinate system 520 can coincide with the central axis 202 of the lifting column 240, the X and Y axes of the column coordinate system 520 can be aligned parallel to the coordinate axes of the base coordinate system 510, and the origin of the coordinate system 520 can be determined at the intersection of the central axis 202 of the lifting column and the horizontal center plane 201 of the boom 250. In some embodiments, the translational position of the lifting column 240 relative to the stationary support column 220 can be measured using one or more sensors and further used to determine the coordinate transformation relationship 515 between the column coordinate system 520 and the base coordinate system 510.

[0068] The kinematic model 500 further includes a boom coordinate system 530 of the slave manipulation device 200, which is established at the end of the boom 250. In some embodiments, this coordinate system can be established at the intersection of the horizontal center plane 201 of the boom 250 and the rotation axis 203 of the third joint J3, and is used to describe the motion information of the boom 250. Based on the coordinate system establishment rules, the Z axis of the boom coordinate system 530 can coincide with the rotation axis 203 of the third joint J3. In some embodiments, the rotational position of the boom 250 relative to the lifting column 240 can be measured using one or more sensors and further used to determine the coordinate system transformation relationship 525 between the boom coordinate system 530 and the column coordinate system 520. In some embodiments, based on the coordinate system transformation relationships 515 and 525, a kinematic model can be established between the coordinate systems 530 and 510, which can be further used to describe the motion information of the position and posture of the boom 250 in the base coordinate system 510. In some embodiments, based on the known motion information of the position and posture of the upper arm 250 in the base coordinate system 510, based on the coordinate system transformation relationships 515 and 525, the motion information of the joints of the lifting column 240 and the upper arm 250 can be determined through inverse kinematic transformation.

[0069] The kinematic model 500 further includes a forearm coordinate system 540, which is established at the end of the forearm 260. In some embodiments, the coordinate system 540 can be established at the intersection of the horizontal center plane 205 of the forearm 260 and the rotation axis 204 of the fourth joint J4, to describe the kinematic information of the forearm 260. Based on the coordinate system establishment rules, the Z axis of the forearm coordinate system 540 can coincide with the center axis 204 of the vertical arm 270. In some embodiments, one or more sensors can be used to measure the rotational position of the forearm 260 relative to the boom 250 and further used to determine the coordinate system transformation relationship 535 between the forearm coordinate system 540 and the boom coordinate system 530. In some embodiments, based on the coordinate system transformation relationships 525 and 535, a kinematic model can be established between the coordinate systems 540 and 520, which can be further used to describe the posture and motion information of the forearm 260 relative to the lifting column 240. In some embodiments, based on the combination of coordinate system transformation relationships 515, 525, and 535, a kinematic model between coordinate systems 540 and 510 can be established, which can further be used to describe the motion information of the position and posture of forearm 260 in base coordinate system 510. In some embodiments, based on the known motion information of the position and posture of forearm 260 in base coordinate system 510, the motion information of the joints of lifting column 240, upper arm 250, and forearm 260 can be determined through inverse kinematic transformation based on coordinate system transformation relationships 515, 525, and 535.

[0070] The kinematic model 500 further includes a vertical arm coordinate system 550, which is established at the end of the vertical arm 270. In some embodiments, the vertical arm coordinate system 550 can be established at the intersection of the central axis 204 of the vertical arm 270 and the rotation axis 206 of the fifth joint J5, and is used to describe the motion information of the vertical arm 270. On the basis of satisfying the coordinate system establishment rules, the Z axis of the vertical arm coordinate system 550 can coincide with the rotation axis 206 of the fifth joint J5. In some embodiments, one or more sensors can be used to measure the rotation position of the vertical arm 270 relative to the forearm 260, and further used to determine the coordinate system transformation relationship 545 between the vertical arm coordinate system 550 and the forearm coordinate system 540. In some embodiments, based on the combination of coordinate system transformation relationships 515 to 545, a kinematic model between the coordinate systems 550 and 510 can be established, and further can be used to describe the motion information of the position and posture of the vertical arm 270 in the base coordinate system 510. In some embodiments, based on the known motion information of the position and posture of the vertical arm 270 in the base coordinate system 510, based on the coordinate system transformation relationship 515~545, after kinematic inverse transformation, the motion information of the joints of the lifting column 240, the upper arm 250, the lower arm 260 and the vertical arm 270 can be determined.

[0071] The kinematic model 500 further includes a handheld coordinate system 560, which is established at the distal end of the handheld 280. In some embodiments, the handheld coordinate system 560 can be established at the distal end of the handheld 280 and on the vertical center plane 207 of the handheld 280 (e.g., at the docking portion of the distal end of the handheld), to describe the motion information of the handheld 280. In some embodiments, the rotational position of the handheld 280 relative to the vertical arm 270 can be measured using one or more sensors and further used to determine a coordinate system transformation relationship 555 between the handheld coordinate system 560 and the vertical arm coordinate system 550. In some embodiments, based on the combination of coordinate system transformation relationships 515-555, a kinematic model can be established between coordinate systems 560 and 510, and can further be used to describe the motion information of the position and posture of the handheld 280 in the base coordinate system 510. In some embodiments, based on the known motion information of the position and posture of the armed device 280 in the base coordinate system 510, based on the coordinate system transformation relationship 515~555, after kinematic inverse transformation, the motion information of each joint of the robotic arm 211 can be determined, and the end point of the robotic arm 211 of the slave operating device 200 can be accurately controlled.

