Surgical robot system and control method therefor

Abstract

A surgical robot system (1) and a control method therefor. The surgical robot system (1) comprises a first slave operation device (100), a second slave operation device (200), and a master operation device (300). The first slave operation device (100) comprises a first mechanical arm (110); the second slave operation device (200) comprises second mechanical arms (210); the master operation device (300) communicates with the first slave operation device (100) and the second slave operation device (200); the master operation device (300) comprises at least one first operation assembly (310); each first operation assembly (310) is used for receiving interaction operation of a user so as to control the first mechanical arm (110) or the second mechanical arms (210); working modes of each first operation assembly (310) comprise a first working mode and a second working mode; when in the first working mode, the first operation assembly (310) is used for controlling the first mechanical arm (110) to execute corresponding actions; and when in the second working mode, the first operation assembly (310) is used for controlling the second mechanical arms (210) to execute corresponding actions.

Description

Surgical robot system and control method thereof

[0001] Cross-references

[0002] This application claims priority to Chinese patent applications entitled “Surgical Robot System and Control Method Thereof”, application number 202311214615X, filed on September 19, 2023, and entitled “Surgical Robot System and Control Method Thereof”, application number 2024109184767, filed on July 9, 2024, both of which are incorporated herein by reference in their entirety. Technical Field

[0003] The present application relates to the field of medical device technology, and in particular to a surgical robot system and a control method thereof. Background Art

[0004] With the advancement of surgical technology, surgical robots can assist surgeons in performing operations. Among them, laparoscopic robotic systems can provide high-precision surgical manipulation and vision, allowing surgeons to more accurately observe the structure and details of the surgical site and perform more precise manipulations, which can reduce intraoperative bleeding and shorten operation time.

[0005] Summary of the Invention

[0006] In a first aspect, the present application provides a surgical robot system, comprising: a first slave operating device including a first robotic arm; a second slave operating device including a second robotic arm; and a master operating device capable of communicating with the first slave operating device and the second slave operating device. The master operating device includes at least one first operating component, each of which is used to receive user interaction operations to control the first robotic arm or the second robotic arm. The operating mode of each first operating component includes a first operating mode and a second operating mode. When the first operating component is in the first operating mode, it is used to control the first robotic arm to perform a corresponding action. When the first operating component is in the second operating mode, it is used to control the second robotic arm to perform a corresponding action.

[0007] The second aspect of the present application provides a control method for a surgical robot system, which is applied to a surgical robot system, wherein the surgical robot system includes a first slave operating device, a second slave operating device, and a master operating device, wherein the first slave operating device includes a first robotic arm, the second slave operating device includes a second robotic arm, the master operating device communicates with the first slave operating device and the second slave operating device, and the master operating device includes at least one first operating component. The control method includes: receiving an interactive operation of a user; and according to the interactive operation, controlling the first operating component to operate in one of a plurality of operating modes. The plurality of operating modes include a first operating mode and a second operating mode, wherein in the first operating mode, the first robotic arm is controlled to perform a corresponding action, and in the second operating mode, the second robotic arm is controlled to perform a corresponding action.

[0008] A third aspect of the present application provides a surgical robot system, comprising: a plurality of slave operating devices; and a master operating device capable of communicating with the plurality of slave operating devices, so that the master operating device can simultaneously control at least one of the plurality of slave operating devices.

[0009] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0011] FIG1 is a schematic structural diagram of an embodiment of a main operating device of a surgical robot system of the present application;

[0012] FIG2 is a schematic diagram showing a surgical operation scene according to an embodiment of the operating device;

[0013] FIG3 is a schematic diagram showing another surgical operation scene according to an embodiment of the operating device;

[0014] FIG4 is a schematic diagram showing a surgical operation scene of another embodiment of the operating device;

[0015] FIG5 is a schematic diagram showing an embodiment of a second operating component of a surgical robot system according to the present application;

[0016] FIG6 is a schematic diagram showing another embodiment of a second operating component of a surgical robot system according to the present application;

[0017] FIG7 shows an application scenario of the surgical robot system according to the present application in a hysterectomy operation;

[0018] FIG8 is a schematic diagram showing a reference coordinate system and its posture corresponding to the attachment of surgical instruments of the surgical robot system according to the present application;

[0019] FIG9 is a schematic diagram showing the reference coordinate systems and their positions to which the doctor's eyes and the main hand controller are attached in the surgical robot system according to the present application;

[0020] FIG10 is a schematic diagram showing an interface of the surgical robot system of the present application on a display device;

[0021] FIG11 is a flow chart showing an embodiment of a control method for a surgical robot system according to the present application;

[0022] FIG. 12 is a flow chart showing an embodiment of step S200 of the control method shown in FIG. 11 . DETAILED DESCRIPTION

[0023] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0024] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. Unless otherwise defined, technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the art to which this application belongs. The terms "first," "second," and similar words used in this specification and claims do not denote any order, quantity, or importance, but are simply used to distinguish different components. Similarly, the terms "a" or "an" and similar words do not denote a limitation of quantity, but rather indicate the presence of at least one. The terms "plurality" or "several" mean at least two. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper" and similar words are for convenience only and are not intended to limit to a single position or spatial orientation. The terms "include" or "comprising" and similar words mean that the elements or objects listed before "include" or "comprising" include the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. The terms "connected" or "connected" and similar words are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect.

[0025] As used in this specification and the appended claims, the singular forms "a," "an," "said," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0026] A surgical robot system is a robot that can be remotely controlled to perform surgery. It usually includes a master operating device (also called a doctor's console), a slave operating device (also called a patient-side robot), and an imaging system.

[0027] The control system includes a display unit for displaying the surgical instrument environment, a doctor's control mechanism, and armrests. The display unit features an observation window for the doctor's observation, the control mechanism is designed to correspond to the movements of the surgical instrument, and the armrests are used to support the doctor's arms. Additionally, the doctor's console features other control switches that can be easily touched or pressed by hands or feet to operate various functions and complete human-computer interaction.

[0028] The imaging system has a display screen, endoscope controller, system electronics, image processor, etc.

[0029] Patient-side robots, such as laparoscopic robots, typically include at least one robotic arm that manipulates multiple surgical instruments. Complex algorithms simulate the movements of the surgeon's arm and provide highly accurate and precise motion control.

[0030] Surgical robotic systems provide high-precision surgical manipulation and a superior field of view, but some complex surgical procedures still require assistance from the surgeon or a surgical assistant. For example, in gynecological surgeries, an assistant is needed to manipulate the uterus using a uterine manipulator to provide the surgeon with an optimal surgical field of view. To address this, robotic surgical systems incorporate assistive manipulation robots, such as scope-holding robots and uterine-manipulation robots, which are often used to assist with traditional laparoscopic procedures.

[0031] In some scenarios, an assistant manually operates the assisted manipulation robot. The assistant manually drags the robot's arm to adjust its position and posture. This method can convey the doctor's intentions through the assistant's real-time feedback, but it requires multiple communications and confirmations between the doctor and assistant, which is inefficient and prone to misunderstandings and errors, increasing uncertainty during the procedure.

[0032] Based on this, the present application proposes a surgical robot system to overcome or improve one or more of the above-mentioned shortcomings.