[0072] Kinematic model 500 further includes a remote center of motion coordinate system 570 for manipulator 211, whose origin coincides with remote center of motion 116. In some embodiments, a coordinate transformation relationship 565 between remote center of motion coordinate system 570 and manipulator coordinate system 560 can be determined based on the geometric relationships of the mechanisms on arm 280. Furthermore, based on the combination of coordinate transformation relationships 515-565, a coordinate transformation relationship 575 between coordinate systems 570 and 510 can be established. This can be used to describe the positional motion information of remote center of motion 116 of manipulator 211 in cart base coordinate system 510 and the posture motion information of manipulator 280. In some embodiments, given the positional motion information of remote center of motion 116 in base coordinate system 510 and the posture motion information of manipulator 280, the motion information of each joint of manipulator 211 can be determined based on coordinate transformation relationship 575 through an inverse kinematic transformation, thereby enabling translational and rotational motion of manipulator 280 while being hand-held and dragged within the workspace.

[0073] FIG5 is a simplified schematic diagram of the kinematic model of multiple surgical tools 40 for a surgical robot according to an embodiment of the present application. As shown in FIG5 , the multiple surgical tools 40 include surgical instruments and an endoscope. To accurately control the motion of the surgical tools, a base coordinate system 610 is typically established for each surgical tool 40. An axial translation coordinate system 620 is established for the translational freedom of motion along the central axis 106 of the arming device 112. A rotation coordinate system 630 is established for the rotational freedom of the surgical tools 40 about their respective longitudinal axes. Furthermore, as shown in FIG6 , a parallel joint coordinate system 640, a wrist joint coordinate system 650, and a distal end coordinate system 660 are established for the other degrees of freedom of motion at the distal end of the surgical tool 40. The parallel joint coordinate system 640 is established on the proximal base of the proximal joint 4221 of the parallel joint 422.

[0074] In some embodiments, based on the coordinate system transformation relationships 615-655, a kinematic model relationship 665 can be established between the end coordinate system 660 and the surgical tool base coordinate system 610, which can be further used to describe the position and motion information of the surgical tool's end device or endoscope image in the base coordinate system 610. In some embodiments, based on the known position and motion information of the surgical tool end coordinate system 660 in the surgical tool base coordinate system 610, the coordinate system transformation relationship 665 is inversely transformed and solved to calculate the motion information of each motion joint of the surgical tool. In some embodiments, the fixed kinematic relationship between each surgical tool base coordinate system 610 is known. Based on the coordinate system transformation relationship 665, the position and pose information of the surgical instrument end device in the endoscope image can be obtained, thereby realizing master-slave control operation of the surgical instrument based on the master-slave motion control model. In some embodiments, a kinematic relationship 675 can be established between the surgical tool base coordinate system 610 and the remote motion center coordinate system 560 of the patient surgical platform, thereby establishing a connection between the surgical tool 40 and the robotic arm 211.

[0075] In one embodiment, as shown in FIG6 , a plurality of surgical tools include surgical instruments 410 , 430 and an endoscope 420 . The surgical instruments 410 , 430 and the endoscope 420 pass through the cannula 115 together. In this embodiment, the surgical tool 410 is a surgical instrument whose end device 411 is a bipolar cautery forceps, the surgical tool 420 is a surgical instrument whose end device 424 is a camera, and the surgical tool 430 is a surgical instrument whose end device 424 is a needle holder. The two surgical instruments 410 , 430 and the endoscope 420 have joint assemblies of the same configuration. In other embodiments, other numbers of surgical tools may be used, such as four surgical tools. In other embodiments, the configurations of the joint assemblies of the surgical tools 410 , 420 , and 430 may be different as needed to achieve different degrees of freedom of movement.

[0076] In one embodiment, surgical tool 420 includes a proximal instrument box (not shown in FIG6 ), a long shaft 421 , a joint assembly, and a camera 424 . The joint assembly includes a parallel joint 422 and a wrist joint 423 . The parallel joint 422 includes a proximal joint 4211 , an intermediate section 4223 , and a distal joint 4222 . The proximal joint 4211 and the distal joint 4222 move simultaneously to change the position of the camera 424 , but can maintain the posture of the camera 424 unchanged. For detailed movement principles of the parallel joint 422 , please refer to Chinese patent applications CN202111604327.6 (Instruments and surgical robots with parallel joints) and CN202111604322.3 (Instruments and surgical robots with parallel joints). The movement of the wrist joint 423 can change the position and posture of the camera 424 to explore the internal environment.

[0077] In some embodiments, the main console 20 has four different operating modes for operating surgical tools 410, 420, and 430. The first of the four operating modes is the follow mode. FIG7A is a simplified schematic diagram of the motion relationship of the input device 23 according to an embodiment of the present application. A Cartesian space coordinate system ML is established at the handle position at the end of the left input device 23L, a Cartesian space coordinate system MR is established at the handle position at the end of the right input device 23R, and a Cartesian display screen coordinate system MB is established at the display device 21. Based on the mechanical structure design, both the left input device 23L and the right input device 23R have six degrees of freedom of motion. The six degrees of freedom of the left input device 23L include three coordinate axes X along the coordinate system ML. ML , Y ML , Z ML The three translational degrees of freedom and the ML , Y ML , Z ML Similarly, the right input device 23R also has three rotational degrees of freedom along the coordinate axis X MR , Y MR , Z MR Three degrees of freedom of translation and about the coordinate axis X MR , Y MR , Z MR Three rotational degrees of freedom. Through the kinematic relationship between the coordinate systems ML and MR of the input device 23 and the coordinate system MB of the display device, the six degrees of freedom motion information of the surgeon's S hand can be converted to the display screen coordinate system MB through motion conversion, thereby allowing the surgeon's S hand motion information to be stored and recorded in the main console.

[0078] FIG. 7B is a simplified schematic diagram of the motion relationship of surgical tools used in a surgical robot system according to an embodiment of the present invention. As shown in Figures 6 and 7B, a coordinate system 415 is established at the end of the surgical instrument 410, and a coordinate system 435 is established at the end of the surgical tool 430. Based on the master-slave motion mapping relationship between the input device motion and the surgical tool motion, the coordinate system ML of the left input device 23L can be mapped to the coordinate system 414 of the end of the surgical tool 410, the coordinate system MR of the right input device 23R can be mapped to the end coordinate system 415 of the hand tool 430, and the screen coordinate system MB of the display device 21 can be mapped to the screen coordinate system 660 of the endoscope 420. Then, the motion of the coordinate system 415 of the end of the surgical tool 410 under the screen coordinate system 660 of the endoscope 420 and the coordinate system 425 of the end of the surgical tool 420 under the screen coordinate system 660 of the endoscope 420 can be obtained. Based on the motion conversion relationship between the surgical tools 410 and 430, the motion amount of the joint assembly of the surgical tool can be solved to complete the motion control of the corresponding motor.