[0033] The surgical robot system of an embodiment of the present application may include a master operating device and multiple slave operating devices. The master operating device is capable of communicating with the multiple slave operating devices, so that the master operating device can simultaneously control at least one of the multiple slave operating devices. The multiple slave operating devices may be at least two slave operating devices, for example, any two or more of single-port, single-arm, multi-port, flexible, or other para-patient operating devices.

[0034] The surgical robot system can include multiple switchable control modes. These multiple control modes include at least one single-use control mode and at least one combined control mode. In single-use control mode, the system can only control one of the slave operating devices. In combined control mode, depending on the complexity of the surgery or special needs, the system can use one of the slave operating devices alone or at least two slave operating devices in combination.

[0035] The system can select a default control mode when a slave device is connected, for example by matching the type of slave device connected with pre-stored system information and selecting the corresponding control mode. Alternatively, the system can trigger an interactive interface on the master device when a slave device is connected, allowing the physician to select the desired control mode.

[0036] The doctor can also manually switch the control mode according to the needs of the surgical operation. The switching operation mode includes but is not limited to the specific action of the main hand controller of the main operating device or the buttons or sensing devices thereon, the physical trigger or sensing trigger device such as the pedal of the main operating device, the interactive operation of the display interface of the main operating device (such as the main hand controller as a mouse to operate on the surgical scene display interface, or to operate on the touch screen set on the armrest), or a combination of the above multiple methods according to the logical configuration. In addition, the system can automatically determine the appropriate control mode based on specific surgical process information and remind the doctor, for example, through text reminders on the surgical scene display interface, or reminders through voice broadcasts, etc.

[0037] In some embodiments, the master operating device includes two first operating components, each of which is used to receive a user's interactive operation to control one of the plurality of slave operating devices.

[0038] In the single-use control mode, the two first operating components are only used to control the same instrument of the same slave operating device, or respectively control two different instruments of the same slave operating device.

[0039] In the combined control mode, each first operating assembly can be used to control any one of the multiple slave operating devices. Two first operating assemblies can control the same device or two different devices. The two different devices can be installed on the same slave operating device or on two different slave operating devices.

[0040] For example, the first operating component can be a device for the doctor to operate with his hands, and can be operated by the doctor's left hand and right hand respectively. In the combined control mode, for each first operating component, the corresponding control object can be freely selected from the instruments on the multiple combined slave operating devices. For example, the system includes a first slave operating device and a second slave operating device. The doctor can control an instrument of the first slave operating device with his left hand and an instrument of the second slave operating device with his right hand, or can control an instrument of the first slave operating device or the second slave operating device with his left and right hands together, or can control two different instruments of the first slave operating device or the second slave operating device with his left and right hands respectively.

[0041] In some embodiments, in the combined control mode, further restrictions or constraints can be imposed based on the doctor's guidance and teaching needs or special surgical scenarios, such as restricting the two first operating devices to respectively control the instruments of different slave operating devices.

[0042] In some embodiments, in the combined control mode, possible faults may include: cross-system faults between multiple surgical robots, or individual system faults within each surgical robot, depending on the location of the fault; and recoverable or non-recoverable faults, depending on the nature of the fault. The master operating device can respond to these faults by controlling and addressing them based on current robotics technology to ensure patient safety.

[0043] In one application scenario, the multiple slave operating devices may include a single-port laparoscopic robot and at least one single-arm auxiliary robot.

[0044] Single-port surgical robots have the advantages of fewer incisions and simple positioning. Single-port surgical robots usually include a multi-degree-of-freedom endoscope installed through a cannula and multiple surgical instruments. The surgical instruments used for single-port laparoscopic robots usually have 6 to 7 degrees of freedom to complete the operation of the end effector of the surgical instrument. These degrees of freedom are mainly realized by the elbow joint for providing position movement and the wrist joint for providing direction change. Due to the large number of joints and complex structure of surgical instruments, their output force and rigidity are often limited, so they are often powerless in situations where a larger output force is required. In addition, due to their high complexity, instruments such as ultrasonic scalpels, vascular closure instruments, and anastomosis devices suitable for single-port laparoscopic robots are difficult to meet the needs of certain surgical operations.

[0045] To adapt to certain surgical procedures or more complex scenarios and improve the flexibility and convenience of surgical operations, single-arm assistive robots can be introduced before or during surgery. Single-arm surgical robots can be equipped with multi-hole surgical instruments, achieving greater output force, and are compatible with instruments such as ultrasonic scalpels, vascular closure devices, and staplers to meet a wider range of clinical needs.

[0046] In this application scenario, the system can include single-hole control mode, single-arm control mode and single-hole-single-arm combined control mode, and the three can be switched among each other.

[0047] In single-port control mode, the main operating device can only control the single-port laparoscopic robot. The main operating device can control the single-port laparoscopic robot to perform surgical instrument movements, such as controlling the robot's robotic arm to move the surgical instrument, or controlling the wrist or end effector of the surgical instrument. In this control mode, the system can also switch to preset sub-modes that match the corresponding surgical scenario based on the status of the cannula, endoscope, and surgical instrument. For example, a preset mode for adjusting the endoscope to the optimal viewing position or a mode for retracting the instrument.

[0048] In single-arm control mode, the main operating device can only control the single-arm assistive robot. The single-arm assistive robot can carry the sole endoscope for the entire system or additional endoscopes, uterine manipulation instruments, energy instruments such as ultrasonic scalpels, and advanced instruments such as staplers. The main operating device can control the single-arm assistive robot to perform surgical instrument movements, such as controlling the single-arm assistive robot's robotic arm to drive the movement of surgical instruments. It is understood that in single-arm control mode, the single-arm assistive robot can also be used in conjunction with traditional manual instruments to perform complementary surgical operations.

[0049] In the single-port-single-arm combined control mode, the main operating device can control only the single-port laparoscopic robot, or only the single-arm auxiliary robot, or simultaneously control the single-port laparoscopic robot and the single-arm auxiliary robot. For each first operating component of the main operating device, the corresponding control object can be freely selected from the instruments on the single-port laparoscopic robot and the single-arm auxiliary robot. For example, one of the first operating components can be used to control a certain instrument of the single-port laparoscopic robot, and the other first operating component can be used to control the instrument of the single-arm auxiliary robot, or the two first operating components can jointly control the same instrument of the single-port laparoscopic robot, or the two first operating components can respectively operate two different instruments of the single-port laparoscopic robot, or the two first operating components can jointly control the instrument of the single-arm auxiliary robot.

[0050] In another application scenario, the multiple slave operating devices may include a multi-port laparoscopic robot and at least one single-arm assistive robot. In this application scenario, the system can include a multi-port control mode, a single-arm control mode, and a multi-port-single-arm control mode. The system's operation in each control mode and the switching between control modes are similar to those in the aforementioned application scenario and will not be further described here.

[0051] The control mode selection and switching process for the surgical robot system is as follows. When the system boots up, it automatically selects the corresponding control mode based on the connected robot type. For example, when a single-port laparoscopic robot and a single-arm assistive robot are connected simultaneously, the single-port, single-arm combined mode is selected. During system operation, if a relevant interactive operation is detected, the control mode switching function is activated; if no relevant interactive operation is detected, the current control mode is maintained. Interactive operations can include, for example, pedal depressing or button pressing on the master hand controller. Once the control mode switching function is activated, the surgeon can switch control modes based on surgical needs. For example, the surgeon can manually select a control mode through physical manipulation of a specific master control device or through an interactive interface displayed on the master control device's display. For example, the interactive interface can be superimposed on the visual surgical scene interface, allowing the surgeon to scroll or slide through the options in the interactive interface using the master hand controller. Once the desired control mode is selected, the surgeon confirms the selection by double-clicking the master hand controller button or by other physical or interactive means, completing the control mode switch.

[0052] In some embodiments, the present application further proposes a control method, which involves switching control of multiple slave operating devices by a surgical robot system in a joint control mode.

[0053] The surgical robot system and control method thereof of the present application are described in detail below with reference to the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0054] The surgical robot system of an embodiment of the present application includes: a first slave operating device, a second slave operating device, and a master operating device. The first slave operating device includes a first robotic arm, wherein the first robotic arm is used to grasp at least one instrument. The second slave operating device includes a second robotic arm, wherein the second robotic arm is used to grasp at least one instrument. The instrument can be a surgical instrument or an endoscope. For the first robotic arm and / or the second robotic arm, the movement of the robotic arm can drive the entire instrument to move in at least two degrees of freedom, such as pitch and yaw. At the same time, a drive device is provided at the connection between the robotic arm and the instrument to drive the entire instrument to insert and rotate, and can also be used to drive the wrist joint of the instrument to pitch and yaw, and can also be used to drive the end effector of the instrument to open and close, etc. The master operating device communicates with the first slave operating device and the second slave operating device. The doctor is located in front of the master operating device and controls the first slave operating device and / or the second slave operating device to perform surgical operations by operating the master operating device.

[0055] FIG1 is a schematic structural diagram of an embodiment of a main operating device of a surgical robot system of the present application. The main operating device 300 includes at least one first operating component 310, and each first operating component 310 is used to receive interactive operations of the user. Doctor D1 can interact with the main operating device 300 through the first operating component 310. After receiving the interactive operation of the user, the main operating device 300 generates a corresponding operating instruction, and the first slave operating device and / or the second slave operating device perform corresponding actions according to the operating instruction, such as braking the first robotic arm and / or the second robotic arm for operation. Corresponding to controlling the first robotic arm or the second robotic arm, the working mode of each first operating component 310 includes a first working mode and a second working mode.

[0056] The braking operation of the first robotic arm and / or the second robotic arm can be that the movement of the robotic arm drives the entire instrument to perform pitch, yaw and other movements, or the driving device on the robotic arm drives the instrument to perform insertion, rotation and other movements, or the driving device drives the wrist joint of the instrument to perform pitch, yaw and other movements, or the driving device drives the end effector of the instrument to perform opening and closing and other movements.

[0057] When the first operating component 310 is in the first operating mode, it is used to control the first robotic arm to perform corresponding actions. For example, when a first operating component 310 is in the first operating mode, the master operating device 300 generates a corresponding operating instruction based on the interactive operation received by the first operating component 310 and sends the operating instruction to the first slave operating device. The first slave operating device then brakes the first robotic arm to perform an operation according to the operating instruction.

[0058] When the first operating component 310 is in the second operating mode, it is used to control the second robotic arm to perform corresponding actions. For example, when a first operating component 310 is in the second operating mode, the master operating device 300 generates a corresponding operating instruction based on the interactive operation received by the first operating component 310 and sends the operating instruction to the second slave operating device. The second slave operating device then brakes the second robotic arm to perform an operation according to the operating instruction.

[0059] Generally speaking, as shown in Figure 1, doctor D1 can control the movement of surgical instruments held by the first and second robotic arms by operating the first operating assembly 310. According to an embodiment of the present application, the doctor can control the first and second slave operating devices through the master operating device 300 to achieve more convenient switching between the first and second slave operating devices, without the need for control by a surgical assistant or additional auxiliary equipment, simplifying the operation process, reducing the doctor's learning curve, and increasing surgical flexibility and maneuverability.

[0060] Figures 2 to 4 show some application scenarios of the slave operating device. As shown in the figure, T1 is an operating table, and P1 is a patient on the operating table T1. In some application scenarios, the first slave operating device 100 includes a laparoscopic robot, and the first robotic arm 110 of the laparoscopic robot can be one, or two or more. The second slave operating device 200 includes an auxiliary operating robot, and the second robotic arm 210 of the auxiliary operating robot can be one, or two or more. It should be noted that the auxiliary operating robot is a robot used for auxiliary operations outside the main laparoscopic robot, and can usually be used to perform some relatively simple surgical steps or auxiliary operations. The entry position of the auxiliary operating robot is more flexible, that is, it can enter the body of the patient P1 from different positions for surgical operations, such as entering from the natural channel of the patient P1 (for example, the vagina or urethra, etc.). Therefore, the auxiliary operating robot can provide additional surgical angles and higher maneuverability.

[0061] Generally speaking, to make assistive manipulators more convenient and practical, they can be deployed separately, for example, without sharing a chassis with the main laparoscopic robot. This allows surgeons and operating room assistants to more easily address intraoperative issues without interfering with other surgical steps. When used in conjunction with a laparoscopic robot, assistive manipulators can improve surgical efficiency and safety while reducing the burden on surgeons and operating room assistants.

[0062] In the examples shown in Figures 2 and 3, the first slave operating device 100 is a multi-port laparoscopic robot, comprising at least two first robotic arms 110, for example, three or four. Each first robotic arm 110 holds a surgical instrument or endoscope and enters the human abdominal cavity through different abdominal openings to perform surgical operations. When a first operating component 310 is in the first working mode, the master operating device 300 generates a corresponding operation instruction based on the interactive operation received by the first operating component 310, and sends the operation instruction to the first slave operating device. The first slave operating device brakes one of the first robotic arms to perform the operation according to the operation instruction.

[0063] In the example shown in FIG4 , the first slave operating device 100 is a single-port laparoscopic robot, comprising a first robotic arm 110, the first robotic arm 110 holding at least two instruments, for example, three or four, such as an endoscope and at least one surgical instrument, at least two instruments passing through the same abdominal opening to enter the human abdominal cavity for surgical operation. The first robotic arm 110 is provided with a respective drive device corresponding to each instrument, and each drive device is used to drive its respective corresponding instrument. When a first operating component 310 is in the first working mode, the master operating device 300 generates a corresponding operation instruction according to the interactive operation received by the first operating component 310, and sends the operation instruction to the first slave operating device, and the first slave operating device brakes the first robotic arm to operate according to the operation instruction. In this scenario, one of the drive devices on the first robotic arm is started to operate according to the instruction.

[0064] In the examples shown in Figures 2 to 4, the second slave operating device 200 is a single-arm auxiliary manipulation robot, including a second robotic arm 210, which holds a surgical instrument or an endoscope. For example, in the application scenario shown in Figure 2, the second robotic arm 210 can hold a uterine manipulator and enter the uterus through the human vagina to perform a uterine manipulation operation. For example, in the application scenarios shown in Figures 3 and 4, the second robotic arm 210 can hold an endoscope and enter the human abdominal cavity through an abdominal opening to capture images. This abdominal opening is usually different from the abdominal opening through which the surgical instrument or endoscope held by the first robotic arm 110 enters.