[0079] Figure 8 is a simplified flowchart of a follow-up mode control method for a surgical robot system according to an embodiment of the present invention. In process 1111, the surgeon S activates master-slave alignment via the input device 23, thereby activating the master-slave operation function between the master control console and the patient's slave operating device. In process 1112, the surgeon S controls the movement of the left input device 23L and / or the right input device 23R. Based on the coordinate system transformation relationship shown in Figure 7A, the actual motion information of the left and right input devices 23L and 23R is converted to the screen coordinate system MB of the display device 21. Based on the master-slave motion control model, the screen coordinate system MB of the display device 21 is equivalent to the screen coordinate system 660 of the endoscope 420 of the slave operating device. Master-slave motion mapping and data transmission of the input device 23 are performed via a master-slave communication bus. After receiving motion control instructions, the control device of the slave operating device performs motion calculations on the joint components of the surgical tools 410 and 430 based on a pre-stored kinematic model, enabling the surgical tools 410 and 430 to follow the movements of the left and right input devices 23L and 23R in real time.

[0080] In one embodiment, the four operating modes of the surgical robot system also include an adjustment mode. Referring again to FIG6 , in the adjustment mode, the doctor S can control the holding device 112, 280 to rotate around the remote motion center 116 by manipulating the input device 23, so that the endoscope 420 image can achieve four degrees of freedom. The four degrees of freedom include the endoscope 420 rotating around the remote motion center and the coordinate system 570. m axis and y mThe axis performs two degrees of freedom of rotation, enabling changes in the field of view of the endoscope 420 image in the up-down and left-right directions, thereby facilitating continuous surgical operations at different surgical sites for the surgeon S and improving the smoothness of the surgical procedure. Furthermore, along the central axis 118 of the cannula 115, the endoscope 420 can perform forward and backward movement, i.e., the endoscope 420 can move linearly along the cannula axis 118 toward the proximal or distal end, thereby adjusting the size of the observable field of view of the endoscope image. This degree of freedom helps to readily bring surgical instruments outside the field of view into the field of view for the surgeon S to observe, thereby reducing surgical risks. During surgery, the endoscope image can be controlled to perform rotational movement around the image axis, enabling clockwise or counterclockwise adjustment of the image field of view. During this degree of freedom movement, the image axis remains fixed in the remote motion center coordinate system 570, and the position of the endoscope image center in the coordinate system 570 remains fixed.

[0081] In one embodiment, the adjustment mode also includes the endoscope 420 moving about the axis z of the coordinate system 660. v Rotate so that the endoscope image rotates, and the endoscope 420 rotates around the axis z v During rotation, the control device controls the parallel joint 422 and the wrist joint 423 to move in conjunction with each other, thereby maintaining the postures of the parallel joint 422 and the wrist joint 423 unchanged.

[0082] In the adjustment mode, endoscope 420 and surgical instruments 410, 430 are linked, so that the distal ends of surgical instruments 410, 430 remain stationary while endoscope 420 rotates about remote center of motion 116. In one embodiment, control method 300 for the adjustment mode is shown in FIG9 . In process 761 , based on motion control input commands from input device 23 , the aforementioned four-degree-of-freedom motion control can be performed on the endoscope image. During the motion control process of the endoscope 420, the position and posture of the end devices of the surgical instruments 410 and 430 in the remote motion center coordinate system 570 remain unchanged. The joint components of the surgical instruments 410 and 420 execute a joint motion control process 762 based on the kinematic model. During process 762, the robotic arm, first drive device 2201, and first feed drive device 2211 work together to ensure that the position and posture of the end devices of the surgical instruments 410 and 420 remain unchanged when the endoscope 430 rotates around the remote center 116. This allows the surgical instruments 410 and 430 to control the endoscope 420 image to perform multi-degree-of-freedom motion while clamping tissue, and maintains a constant pulling force on the tissue during the motion. In some embodiments, all surgical instruments installed on the handpiece and in an active state participate in the joint motion control process.

[0083] During the joint movement of the surgical instruments 410, 420 and the robotic arm, process 763 is executed simultaneously to determine in real time whether the movement of the robotic arm has reached the first movement boundary position. If the output of process 763 is "no", process 769 is executed, and the robotic arm drives the endoscope to continue moving; if the output of process 763 is "yes", process 764 is executed to trigger the boundary impedance model. In some embodiments, the first movement boundary position is allowed to be defined as the position of the endoscope 430 or the position of the robotic arm when the surgical instruments 410, 420 linked thereto move to any set joint limit position. In process 764, the endoscope reaches the boundary position, triggering the boundary impedance model set by the software. At this time, the joint components of the surgical instruments 410, 430, the endoscope 420, and the moving joints of the robotic arm 200 stop moving in that direction. When the boundary impedance model of the movement of the endoscope 430 is triggered, if the input device continues to move in this direction, the boundary impedance force of the endoscope movement will be transmitted from the operating device to the robotic arm of the input device to perform the force feedback process 765 and realize the boundary impedance force feedback effect on the hand of the doctor S.