[0065] In addition, in this embodiment, the first operating component 310 of the main operating device 300 may include a main hand controller, which may be located on a control console. The doctor can manipulate the main hand controller to control the laparoscopic robot and the auxiliary operating robot. The main hand controller may include a gripping end that the doctor can grasp and manipulate. The main hand controller may also include at least two movable joints, which are connected to the main operating device 300 via the movable joints, providing the gripping end with a certain degree of freedom of movement. In one application scenario, in a first operating mode, the doctor grasps and manipulates the gripping end of the main hand controller, and the first robotic arm 110 performs the corresponding operation performed by the doctor on the main hand controller. In a second operating mode, the doctor grasps and manipulates the gripping end of the main hand controller, and the second robotic arm 210 performs the corresponding operation performed by the doctor on the main hand controller. Both the first robotic arm 110 and the second robotic arm 210 have multiple degrees of freedom. The doctor can control the angle and direction of the first robotic arm 110 and the second robotic arm 210 through the main hand controller to achieve movement of the surgical instrument, for example, around a predetermined RCM (remote center of motion) point.

[0066] It should be noted that this application does not limit the type of RCM mechanism of the first robotic arm 110 and the second robotic arm 210. Both mechanically implemented RCM and software-implemented RCM can be used. The RCM points are set at optimal physiological positions for the corresponding tasks, such as the puncture point in the abdominal cavity, the vaginal opening, or the cervical opening during uterine manipulation.

[0067] It should be noted that the number of master hand controllers can be one or two.

[0068] When there is only one master hand controller, the doctor can control the first robotic arm 110 by controlling the master hand controller, and can also control the second robotic arm 210 by controlling the master hand controller.

[0069] When there are two master hand controllers, namely a left-hand master controller and a right-hand master controller, the doctor can control the first robotic arm 110 by controlling the two master hand controllers. When there are two or more first robotic arms 110, the doctor can control different first robotic arms 110 respectively through the two master hand controllers. The doctor can also control the second robotic arm 210 by controlling the two master hand controllers. When there are two or more second robotic arms 210, the doctor can control different second robotic arms 210 respectively through the two master hand controllers. The doctor can also control the first robotic arm 110 by controlling one of the master hand controllers and control the second robotic arm 210 by using the other master hand controller. The corresponding relationship of the above control can be adjusted according to actual conditions to facilitate the doctor's operation, and this application does not impose any restrictions.

[0070] It should be noted that in the application scenario where two master hand controllers simultaneously control the same robotic arm, the distance between the end coordinate systems of the two master hand controllers needs to be fixed to prevent the change in the distance between the coordinate systems from causing inconvenience to the doctor's operation.

[0071] It is understandable that, as previously mentioned, the auxiliary manipulator robot is separate from the base of the laparoscopic robot. Therefore, before the operation begins, the position and posture of the auxiliary manipulator robot base and the laparoscopic robot base must be calibrated. In other words, the relative position relationship between the auxiliary manipulator robot base coordinate system 220 and the laparoscopic robot base coordinate system 120 must be calibrated. The auxiliary manipulator robot base and the laparoscopic robot base can be trolley-type bases or ceiling-mounted bases.

[0072] In some application scenarios, using Figure 2 as an example, two marking points 400 are set on the base of the laparoscopic robot. Alternatively, two marking points 400 may be set on other fixed parts relative to the base of the laparoscopic robot. For example, the marking point 400 may be a solid sphere, a concave point, or a needle tip. It should be noted that the positions of the two marking points 400 relative to the auxiliary manipulation robot base coordinate system 220 are known.

[0073] The calibration process is as follows: The operator drags the tip of the surgical instrument 500 of the auxiliary manipulator robot to touch the two marking points 400. The robot's kinematics solver calculates the position information of the two marking points 400 in the auxiliary manipulator robot base coordinate system 220. Based on the position information of the two marking points 400 in the auxiliary manipulator robot base coordinate system 220 and the laparoscopic robot base coordinate system 120, the relative position relationship between the two coordinate systems is calculated.

[0074] The proximal end of the first robotic arm 110 is connected to the base of the first slave operating device 100, and the distal end can hold the surgical instrument 500. Multiple movable joints can be set between the proximal and distal ends of the first robotic arm 110 to provide a certain degree of freedom of movement for the distal end, and encoders are set at the joints to detect the rotation angle of the joints. The proximal end of the second robotic arm 210 is connected to the base of the second slave operating device 200, and the distal end can hold the surgical instrument 500. Multiple movable joints can be set between the proximal and distal ends of the second robotic arm 210 to provide a certain degree of freedom of movement for the distal end, and encoders are set at the joints to detect the rotation angle of the joints. The surgical instrument 500 may include scissors, clamps, and needles for performing interventional operations on human tissue; it may also include a camera device such as an endoscope for capturing surgical images; it may also include a tool for lifting organs to facilitate surgical operations.

[0075] It should be noted that the terms "distal end" and "proximal end" used in this application are directional words, wherein the "distal end" refers to the end away from the base, and the "proximal end" refers to the end close to the base.

[0076] In other application scenarios, such as Figure 3, when the distance between the bases of the two robots is relatively large, an auxiliary registration arm 230 provided on the auxiliary manipulation robot can be used. Each joint of the auxiliary registration arm 230 is equipped with an encoder, so that the kinematics of the auxiliary registration arm 230 can be used to calculate the position information of the two marking points 400 in the auxiliary manipulation robot base coordinate system 220.

[0077] Of course, for the application scenarios of Figures 2 and 3, marking points 400 can also be set on the base of the auxiliary manipulation robot or other parts fixed relative to the base of the auxiliary manipulation robot, and the marking points 400 can be poked by the tip of the robotic arm of the laparoscopic robot; marking points can also be set at other positions fixed relative to the ground, for example, marking points 400 can be set on the operating table T1, and the marking points 400 can be poked by the tips of the robotic arms of the laparoscopic robot and the auxiliary manipulation robot respectively.

[0078] Referring to Figure 1, in some embodiments, the main operating device 300 may further include a second operating component 320, which is used to receive user interaction operations to switch the working mode of the first operating component 310. It can be understood that the second operating component 320 can serve as an input component for the doctor's control instructions, and the second operating component 320 can receive control instructions input by the doctor through a suitable interaction method. The above-mentioned interaction methods may include voice control input, display control input, head-mounted device input, eye movement trajectory input, finger button input, foot pedal input and other interaction methods. The above-mentioned interaction method does not require the doctor to remove his hand from the main hand controller, and allows the doctor's head to remain in the observation window of the display unit, so that the doctor can maintain observation of the lesion area, thereby reducing the complexity of the doctor's operation and the safety of the operation. The above-mentioned interaction method can also be integrated into the main hand controller. For example, there is a button on the main hand controller. After the doctor presses the button, he can directly switch the working mode of the first operating component 310, or start the voice control input method or the display control input method. The doctor can switch the working mode of the first operating component 310 through voice instructions or screen selection; for example, the doctor can use a head-mounted device to control the movement of the first robotic arm 110 or the second robotic arm 210 according to the posture of the doctor's head; for example, the doctor can use the focus of the doctor's eyes to control the movement of the first robotic arm 110 or the second robotic arm 210.