[0084] In some embodiments, the deviation between the input command for controlling the movement of the endoscope and the actual movement position of the endoscope is correlated to the magnitude of the boundary impedance. As the position deviation increases, the effect of the boundary impedance of the doctor's S hand gradually increases. In some embodiments, the force feedback function of the input device is allowed to be set to be turned on and / or off by the doctor S on the doctor's operating table or by an assistant on the patient's surgical table. In some embodiments, the turning on and / or off setting of the main hand force feedback function of the doctor's operating table is allowed to be executed through mechanical buttons and / or touch screens and / or voice systems. When process 764 is triggered, a prompt message indicating that the main hand movement has reached the boundary will be generated at the same time. In some embodiments, this prompt message is allowed to be executed in the form of sound and / or icon and / or number and / or progress bar and / or other forms. The output source of this prompt message is allowed to be the doctor's operating table and / or patient surgical table and / or imaging trolley and / or other equipment. When the endoscope 430 reaches the boundary position, the doctor S needs to execute process 767 to determine whether to change the movement direction of the master-slave operation. If the output of process 767 is "no", process 768 is triggered and the robotic arm 211 stops moving; if the output of process 767 is "yes", process 769 is triggered, and the robotic arm 211 is allowed to continue to perform motion control, the boundary impedance model is automatically turned off, and the impedance boundary force of the doctor's main hand on the operating table gradually weakens until it is zero.

[0085] Referring to Figure 6 again, under the adjustment model, when the endoscope 420 performs forward and backward movement, when the master-slave motion controls the endoscope to move from the outside of the cannula 115 along the central axis 118 of the cannula 115 toward the proximal end close to the cannula port 115a, when the distance between the proximal end of the proximal joint 4221 of the parallel joint 422 and the remote motion center 116 is greater than the distance between the cannula port 115a and the remote motion center 116, the parallel joint 422 will not collide with the cannula port. On the contrary, when the distance between the proximal end of the proximal joint 4221 of the parallel joint 422 and the remote motion center 116 is less than the distance between the cannula port 115a and the remote motion center 116, the parallel joint 422 will collide with the cannula port 115a. In order to solve the collision phenomenon between the endoscope 420 and the cannula port 115a, the endoscope 420 executes a straightening action command during the forward and backward translation movement along the central axis 118 of the cannula, that is, when the shoulder and elbow base of the endoscope 430 moves from the outside of the cannula to the cannula port, the angle α between the parallel joint 422 and the central axis 118 of the cannula 115, and the angle β between the wrist joint 423 and the central axis 118 gradually decrease until they are zero and remain unchanged.

[0086] In one embodiment, in order to provide the doctor S with favorable information prompts that the endoscope 420 is in the above-mentioned straightening action process, a virtual area Z1 is set near the sleeve 115, and the virtual area Z1 includes a first boundary S1 located at the proximal end and a second boundary S2 located at the distal end, and a spring impedance force model is established between the positions of the first boundary S1 and the second boundary S2. The control shaft uses the spring impedance force model to generate a force command for the input device 23 to generate an impedance force on the joint of the input device 23 that hinders the input device 23 from continuing to move. The doctor S knows the straightening state of the endoscope 420 by feeling the impedance force.

[0087] In one embodiment, the first boundary S1 is set at the position of the cannula port 115a or the distal end of the cannula port 115a, and the second boundary S2 is set between the cannula port 115a and the remote motion center 116. The distance h of the straightening process is between the first boundary S1 and the second boundary S2. The straightening speed of the endoscope 420 and the distance h are allowed to be established as a linear or nonlinear relationship model. If the distance h is smaller, the straightening speed of the endoscope is faster, and vice versa. The h value remains unchanged after the initial setting of the system is completed.

[0088] The first boundary S1 and the second boundary S2 are zero positions for triggering the spring-like impedance model, that is, at the first boundary S1 and the second boundary S2, the impedance output by the input device according to the spring-like impedance model is zero.

[0089] In one embodiment, the virtual area Z1 also includes an intermediate boundary S3 located between the first boundary S1 and the second boundary S2. When the proximal end of the proximal joint 4221 is at the third boundary S3, the impedance force output by the input device 23 is maximum. When approaching from the first boundary S1 and the second boundary S2 to the third boundary S3, the impedance force gradually increases. In the process from the third boundary S3 to the first boundary S1 and the second boundary S2, the output impedance force gradually decreases.

[0090] Specifically, during the process of the input device 23 controlling the proximal translation of the endoscope 420 along the cannula central axis 118, when the parallel joint coordinate system 640 contacts the first boundary S1, i.e., coincides with the first boundary S1, the spring-like impedance model is triggered. As the parallel joint coordinate system 640 gradually approaches S1 from S1, the angle β between the parallel joint 422 and the cannula central axis 118 gradually decreases until it reaches zero. The impedance increases from zero to a maximum value at the intermediate boundary S3, then gradually decreases until it reaches zero at the second boundary S2. In one embodiment, the intermediate boundary S3 is at the virtual area h / 2. At this point, the endoscope 420 is in a straightened state. In one embodiment, whether the parallel joint coordinate system 640 contacts the first boundary S1, the second boundary S2, or the intermediate boundary S3 can be determined by comparing the positional relationship between the parallel joint coordinate system 640 and the coordinate system established at the first boundary S1, the second boundary S2, or the intermediate boundary S3.

[0091] During the process of the input device 23 controlling the endoscope 420 to translate from the inside of the cannula 115 along the central axis 118 of the cannula toward the distal end, when the coordinate system 640 starts to move from the inside of the cannula and at the proximal end of the second boundary S2 and gradually approaches the cannula port 115a, if the coordinate system 640 contacts the second boundary S2, the straightening action instruction is triggered, and the endoscope 420 is allowed to maintain the straightening state until the coordinate system 640 reaches the outside of the cannula outside the range of S1S2. In the process of following the coordinate system 640 from the second boundary S2 to the middle boundary S3, the impedance force output by the input device 23 gradually increases. In the process of moving from the middle boundary S3 to the first boundary S1, the impedance force output by the input device 23 gradually decreases until it is zero.

[0092] In some embodiments, when the endoscope 420 moves from the distal end to the proximal end and the coordinate system 640 contacts the first boundary S1, the control device stores the posture of the joint assembly of the endoscope 420 at that time in the memory. When the endoscope 420 moves from the proximal end to the distal end and the coordinate system 640 contacts the first boundary S1 again, the control device reads the previously stored posture of the joint assembly of the endoscope 420 and restores the endoscope 420 to that posture.

[0093] FIG10 is a simplified flowchart of an endoscope alignment control method according to an embodiment of the present application. As shown in FIG10 , in process 810, the endoscope is manipulated via input device 23 to perform translational motion along the cannula axis. During this motion, the system simultaneously executes process 820. When the parallel joint base coordinate system 640 moves from the distal end of the cannula 115 to the first boundary S1 or from the proximal end of the cannula 115 to the second boundary S2, the alignment function is triggered and process 830 is simultaneously executed to record the S1 position or S2 position at the time of triggering. If the triggering position is the first boundary S1, the posture of the endoscope 420 at that time is also recorded. The motion deviation 840 of the coordinate system 640 from the reference zero position within the virtual area Z1 is calculated using the triggering position as the reference zero position. During this period, process 850 is simultaneously executed, and the posture of the wrist joint and the parallel joint changes, i.e., the endoscope begins to perform the straightening action or returns to the posture before the straightening action.

[0094] In process 860, the control device calculates the force command according to the spring-like model output and transmits the force command to the main console. After receiving the impedance force input command, the main console inputs it into the established inverse kinematic model of the input device 23 in the screen of the display device 21, executes the kinematic solution process 870, and then obtains the motion command value of each joint of the input device, executes process 880, and each joint moves according to the motion command to output the impedance force, thereby realizing the force feedback effect to prompt the doctor S the current status of the endoscope 420.

[0095] In one embodiment, the multiple operating modes of the surgical robotic system also include a repositioning mode. This repositioning mode shares some similarities with the aforementioned adjustment mode, except that in repositioning mode, the surgical instruments 410, 430 and the endoscope 420 are not linked. Referring again to FIG. 6 , in repositioning mode, the surgeon S controls the cannula 115 by operating the input device to rotate about the remote center of motion 116. The surgical instruments 410, 430 and the endoscope 420 rotate together with the cannula 115 about the remote center of motion 116, thereby adjusting the overall position and posture of the surgical instruments 410, 430 and the endoscope 420. Furthermore, the input device 23 can control the surgical instruments 410, 430 and the endoscope 420 to move forward and backward as a whole, i.e., to move the whole toward the proximal or distal end. During the overall forward and backward movement of surgical instruments 410, 430, and endoscope 420, if the first joint of any of the parallel joints of surgical instruments 410, 430, or endoscope 420 moves from distal to proximal and contacts the first boundary S1 of virtual zone Z1, or moves from proximal to distal and contacts the second boundary S1, the spring-like impedance force model described above is triggered, causing input device 23 to output an impedance force. In one embodiment, each of surgical instruments 410, 430, and endoscope 420 independently triggers the spring-like impedance force model, and the impedance forces are accumulated on input device 23, allowing surgeon S to sense how many surgical tools are in the straightened state.

[0096] In one embodiment, after the operation mode of the surgical robot system is switched from the adjustment mode to the repositioning mode, the motion boundary of the robotic arm is synchronously switched from the first motion boundary to the second motion boundary, wherein the second motion boundary is determined according to the limit position of the joint of the robotic arm.

[0097] In one embodiment, the multiple operating modes of the surgical robotic system further include a camera mode, where the movement of the endoscope 420 can be controlled solely through the input device 23, while the remote motion center 116 and the surgical instruments 410, 430 remain stationary.

[0098] In one embodiment, the camera mode includes a first camera mode and a second camera mode. In the first camera mode, the input device 23 controls the movement of the parallel joint 422 of the endoscope 420, thereby changing the position of the camera 424. In one embodiment, in the first camera mode, the input device 23 controls the movement of the wrist joint 423, while keeping the parallel joint 422 stationary. The movement of the wrist joint 423 includes the movement of the wrist joint around the coordinate axis y of the coordinate system 650. w Rotation and coordinate axis x w The two degrees of freedom of axis rotation can change the position and posture of the camera 424 through the movement of the wrist joint 423.

[0099] In one embodiment, in the first camera mode, the input device 23 manipulates the parallel joint 422 of the endoscope and the first feed drive 2201 to coordinately change the position of the distal end surface 424a of the camera 424 while maintaining a constant distance between the center point P1 of the distal end surface 424a of the camera 424 and a first plane M1. The first plane M1 passes through the distal motion center 116 and is perpendicular to the long axis 421a and the cannula center axis 118. In one embodiment, the joint assembly includes a linear motion joint, and the parallel joint 422 coordinates with the parallel joint to change the position of the distal end surface 424a of the camera 424 while maintaining a constant distance between the center point P1 of the distal end surface 424a of the camera 424 and the first plane M1.

[0100] In one embodiment, in the first camera mode, the input device 23 controls the parallel joint 422 and the wrist joint 423 to move together. When the parallel joint 422 moves to the physical boundary, the wrist joint 423 starts to rotate, or when the wrist joint 423 moves to the physical boundary, the parallel joint 422 starts to rotate, thereby making the working space of the camera 424 larger.

[0101] 6 , in one embodiment, in the second camera mode, based on the input of the input device 23, the control device can control the wrist joint 423, the parallel joint 422, and the second feed drive device to operate in linkage, so that the distal end face 424a of the camera 424 rotates around the end face coordinate system 660 while maintaining the position of the end face center point P1 relative to the remote motion center 116 unchanged, wherein the end face center point P1 coincides with the origin of the coordinate system 660.