[0079] FIG5 is a schematic diagram of an embodiment of a second operating component 320 of a surgical robot system according to the present application. As shown in FIG5 , B1 is the original pedal of the surgical robot system 1. Based on the above embodiment, the second operating component 320 includes at least one pedal 321, and the pedal 321 is used to detect the user's stepping action and generate a corresponding switching signal. The main operating device 300 is used to switch the working mode of the first operating component 310 according to the switching signal. The at least one pedal 321 can also be understood as a group of pedals 321, and a group of pedals 321 includes at least one sub-pedal. As shown in FIG5 , the pedal 321 can be located near the original pedal B1 to reduce the doctor's learning curve.

[0080] Taking the first operating assembly 310, i.e., two master-hand controllers, as an example, in the example where there is one or a group of pedals 321, the doctor can switch the operating modes of the two master-hand controllers by stepping on one or a group of pedals 321. For example, after the doctor steps on one pedal 321, the operating modes of both master-hand controllers can be switched simultaneously, or the doctor can first switch the operating mode of one master-hand controller, and then step on the pedal 321 again to switch the operating mode of the other master-hand controller. The above control method can be flexibly adjusted and is not limited by this application.

[0081] In some application scenarios, the second slave operating device 200 includes at least two second robotic arms 210. In other application scenarios, the surgical robot system 1 includes at least two second slave operating devices 200, and each second slave operating device 200 includes at least one second robotic arm 210. In still other application scenarios, the surgical robot system 1 includes at least two second slave operating devices 200, and each second slave operating device 200 includes at least one second robotic arm 210, and at least one second slave operating device 200 includes at least two second robotic arms 210. That is, in the above application scenarios, at least two second robotic arms 210 can be used for auxiliary operations.

[0082] To this end, in some embodiments, the second operating component 320 may include at least two pedals 321, with each second robotic arm 210 corresponding to a pedal 321. Each pedal 321 is configured to detect a user's pedaling motion and generate a corresponding switching signal. The main operating device 300 is configured to switch the first operating component 310 to a second operating mode based on the switching signal. In the second operating mode, the first operating component 310 is configured to control the second robotic arm 210 corresponding to the pedal 321 to perform a corresponding action. The at least two pedals 321 described above can also be understood as at least two groups of pedals 321, each group of pedals 321 including at least one sub-pedal.

[0083] In some application scenarios, for example, three second robotic arms 210 are required to participate in auxiliary operations, each holding a different instrument, such as a uterine manipulator, a retractor, and an endoscope. The three second robotic arms 210 can be respectively provided in three independent second slave operating devices 200, or in the same independent second slave operating device 200, or distributed in two different independent second slave operating devices 200. To this end, pedals corresponding to the three second robotic arms 210 can be provided.

[0084] For example, as shown in Figure 5, the pedal 321 may include a uterine manipulation pedal 321a, which corresponds to the second robotic arm 210 holding the uterine manipulation rod. When the doctor steps on the uterine manipulation pedal 321a, the uterine manipulation pedal 321a generates a uterine manipulation rod switching signal. The main operating device 300 is used to receive the uterine manipulation rod switching signal and switch the first operating component 310 to the second working mode. The first operating component 310 is used to control the second robotic arm 210 corresponding to the uterine manipulation pedal 321a to perform corresponding actions, thereby realizing the movement of the uterine manipulation rod.

[0085] For example, as shown in Figure 5, the pedal 321 may include a hook pedal 321b, which corresponds to the second robotic arm 210 holding the hook. When the doctor steps on the hook pedal 321b, the hook pedal 321b generates a hook switching signal. The main operating device 300 is used to receive the hook switching signal and switch the first operating component 310 to the second working mode. The first operating component 310 is used to control the second robotic arm 210 corresponding to the hook pedal 321b to perform corresponding actions, thereby realizing the hook action.

[0086] For example, as shown in Figure 5, the pedal 321 may include a mirror holding pedal 321c, which corresponds to the second robotic arm 210 holding the endoscope. When the doctor steps on the mirror holding pedal 321c, the mirror holding pedal 321c generates an endoscope switching signal. The main operating device 300 is used to receive the endoscope switching signal and switch the first operating component 310 to the second working mode. The first operating component 310 is used to control the second robotic arm 210 corresponding to the mirror holding pedal 321c to perform corresponding actions, thereby realizing the movement of the endoscope.

[0087] Of course, the type and quantity of the pedals 321 are not limited to those in the above embodiments, and can be determined according to the type of the surgical instrument 500 held by the second robotic arm 210 .

[0088] In other embodiments, the second operating component 320 further includes a display device 322 for displaying a selection interface. The selection interface includes at least two selection objects 323 for the user to select, with each second robotic arm 210 corresponding to one selection object 323. The operating modes of the first operating component 310 also include a third operating mode. In this third operating mode, the first operating component 310 controls a cursor 324 in the selection interface to select and select a selection object 323. The main operating device 300 is configured to switch the first operating component 310 to the third operating mode and control the display device to display the selection interface in response to a switching signal. The main operating device 300 is further configured to switch the first operating component 310 to the second operating mode based on the selected selection object 323. In the second operating mode, the first operating component 310 controls the second robotic arm 210 corresponding to the selected selection object 323 to perform a corresponding action. Thus, in the third operating mode, the doctor can select and control the movement of the second robotic arm 210 corresponding to the selected object 323 on the screen, making it easier for the doctor to intuitively and quickly select the desired instrument.

[0089] In addition, since the doctor can intuitively select and choose through the display device, the second operating component 320 is allowed to set only one pedal related to the auxiliary operation. When the doctor steps on the pedal, the first operating component 310 switches to the third working mode, and the display device displays the relevant selection interface to facilitate the doctor's selection and selection operations, further reducing the doctor's learning curve.

[0090] During surgery, referring to FIG1 , the surgeon typically views the image captured by the endoscope on a display device located on the control console to obtain the real-time status of the patient's surgical area. The display device may be the original display device of the surgical robot system 1, i.e., the display device located on the control console. The selection interface may be displayed alternately with the endoscopic image, or simultaneously, for example, arranged vertically, horizontally, or by superimposing the selection interface on the endoscopic image (as shown in FIG6 ).

[0091] For example, the cursor 324 in the selection interface can be a selection box that surrounds the selection object 323. When the selection box surrounds a selection object 323, the selection object 323 can be determined to be selected. The cursor 324 in the selection interface can also be highlighted, that is, the selected selection object 323 is highlighted. The cursor 324 in the selection interface can also be a mouse as shown in Figure 6. When the mouse moves over a selection object 323, the selection object 323 is selected. Subsequently, when the doctor performs a selection operation, the selection object 323 is determined to be selected.

[0092] In some application scenarios, for example, where three second robotic arms 210 are required to participate in auxiliary operations, as shown in FIG6 , after the doctor steps on the pedal related to the auxiliary operation, a corresponding switching signal is generated. After receiving the switching signal, the main operating device 300 controls the display device 322 to superimpose a selection interface on the endoscope screen 325. Specifically, three corresponding selection objects 323 are superimposed on the endoscope screen 325, including a uterine manipulation selection object 323a, a hook operation selection object 323b, and a scope holding operation selection object 323c. These correspond to the three second robotic arms 210 holding the uterine manipulation rod, the hook, and the endoscope, respectively. After receiving the switching signal, the main operating device 300 also switches the first operating component to the third operating mode. The doctor can use the first operating component to move the cursor to select a selection object 323. For example, when the cursor rests on the uterine manipulation selection object 323a, it indicates that the uterine manipulation selection object 323a is selected. After the doctor performs the selected operation, the main operating device 300 switches the first operating component 310 to the second working mode, so that the first operating component 310 is used to control the second robotic arm 210 corresponding to the uterine lifting operation selection object 323a to perform the corresponding action, thereby realizing the movement of the uterine lifting rod.

[0093] Of course, the selection objects 323 are not limited to the types and quantities in the above embodiments, and can be determined according to the type of surgical instrument 500 held by the second robotic arm 210 .

[0094] In some application scenarios, the doctor can control the movement of the cursor by holding the end of the main hand controller to select the object.

[0095] In some embodiments, the master hand controller includes at least two movable joints, and the grip end is connected to the main operating device 300 via the at least two movable joints. Each movable joint is provided with an encoder for detecting the movement of the corresponding movable joint. The main operating device 300 is configured to calculate the motion trajectory of the grip end based on the detection results of the encoder and move the cursor 324 on the selection interface based on the motion trajectory.

[0096] For example, there are multiple master hand controllers, for example, two, namely a left hand master controller and a right hand master controller, each of which is configured with a grip end, so the movement of one of the master hand controllers can be set to be fed back to the movement of the cursor.

[0097] In other embodiments, the gripping end includes a knob, and an encoder for detecting the rotation of the knob is provided at the knob. The main operating device 300 is used to switch the selected selection object 323 on the selection interface based on the detection result of the encoder. The detection result of the encoder may include the rotation angle and / or rotation direction of the knob. When the doctor manipulates the knob to turn or twist it to the left, the encoder detects the rotation angle and / or left rotation information of the knob and switches the selected selection object 323 to the left on the selection interface; when the doctor manipulates the knob to turn or twist it to the right, the selected selection object 323 is switched to the right on the selection interface.

[0098] In some application scenarios, the doctor can then select the selected object using the gripping end.

[0099] In some embodiments, the gripping end includes an opening and closing mechanism comprising two relatively openable and closable jaws and a sensor for detecting the opening and closing of the jaws. The main operating device 300 is used to select an object on the selection interface based on the sensor's detection results. In one example, the opening and closing mechanism can be an integral part of the aforementioned knob to achieve greater flexibility in controlling the surgical instrument. For example, the opening and closing mechanism can be pivotally mounted on the gripping end. The surgeon rotates the entire opening and closing mechanism to move the cursor, thereby selecting the selection object 323. The surgeon then controls the opening and closing of the jaws to control whether the selected object 323 is selected. When the master hand controller is controlling the surgical instrument (i.e., the first or second operating mode), the jaws are used to control the movements of the surgical instrument's end effector, such as rotation and opening and closing. When the master hand controller is controlling the cursor 324 on the selection interface (i.e., the third operating mode), the jaws are used to select and select the selection object 323 on the selection interface.

[0100] The present application does not limit the specific structure of the gripping end, and currently known configurations may be adopted, such as those described in Chinese invention patent CN113375547A, Chinese invention patent CN113197673A, or Chinese invention patent CN115486944A.

[0101] FIG7 shows an application scenario of the surgical robot system according to the present application in a hysterectomy operation. In particular, both the endoscope 520 and the execution instrument 510 enter the abdominal cavity through a small hole cut in the abdomen of the patient P1, and the uterine manipulator 530 enters the uterus P12 of the patient P1 through the vagina of the patient P1. During the operation, the endoscope 520 provides the doctor with a surgical field of view within the abdominal cavity P11, the execution instrument 510 performs the surgical operation on the uterus P12, and the end of the uterine manipulator 530 is pressed against the inner wall of the uterus P12. By changing the position and direction of the uterine manipulator 530, the posture of the uterus P12 is adjusted to facilitate the execution instrument 510 to perform the surgical operation. In some cases, the endoscope 520 and the execution instrument 510 are held by the robotic arm of the laparoscopic surgical robot, and the entry position and operation method of the uterine lifting rod 530 are quite different from those of other instruments. Therefore, it is difficult for the robotic arm of the laparoscopic surgical robot to operate the uterine lifting rod 530. Therefore, an additional surgical assistant is usually required to manually operate the uterine lifting rod 530, or to operate the uterine lifting rod 530 by controlling an auxiliary manipulation robot. To this end, in the surgical robot system of the present application, the endoscope 520 and the execution instrument 510 are held by the first robotic arm 110 (not shown) of the first slave operating device 100, and the uterine lifting rod 530 is held by the second robotic arm 210 of the second slave operating device 200. The doctor can operate the endoscope 520, the execution instrument 510, and the uterine lifting rod 530 through the master operating device 300. In this example, the first slave operating device 100 can be a laparoscopic surgical robot, and the second slave operating device 200 can be an auxiliary manipulation robot.

[0102] FIG8 shows a schematic diagram of the reference coordinate system and its position and posture corresponding to the surgical instrument 500 of the surgical robot system 1 according to the present application. FIG9 shows a schematic diagram of the reference coordinate system and its position and posture corresponding to the doctor's eye D11 and the main hand controller of the surgical robot system 1 according to the present application. It should be noted that the use of the main hand controller to control the surgical instrument 500 of the auxiliary manipulation robot requires coordinate transformation. The homogeneous transformation matrix from coordinate system to coordinate system can be expressed as:

[0103] Among them, T is the homogeneous transformation matrix from one coordinate system to another, R is the 3×3 rotation matrix, and D is the 3×1 translation vector.

[0104] This application maps the position change of the end of the penis manipulation rod 530 in the camera coordinate system 600 to the position change of the end of the master hand controller in the eye coordinate system 700 in a one-to-one manner, in accordance with the following relationship:

[0105] in, is the translation vector of the homogeneous transformation matrix from the end coordinate system 240 of the manipulator to the camera coordinate system 600, is the translation vector of the homogeneous transformation matrix from the master hand controller end coordinate system 311 to the camera coordinate system 600 in the eye coordinate system 700, (*)' represents the new position, and k is the scale factor.

[0106] According to the above relationship, the linear displacement of the first robotic arm 110 in the eye coordinate system 700 is scaled and mapped into a linear displacement instruction for the end of the uterine manipulator 530 in the camera coordinate system 600, thereby generating new position information for the end of the uterine manipulator 530 in the camera coordinate system 600. This new position information is then converted into joint motion of the auxiliary manipulator robot by the controller of the auxiliary manipulator robot.

[0107] FIG10 is a schematic diagram of the interface of the surgical robot system 1 of the present application on the display device 322. The movement of the doctor's main hand controller corresponds to the up, down, left, right, forward, and backward movement of the uterine manipulator 530 displayed on the display device 322 (i.e., in the camera coordinate system 600), allowing the doctor to more conveniently control the uterine manipulator 530.

[0108] Based on the embodiment of the surgical robot system of the present application, the present application also includes a control method for the surgical robot system. Figure 11 shows a flow chart of an embodiment of the control method for the surgical robot system of the present application. The control method for the surgical robot system of the embodiment of the present application can be applied to a surgical robot system, which includes a first slave operating device, a second slave operating device and a master operating device, the first slave operating device includes a first robotic arm, the second slave operating device includes a second robotic arm, the master operating device communicates with the first slave operating device and the second slave operating device, and the master operating device includes at least one first operating component. As shown in Figure 11, the control method of the embodiment of the present application includes steps S100 to S200:

[0109] In step S100, a user's interactive operation is received.