[0102] Specifically, the control device controls the wrist joint 423 to rotate around the coordinate axis x of the coordinate system 650. w Rotation, parallel joint 422 around the coordinate axis x of coordinate system 640 b The second feed drive device drives the long shaft 421 to move along the linear motion of its axis 421a, so that the end surface 424a of the endoscope 422 moves around the first axis x of the coordinate system 660. v The control device controls the wrist joint 423 to rotate around the coordinate axis y of the coordinate system 650, and maintains the position of the center point P1 relative to the remote center 116 unchanged. w Rotation, parallel joint 422 around the coordinate axis y of coordinate system 640 b The second feeding motion device drives the long shaft 421 to move linearly along its axis 421a, thereby causing the end surface 424a of the endoscope 422 to move around the second axis y of the coordinate system 660. v By rotating and maintaining the position of the center point P1 relative to the remote center 116 unchanged, the second camera mode can be used to detect the surrounding environment in a narrow surgical space.

[0103] In one embodiment, the joint assembly of the endoscope 430 further includes a linear motion joint (not shown), which drives the long shaft 421 along the axis 421a, thereby realizing the forward and backward feeding motion of the camera 424. The camera end surface 424a is around the first axis x v or the second axis y v During rotation, the control device controls the wrist joint and the linear motion joint to maintain the position of the end face center point P1 relative to the remote motion center 570. The wrist joint 423 and the linear motion joint are linked in such a way that when the wrist joint 423 moves away from the long axis 421A, the linear motion joint drives the long axis toward the distal end; and when the wrist joint moves toward the axial direction of the long axis, the linear motion joint drives the long axis toward the proximal end.

[0104] In one embodiment, the present application also provides a method 5000 for switching between the above-mentioned multiple operating modes. As shown in Figure 11, in process 5111, after the surgical robot system is turned on, it is usually in a default standby state, and the various motion joints of the slave operating device and the main console are in a state of maintaining the current position and not moving, waiting for the doctor S to operate and use them. At the same time, the various motion joints of the robotic arm of the slave operating device and the input device of the doctor's main console are in an initial state, which is usually a fixed posture set by the system.

[0105] In process 5112, the method detects whether a doctor S is present at the main console 20. If the doctor S is present, the method proceeds to process 5113, otherwise the method returns to process 5111. The detection of whether the doctor S is present can be performed by infrared, distance sensor detection, camera or pressure sensor, etc.

[0106] In process 5113, the method determines the action performed by the doctor S to select an operating mode. If it is determined that the doctor S performed the action to select to enter the follow mode, then in process 5114, the method sets the surgical robot system to move in the follow mode. If it is determined that the doctor S selected to enter the endoscope mode, then in process 5210, the method sets the surgical robot system to move in the endoscope mode. The actions for selecting to enter the follow mode and the endoscope mode are different. In one embodiment, the action for selecting to enter the follow mode is the doctor S simultaneously pressing the left input device 23L and the right input device 23R, or rotating the left input device 23L and the right input device 23R simultaneously. In one embodiment, the action for selecting to enter the endoscope mode is the doctor S stepping on a pedal, pressing a button, or other input such as a voice prompt. It is understood that the actions for selecting to enter the follow mode and the endoscope mode can also be other actions, as long as the actions for selecting the follow mode and the endoscope mode are different. In this embodiment, the endoscope mode includes the above-mentioned adjustment mode, repositioning mode and camera mode. In some embodiments, the endoscope also includes other modes for operating the endoscope, such as endoscope cleaning mode, fluorescence mode, etc.

[0107] In process 5115, the method determines whether the doctor S has performed an action to enter the endoscope mode, such as the doctor S stepping on a pedal, pressing a button, or receiving other input such as a voice prompt. If "yes", process 5210 switches the operating mode of the surgical robot system from the follow mode to the endoscope mode. If "no", process 5116 is entered. In process 5116, the method determines whether to exit the follow mode. If "yes", the method loops back to process 5111. If the judgment is "no", the surgical robot system remains in the follow mode. In some embodiments, the operation of exiting the follow mode is that the doctor S disconnects the master-slave control between the master console 20 and the slave operating device 10.

[0108] In one embodiment, in process 5210, the method sets the surgical robot system to a default endoscope mode of the endoscope mode. In this embodiment, the default endoscope mode is the above-mentioned adjustment mode.

[0109] In process 5211, the method determines whether the surgical robot system has exited the endoscope mode. If so, the method proceeds to process 5217. In process 5217, the method determines whether the doctor S is in place. If so, the method sets the surgical robot system to the follow-up mode. If not, the method loops back to process 5111. The action of exiting the endoscope mode can be releasing a pedal, releasing a button, or other input such as a voice prompt.

[0110] If the determination in process 5211 is "No," the method proceeds to process 5212. In process 5212, the method determines whether the input device 23 has executed an endoscope mode switching action. If the determination in process 5212 is "No," the method maintains the surgical robot system in the default endoscope mode. If the determination in process 5212 is "Yes," the method switches the surgical robot system from the default endoscope to the selected endoscope mode. In this embodiment, the selected endoscope mode includes one of the aforementioned repositioning mode and camera mode, but is different from the default endoscope mode. In some embodiments, the selected endoscope mode also includes other modes, such as an endoscope cleaning mode, a fluorescence mode, etc.

[0111] In one embodiment, in process 5212, the action for switching the endoscope mode includes at least a first action, wherein the first action controls the movement of the first drive device 2202 in the follow mode, thereby controlling the end device of the surgical instrument 410 or the surgical instrument 430 to follow the movement of the input device 23, but the first action does not cause the movement of one of the surgical instruments 410, 430 and the endoscope 420 in the endoscope mode (for example, adjustment mode, repositioning mode, camera mode), that is, in the endoscope mode, the first action does not cause the movement of the first drive device 2201, the second drive device 2202, the feed drive device 2213, 2214 and the robotic arm.

[0112] In one embodiment, referring to FIG. 7A , in response to entering the endoscope mode action and the first action, the method switches the surgical robot system from the follower mode to the camera mode. The first action is to move the end of the right input device 23R around the axis Y. MR rotation in the counterclockwise direction; in response to entering the endoscope mode action and the first action opposite to the action of the surgical robot system from the follow mode to the repositioning mode, the first action opposite to the action of the right input device 23R of the end around the axis Y MR Rotation in clockwise direction.

[0113] In one embodiment, in an endoscope mode (e.g., adjustment mode, repositioning mode, camera mode), the input device 23 controls the movement of the robotic arms 11, 211, surgical instruments 410, 430, endoscope 420, and related drive systems through a second action. The second action is the movement of the left input device 23L and the right input device 23R in three degrees of freedom: up and down, left and right, and front and back. The second action only changes the position of the input device 23L and the right input device 23R without changing their posture. In one embodiment, the second action controls the operation of the repositioning mode, camera mode, and adjustment mode by the movement of the midpoint O1 of the line connecting the origin of the left input device coordinate system ML and the origin of the right input device coordinate system MR in the display screen coordinate system MB. When the left input device 23L moves up / down and the right input device 23R moves down / up, the camera 424 is controlled to move around the third axis z of the coordinate system 660. v Rotate.

[0114] In one embodiment, if the camera mode is selected as the endoscope mode, the control device 160 controls the second driving device 2201 based on the second motion to control the movement of the joint assembly of the endoscope 430. The second motion includes the second motion of the left input device 23L and the second motion of the right input device 23R. The second motion of the left input device 23L controls the movement of the endoscope 430 in the first camera mode, and the second motion of the right input device 23R controls the movement of the endoscope 430 in the second camera mode.

[0115] In one embodiment, the first action is an action in which the input device 23 only changes its posture, and the second action is an action in which the input device 23 only changes its position. Since in the endoscope mode, whether it is the adjustment mode, the repositioning mode or the camera mode, the second action is used to control the endoscope 430, the doctor S does not need to remember multiple operating methods, thereby reducing misoperation.

[0116] In process 5215, the method determines whether to exit the current endoscope mode. If the determination is "yes", the method returns to process 5217. If the determination is "no", the method returns to the default endoscope mode. The action of exiting the current endoscope mode can be releasing the pedal, releasing the button, or other input such as voice prompt.

[0117] In process 5216, the method determines whether to exit the current endoscopy mode, and if the determination is "yes", returns to process 5217, and if the determination is "no", loops back to the selected endoscopy mode.

[0118] In one embodiment, the switching method described above is performed by the control device 160. The control device calculates a first target position for the robotic arm based on the second action. When the first target position exceeds the first motion boundary or the second motion boundary, the control device generates a resistance force command for the input device to generate a resistance force on the input device that hinders further movement of the input device. The resistance force command increases as the distance between the first target position and the first motion boundary or the second motion boundary increases.

[0119] In one embodiment, after the first target position exceeds the first motion boundary or the second motion boundary, if the input device continues the second action movement, the control device calculates the second target position of the robotic arm based on the second action. If the second target position is closer to the first motion boundary or the second motion boundary than the first target position, the control device releases the constraint on the motion of the robotic arm and stops generating the impedance force command.

[0120] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A surgical robot system, characterized in that: include: a robotic arm having multiple joints; A plurality of drive devices for driving surgical instruments and endoscopes; an input device for manipulating the plurality of drive devices in a plurality of operating modes, the plurality of operating modes including at least a follow mode and a camera mode; A control device configured to: In the following mode, a first driving device of the plurality of driving devices is controlled to move according to a first action of the input device, so that the posture of the surgical instrument follows the posture of the input device; The control device switches the operation mode from the follow mode to the camera mode in response to an action of entering an endoscope mode and the first action; In the camera mode, the second driving devices of the plurality of driving devices are controlled to move according to a second action of the input device to adjust the position and posture of the endoscope, wherein the second action changes the position of the input device without changing the posture of the input device.

2. The surgical robot system according to claim 1, characterized in that: The multiple operation modes also include an adjustment mode, in which the control device controls the movement of the robotic arm according to the second action of the input device to rotate the endoscope around a remote motion center to adjust the position and posture of the end of the endoscope and maintain the position and posture of the end of the surgical instrument unchanged.

3. The surgical robot system according to claim 2, characterized in that: The multiple operation modes also include a repositioning mode, in which the control device controls the movement of the robot arm according to the second action of the input device to simultaneously adjust the positions and postures of the surgical instrument and the endoscope.

4. The surgical robot system according to claim 3, characterized in that: In the following mode, the control device switches the operation mode from the following mode to the adjusting mode in response to an action of entering an endoscope mode.

5. The surgical robot system according to claim 3, characterized in that: In the camera mode, the adjustment mode, and the repositioning mode, the first action does not cause movement of the plurality of driving devices and joints of the robot arm.

6. The surgical robot system according to claim 4, characterized in that: The control device switches the operation mode from the following mode to the repositioning mode in response to an action of entering an endoscope mode and an action opposite to the first action.

7. The surgical robot system according to claim 6, characterized in that: It also includes a pre-stored first motion boundary and a second motion boundary for constraining the movement of the robotic arm. After the operating mode is switched from the adjustment mode to the repositioning mode, the control device synchronously switches the motion range of the robotic arm from the first motion boundary to the second motion boundary.

8. The surgical robot system according to claim 7, characterized in that: The first motion boundary is determined according to the motion range of the joint assembly of the surgical instrument, and the second motion boundary is determined according to the motion range of multiple joints of the robotic arm.

9. The surgical robot system according to claim 8, characterized in that: The control device calculates the first target position of the robotic arm based on the second action. When the first target position exceeds the first motion boundary or the second motion boundary, the control device constrains the robotic arm from further movement and generates an impedance force command for the input device to hinder the input device from continuing to move, so as to generate an impedance force on the input device to hinder the input device from continuing to move.

10. The surgical robot system according to claim 9, characterized in that: The impedance force increases as the distance between the first target position and the first movement boundary or the second movement boundary increases.