[0110] In step S200, according to the interactive operation, the first operating component is controlled to operate in one of a plurality of operating modes.

[0111] Among them, the multiple working modes include a first working mode and a second working mode. In the first working mode, the first robotic arm is controlled to perform corresponding actions. In the second working mode, the second robotic arm is controlled to perform corresponding actions.

[0112] In some embodiments, the main operating device further includes a second operating component, and step S100 in the control method of the present application may further include the following steps:

[0113] The user's interactive operation is received through the second operation component.

[0114] Figure 12 is a flow chart of an embodiment of step S200 of the control method shown in Figure 11. In some embodiments, the second operating component includes at least one pedal, and step S200 in the control method of the present application may further include steps S210 to S230:

[0115] In step S210 , a pedaling action in a user's interactive operation is detected through a pedal.

[0116] In step S220, a corresponding switching signal is generated according to the pedaling action.

[0117] In step S230 , the first operating component is controlled to operate in one of the plurality of operating modes according to the switching signal.

[0118] In some embodiments, the second slave operating device includes at least two second robotic arms. In other embodiments, the surgical robot system includes at least two second slave operating devices, and each second slave operating device includes at least one second robotic arm.

[0119] Based on the above embodiment, the second operating assembly includes at least two pedals, and each second robotic arm corresponds to one pedal. Step S230 in the control method of the present application may include the following steps:

[0120] According to the switching signal, the first operating component is controlled to operate in the second operating mode.

[0121] Wherein, in the second working mode, the second robotic arm corresponding to the pedal is controlled to perform corresponding actions.

[0122] In some embodiments, the second slave operating device includes at least two second robotic arms. In other embodiments, the surgical robot system includes at least two second slave operating devices, and each second slave operating device includes at least one second robotic arm.

[0123] Based on the above embodiment, the second operating component further includes a display device for displaying a selection interface, the selection interface including at least two selection objects for the user to select, each second robotic arm corresponding to one selection object. The multiple operating modes further include a third operating mode.

[0124] Step S230 in the control method of the present application may include the following steps:

[0125] According to the switching signal, the first operating component is controlled to operate in a third operating mode, wherein in the third operating mode, a cursor in the selection interface is controlled to select and select a selection object.

[0126] The display device is controlled to display a selection interface.

[0127] According to the selected selection object, the first operating component is controlled to operate in a second working mode, wherein in the second working mode, the second robotic arm corresponding to the selected selection object is controlled to perform a corresponding action.

[0128] In some embodiments, the first operating component includes a gripping end for a user to hold, the gripping end is connected to the main operating device through at least two movable joints, and an encoder is provided at each movable joint.

[0129] The step of controlling the first operating component to operate in the third operating mode may include the following steps:

[0130] The motion of the movable joint is detected by the encoder to obtain the detection result of the encoder corresponding to the movable joint.

[0131] According to the detection results of the encoder, the motion trajectory of the grip end is calculated.

[0132] Control the cursor to move on the selection interface according to the motion trajectory.

[0133] In some embodiments, the first operating component includes a gripping end for the user to hold, the gripping end includes a knob, and an encoder is provided on the knob.

[0134] The step of controlling the first operating component to operate in the third operating mode may include the following steps:

[0135] The encoder detects the rotation of the knob and obtains the detection result of the encoder.

[0136] According to the detection result of the encoder, the selected object on the selection interface is switched.

[0137] On the basis of the above embodiment, the gripping end includes an opening and closing device, which includes two clamping jaws that can open and close relative to each other and a sensor for detecting the opening and closing of the clamping jaws.

[0138] The step of controlling the first operating component to operate in the third operating mode may further include the following steps:

[0139] The opening and closing of the gripping jaws is detected by a sensor to obtain the detection result of the sensor.

[0140] According to the detection result of the sensor, the object selected on the selection interface is selected.

[0141] The surgical robot system and control method of the embodiment of the present application can provide more surgical angles and operating methods, providing doctors with more degrees of freedom and operability; reducing the steps that require additional assistants to participate in the operation, simplifying the surgical operation process, and improving surgical efficiency and accuracy. Furthermore, by adding additional pedals or display device selection methods, switching the operation of the slave end is achieved, providing doctors with a more convenient control method. Through the first operating component, doctors can more intuitively control the second robotic arm of the second slave operating device and the cursor on the display device, reducing the doctor's learning curve.

[0142] For the method embodiment, since it basically corresponds to the apparatus embodiment, the relevant parts can be referred to the partial description of the apparatus embodiment. The method embodiment and the apparatus embodiment complement each other.

[0143] The surgical robot system of an embodiment of the present application further includes a computing device, which includes at least a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method described in any embodiment of the present application. The computing device may be integrated into a master operating device, a slave operating device, or may be provided independently of the master operating device and the slave operating device.

[0144] A computing device may include a processor, a memory, an input / output interface, a communication interface, and a bus, wherein the processor, the memory, the input / output interface, and the communication interface are connected to each other within the device via the bus.

[0145] The processor can be implemented as a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present disclosure. The processor may also include a graphics card, which may be an Nvidia Titan X graphics card or an 10120Ti graphics card.

[0146] The memory can be implemented in the form of a read-only memory (ROM), a random access memory (RAM), a static storage device, a dynamic storage device, etc. The memory can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present disclosure are implemented through software or firmware, the relevant program code is stored in the memory and called and executed by the processor.

[0147] Input / output interfaces connect to input / output modules to enable information input and output. Input / output modules can be built into the device as components or externally connected to provide corresponding functionality. Input devices may include keyboards, mice, touch screens, microphones, pedals, buttons, and various sensors. Output devices may include displays, speakers, vibrators, and indicator lights.

[0148] The communication interface is used to connect the communication module to enable communication between the device and other devices. The communication module can achieve communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, Wi-Fi, Bluetooth, etc.).

[0149] The bus comprises a pathway that transmits information between various components of a device, such as a processor, memory, input / output interfaces, and communication interfaces.

[0150] It should be noted that although the above device only shows a processor, memory, input / output interface, communication interface, and bus, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will understand that the above device may only include components necessary to implement the embodiments of the present disclosure, and does not necessarily include all the components shown in the figure.

[0151] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any embodiment of the present application.

[0152] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0153] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that the embodiments of the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solutions of the embodiments of the present application are essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments of the present application.

[0154] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A surgical robot system, comprising: A first slave operating device, comprising a first mechanical arm; A second slave operating device, including a second mechanical arm; a master operating device capable of communicating with the first slave operating device and the second slave operating device; The main operating device includes at least one first operating component, each of which is used to receive user interaction operations to control the first robotic arm or the second robotic arm, and the working mode of each of the first operating components includes a first working mode and a second working mode. When the first operating component is in the first working mode, it is used to control the first robotic arm to perform corresponding actions; when the first operating component is in the second working mode, it is used to control the second robotic arm to perform corresponding actions.

2. The surgical robot system according to claim 1, wherein: The main operating device also includes a second operating component, which is used to receive a user's interactive operation to switch the working mode of the first operating component.

3. The surgical robot system according to claim 2, wherein: The second operating component includes at least one pedal, which is used to detect the user's stepping action and generate a corresponding switching signal. The main operating device is used to switch the working mode of the first operating component according to the switching signal.