11. The surgical robot system according to claim 9, characterized in that: The control device calculates the second target position of the robotic arm based on the second action. If the second target position is closer to the first motion boundary or the second motion boundary than the first target position, the control device releases the constraints on the movement of the robotic arm and stops generating the impedance force command.

12. A surgical robot system, characterized in that: include: A surgical tool, comprising a long shaft, a joint assembly and a terminal device; A feeding drive device, the feeding drive device is used to drive the surgical tool to move forward or backward in a straight line; An input device for manipulating the movement of the surgical tool; A control device is configured to control the joint assembly to gradually approach the axis of the long axis when the proximal end of the joint assembly contacts a first boundary of a pre-stored virtual area during the process of the input device manipulating the surgical tool to retract, and to generate a first force command for the input device to generate a first impedance force on the joint of the input device to hinder the input device from continuing to move.

13. The surgical robot system according to claim 12, characterized in that: The virtual area also includes a second boundary and an intermediate boundary located between the first boundary and the second boundary. When the input device manipulates the proximal end of the joint assembly to move from the first boundary to the intermediate boundary, the first force command gradually increases to gradually increase the first impedance force.

14. The surgical robot system according to claim 13, wherein: During the retraction of the surgical tool and the movement of the proximal end of the joint assembly from the middle boundary to the second boundary, the first force command is gradually reduced to gradually reduce the first impedance force.

15. The surgical robot system according to claim 13, characterized in that: During the advancement of the surgical tool manipulated by the input device, when the distal end of the joint assembly contacts the second boundary, the control device generates a second force command for the input device to generate a second impedance force on the joint of the input device to hinder the input device from continuing to move.

16. The surgical robot system according to claim 15, characterized in that: The second impedance force gradually increases when the distal end of the joint component moves from the second boundary to the middle boundary, and gradually decreases when the distal end of the joint component moves from the middle boundary to the first boundary.

17. The surgical robot system according to claim 15, characterized in that: The first impedance force and the second impedance force reach maximum values ​​at the intermediate boundary.

18. The surgical robot system according to claim 15, characterized in that: During the retreat process, when the proximal end of the joint component contacts the first boundary, storing the posture of the joint component at that time; During the forward movement, when the proximal end of the joint assembly contacts the first boundary again, the controller restores the posture of the joint assembly to the posture during the backward movement.

19. The surgical robot system according to claim 15, characterized in that: The surgical robot system includes a cannula for the long axis to pass through, the first boundary is located at the distal end of a port of the cannula, and the middle boundary is located at the proximal end of the port.

20. The surgical robot system according to claim 19, characterized in that: The joint assembly includes a wrist joint and a parallel joint. The wrist joint movement is used to change the posture and position of the terminal device, and the parallel joint movement is used to change the position of the terminal device without changing its posture. During the movement of the proximal end of the joint assembly from the first boundary to the second boundary, the angle between the axis of the wrist joint and the axis of the long axis gradually decreases to zero, and the angle between the axis of the parallel joint and the axis of the long axis gradually decreases to zero.

21. A surgical robot system, characterized in that: include: A surgical tool comprising a distal end device, a long shaft, and a joint assembly having multiple degrees of freedom of motion, wherein the surgical tool is configured to rotate about a remote center of motion; A control device is configured to control the movement of the joint assembly to rotate the distal end surface of the end device around a first axis and maintain the position of the center point of the distal end surface relative to the remote motion center unchanged, wherein the center point is located on the first axis.

22. The surgical robot system according to claim 21, characterized in that: The control device is also configured to control the movement of the joint assembly to rotate the distal end surface around a second axis and maintain the position of the center point relative to the remote motion center unchanged, and the first axis is perpendicular to the second axis and intersects at the center point.

23. The surgical robot system according to claim 22, characterized in that: The control device is also configured to control the movement of the joint assembly to maintain the posture of the joint assembly unchanged when the distal end surface rotates around a third axis, and the third axis is perpendicular to the first and second axes and intersects the center point.

24. The surgical robot system according to claim 22, wherein: The joint assembly includes a wrist joint and a linear motion joint, the wrist joint is used to change the posture and position of the end device, and the linear motion joint is used to drive the long axis to move toward the distal end or the proximal end along the axial direction of the long axis; when the distal end face rotates around the first axis or the second axis, the control device controls the wrist joint and the linear motion joint to work in conjunction to maintain the position of the center point of the distal end face relative to the remote motion center unchanged.

25. The surgical robot system according to claim 24, characterized in that: The joint assembly includes a parallel joint, which is used to change the position of the distal end face without changing its posture. The control device is also configured to control the parallel joint to be linked with the linear motion joint to change the position of the distal end face and maintain the distance from the center point to the first plane unchanged, wherein the first plane passes through the remote motion center and is perpendicular to the axis of the long axis.

26. The surgical robot system according to claim 22, wherein: The surgical robot system also includes a feed drive device, which is used to drive the surgical tool to move linearly along the axial direction of the long axis. When the distal end face rotates around the first axis or the second axis, the control device controls the joint assembly and the feed drive device to work in conjunction to maintain the position of the center point relative to the remote motion center unchanged.

27. The surgical robot system according to claim 26, wherein: The control device is also configured to control the joint assembly to work in conjunction with the feed drive device to change the position of the distal end surface and maintain the distance from the center point to the first plane unchanged, wherein the first plane passes through the remote motion center and is perpendicular to the axis of the long axis.

28. The surgical robot system according to claim 24, characterized in that: The wrist joint and the linear motion joint are linked, including that when the wrist joint moves away from the axis of the long axis, the linear motion joint drives the long axis to move toward the distal end; when the wrist joint moves axially toward the long axis, the linear motion joint drives the long axis to move toward the proximal end.

29. The surgical robot system according to claim 26, wherein: The linkage includes that when the joint assembly moves away from the axis of the long axis, the feed motion drive device drives the long axis to move toward the distal end; when the wrist joint moves axially toward the long axis, the feed drive device drives the long axis to move toward the proximal end.

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