4. The surgical robot system according to claim 3, wherein: The second slave operating device includes at least two second robotic arms, and / or the surgical robot system includes at least two second slave operating devices, and each of the second slave operating devices includes at least one second robotic arm; The second operating assembly includes at least two pedals, and each of the second mechanical arms corresponds to one pedal; Each of the pedals is used to detect the user's stepping action and generate the corresponding switching signal. The main operating device is used to switch the first operating component to the second working mode according to the switching signal. In the second working mode, the first operating component is used to control the second robotic arm corresponding to the pedal to perform a corresponding action.

5. The surgical robot system according to claim 3, wherein: The second slave operating device includes at least two second robotic arms, and / or the surgical robot system includes at least two second slave operating devices, and each of the second slave operating devices includes at least one second robotic arm; The second operating component further includes a display device, the display device is used to display a selection interface, the selection interface includes at least two selection objects for a user to select, and each of the second mechanical arms corresponds to one of the selection objects; The working mode of the first operating component further includes a third working mode, in which the first operating component is used to control the cursor in the selection interface to select and select the selection object; The main operating device is used to switch the first operating component to the third working mode and control the display device to display the selection interface according to the switching signal; The first operating component is switched to the second working mode according to the selected selection object. In the second working mode, the first operating component is used to control the second mechanical arm corresponding to the selected selection object to perform a corresponding action.

6. The surgical robot system according to claim 5, wherein: The first operating component includes a gripping end for a user to hold, the gripping end is connected to the main operating device via at least two movable joints, and each of the movable joints is provided with an encoder for detecting movement of the corresponding movable joint; The main operating device is used to calculate the motion trajectory of the gripping end according to the detection result of the encoder, and The cursor is moved on the selection interface according to the motion trajectory.

7. The surgical robot system according to claim 5, wherein: The first operating component includes a holding end for a user to hold, the holding end includes a knob, and an encoder for detecting rotation of the knob is provided at the knob. The main operating device is used to switch the selected selection object on the selection interface according to the detection result of the encoder.

8. The surgical robot system according to claim 6 or 7, wherein: The holding end includes an opening and closing device, which includes two clamping jaws that can be opened and closed relative to each other and a sensor for detecting the opening and closing of the clamping jaws; the main operating device is used to select the object selected on the selection interface according to the detection result of the sensor.

9. A control method for a surgical robot system, applied to the surgical robot system, the surgical robot system comprising a first slave operating device, a second slave operating device and a master operating device, the first slave operating device comprising a first mechanical arm, the second slave operating device comprising a second mechanical arm, the master operating device communicating with the first slave operating device and the second slave operating device, the master operating device comprising at least one first operating component, the control method comprising: Receive user interaction operations; According to the interactive operation, controlling the first operating component to operate in one of a plurality of operating modes; Among them, the multiple working modes include a first working mode and a second working mode. In the first working mode, the first robotic arm is controlled to perform a corresponding action, and in the second working mode, the second robotic arm is controlled to perform a corresponding action.

10. The control method according to claim 9, wherein: The main operating device also includes a second operating component; The receiving the user's interactive operation includes: receiving the user's interactive operation through the second operating component.

11. The control method according to claim 10, wherein: The second operating assembly includes at least one pedal; According to the interactive operation, controlling the first operating component to operate in one of a plurality of operating modes comprises: Detecting a stepping action of the user in the interactive operation by means of the pedal; According to the stepping action, a corresponding switching signal is generated; According to the switching signal, the first operating component is controlled to operate in one of a plurality of operating modes.

12. The control method according to claim 11, wherein: The second slave operating device includes at least two second mechanical arms, and / or the surgical robot system includes at least two second slave operating devices, and each second slave operating device includes at least one second mechanical arm; the second operating assembly includes at least two pedals, and each second mechanical arm corresponds to one pedal; The step of controlling the first operating component to operate in one of a plurality of operating modes according to the switching signal comprises: According to the switching signal, controlling the first operating component to operate in the second operating mode; Wherein, in the second working mode, the second mechanical arm corresponding to the pedal is controlled to perform a corresponding action.

13. The control method according to claim 11, wherein: The second slave operating device includes at least two second mechanical arms, and / or the surgical robot system includes at least two second slave operating devices, and each of the second slave operating devices includes at least one second mechanical arm; the second operating component also includes a display device, the display device is used to display a selection interface, the selection interface includes at least two selection objects for the user to select, and each of the second mechanical arms corresponds to one of the selection objects; the plurality of working modes also includes a third working mode; The step of controlling the first operating component to operate in one of a plurality of operating modes according to the switching signal comprises: According to the switching signal, controlling the first operating component to operate in the third operating mode, wherein in the third operating mode, controlling the cursor in the selection interface to select and select the selection object; Controlling the display device to display the selection interface; According to the selected selection object, the first operating component is controlled to operate in the second working mode, wherein in the second working mode, the second mechanical arm corresponding to the selected selection object is controlled to perform a corresponding action.

14. The control method according to claim 13, wherein: The first operating component comprises a holding end for a user to hold, the holding end is connected to the main operating device through at least two movable joints, and an encoder is provided at each movable joint; The controlling the first operating component to operate in the third operating mode includes: Detecting the movement of the movable joint by the encoder to obtain a detection result of the encoder corresponding to the movable joint; Calculating the motion trajectory of the gripping end according to the detection result of the encoder; According to the motion trajectory, the cursor is controlled to move on the selection interface.

15. The control method according to claim 13, wherein: The first operating component includes a gripping end for a user to hold, the gripping end includes a knob, and an encoder is disposed at the knob; The controlling the first operating component to operate in the third operating mode includes: Detecting the rotation of the knob by the encoder to obtain a detection result of the encoder; According to the detection result of the encoder, the selection object selected on the selection interface is switched.

16. The control method according to claim 14 or 15, wherein: The gripping end includes an opening and closing device, and the opening and closing device includes two clamping jaws that can open and close relative to each other and a sensor for detecting the opening and closing of the clamping jaws; The controlling the first operating component to operate in the third operating mode further includes: Detecting the opening and closing of the clamping jaws by the sensor to obtain a detection result of the sensor; According to the detection result of the sensor, the object selected on the selection interface is selected.

17. A surgical robot system, comprising: a plurality of slave operating devices; and The master operating device is capable of communicating with the plurality of slave operating devices, so that the master operating device can simultaneously control at least one of the plurality of slave operating devices.

18. The surgical robot system according to claim 17, wherein: The surgical robot system includes multiple control modes that can be switched between each other, and the multiple control modes include at least one single-use control mode and at least one combined single-use control mode. In the single-use control mode, the master operating device controls only one of the multiple slave operating devices, and in the combined control mode, the master operating device controls at least one of the multiple slave operating devices.

19. The surgical robot system according to claim 18, wherein: The master operating device comprises two first operating components, each of which is used to receive a user's interactive operation to control one of the plurality of slave operating devices; When the surgical robot system is in a single-use control mode, the two first operating components are used to control instruments of the same slave operating device; When the surgical robot system is in the joint control mode, each first operating component is used to control any one of the instruments of the plurality of slave operating devices.

20. The surgical robot system according to any one of claims 17 to 19, wherein: The plurality of slave operating devices include at least one single-port laparoscopic robot and at least one single-arm robot; or the plurality of slave operating devices include at least one multi-port laparoscopic robot and at least one single-arm robot.

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