Method for adjusting mechanical arm configuration based on single-cart single-arm surgical robot system and single-cart single-arm surgical robot system

Abstract

The present invention relates to the technical field of medical apparatuses and devices, and particularly relates to a method for adjusting a mechanical arm configuration based on a single-cart single-arm surgical robot system, and a single-cart single-arm surgical robot system. The method comprises the following steps: step S1, triggering movement of a mechanical arm by adopting a combination key triggering mode; step S2, reading a target pose corresponding to the combination key, and performing calculation to obtain a planned movement trajectory of the mechanical arm; and step S3, moving the mechanical arm according to the planned movement trajectory to reach the target pose. Thus, the method for adjusting the mechanical arm configuration based on the single-cart single-arm surgical robot system proposed by the present invention enables convenient adjustment of the mechanical arm pose through combination key operations, and ensures the safety at the same time, thus effectively avoiding collisions between the mechanical arm and external objects or self-collisions of the mechanical arm, and allowing the mechanical arm to immediately stop movement when a collision occurs.

Description

Single-car single-arm surgical robot system mechanical arm configuration adjustment method and single-car single-arm surgical robot system

[0001] This application claims priority to Chinese Patent Application No. 2023118197329, filed December 26, 2023. This application incorporates the entirety of the aforementioned Chinese Patent Application. Technical Field

[0002] The present invention relates to the technical field of medical equipment, and more particularly to a method for adjusting the configuration of a robotic arm of a surgical robot system based on a single trolley and a single arm, and a surgical robot system based on a single trolley and a single arm. Background Art

[0003] During robotic surgery, the surgical robot system's bedside cart is positioned at the edge of the operating table. Typically, the cart consists of a cart base and a robotic arm, which carries and drives specialized surgical instruments to perform the procedure. Prior to and after the procedure, the bedside cart requires multiple arm joint adjustments to facilitate preoperative preparation and postoperative evacuation from the operating room. These procedures utilize various robotic arm positions, including stowage, docking, sterile barrier installation, and specific positions for each procedure.

[0004] Among them, the traditional single-cart, multi-arm surgical robot system has a large footprint and a relatively simple robotic arm configuration, which results in it being set to a specific storage position and a recommended position for specific surgeries when it leaves the factory. When adjusting to the storage position, the user needs to select the corresponding function on the operation screen behind the trolley to fold or unfold the robotic arm to the specific position. When adjusting to the position for installing a sterile barrier or a position for a specific surgery, the user needs to adjust the robotic arm by dragging it.

[0005] Compared with the traditional single-cart multi-arm surgical robot system described above, the single-cart single-arm surgical robot system has a more flexible arm joint configuration and configuration, which can present a richer range of positioning postures. Its placement posture at the bedside is also more diverse according to surgical requirements, and multiple carts or a single cart can be flexibly used during actual use.

[0006] Therefore, the arm adjustment requirements of a single-cart, single-arm surgical robot system are more numerous and complex than those of a single-cart, multi-arm surgical robot system. The one-button folding function or drag-and-drop positioning function of a single-cart, multi-arm surgical robot system cannot effectively meet the needs of simplifying the surgical process. Summary of the Invention

[0007] The purpose of the present invention is to provide a method for adjusting the configuration of the robotic arm of a surgical robot system based on a single-carriage single-arm and a surgical robot system with a single-carriage single-arm, thereby solving the problem of complex robotic arm adjustment in the prior art of a single-carriage multi-arm surgical robot system.

[0008] In order to achieve the above-mentioned object, the present invention provides a method for adjusting the configuration of a robotic arm of a surgical robot system based on a single trolley and a single arm, which comprises the following steps:

[0009] Step S1, triggering the movement of the robotic arm by using a combination of keystrokes;

[0010] Step S2: Read the target position corresponding to the key combination and calculate the planned motion trajectory of the robotic arm;

[0011] Step S3: The robotic arm moves according to the planned motion trajectory to reach the target position.

[0012] In some embodiments, the key types of the combination key in step S1 include physical keys, tactile keys and virtual keys.

[0013] In some embodiments, the combination key in step S1 is triggered by pressing at least two keys simultaneously or successively.

[0014] In some embodiments, the key forms of the combination key in step S1 include keys on the robotic arm, keys on the trolley switch panel, and keys on the trolley touch screen.

[0015] In some embodiments, the triggering method of the combination key further includes:

[0016] When the first button of the combination key is pressed, it waits for a preset time. If other buttons in the combination key are pressed within the preset time, the combination key function will be triggered after the preset time ends.

[0017] In some embodiments, the target posture includes a storage posture, a sterile barrier installation posture, an inverted hook placement posture, and a forward placement posture:

[0018] When the target posture is the stowed posture, the triggering logic of the combination button is pressing one of the instrument clutch button, the port clutch coarse adjustment button, or the port clutch fine adjustment button, and pressing the zero space downward adjustment button;

[0019] When the target posture is the sterile barrier installation posture, the triggering logic of the combination button is pressing the instrument clutch button and pressing the zero space upward adjustment button;

[0020] When the target posture is the inverted hook placement posture, the trigger logic of the combination button is to press the port clutch coarse adjustment button and the zero space upward adjustment button;

[0021] When the target posture is the forward placement posture, the trigger logic of the combination button is to press the port clutch fine adjustment button and the zero space upward adjustment button.

[0022] In some embodiments, during the storage and handling phase, a combination of key triggers is used to control the robotic arm to reach the storage position;

[0023] During the surgical preparation phase, a combination of key triggers is used to control the robotic arm to reach the sterile barrier installation position for sterile barrier installation.

[0024] At the beginning of the operation, according to the type and method of the operation, a combination of key triggers is used to control the robotic arm to reach a specific positioning posture, which includes an inverted hook placement posture and a forward placement posture;

[0025] At the end of the operation, a combination of key triggers is used to control the robotic arm to reach the storage position.

[0026] In some embodiments, a real-time path planning algorithm is used in step S2 to calculate the path trajectory of possible collisions and obtain the planned motion trajectory of the robotic arm.

[0027] In some embodiments, the step S3 further includes: the robot arm always determines whether the button is released during the movement according to the planned movement trajectory, and if the button is released, the robot arm stops moving.

[0028] In some embodiments, the target pose includes a stowed pose:

[0029] When the robotic arm is in the stowed position, the projection of the robotic arm on the ground is entirely within the range of the trolley base.

[0030] In some embodiments, the target pose comprises a sterile barrier installation pose:

[0031] When the robotic arm is in the sterile barrier installation position, all joint links of the robotic arm are in the following states:

[0032] All sterile barrier protected robotic arm joint links are within the target ground clearance range, and / or

[0033] The angle between the joint links of two adjacent robotic arms is greater than a right angle.

[0034] In some embodiments, the target pose includes an inverted hook placement pose:

[0035] When the robotic arm is in the inverted hook position, the angle between the parallelogram joint axis and the ground is negative, and the direction of the instrument is opposite to the direction from the trolley to the patient.

[0036] In some embodiments, the angle between the parallelogram joint axis and the ground is between -5° and -30°.

[0037] In some embodiments, the target pose includes a forward placement pose:

[0038] When the robotic arm is in the forward position, the angle between the parallelogram joint axis and the ground is positive, and the direction of the instrument is the same as the direction from the trolley to the patient.

[0039] In some embodiments, the angle between the parallelogram joint axis and the ground is between 0° and 30°.

[0040] In some embodiments, when the robotic arm moves in step S3, an operating status prompt is provided through light or sound.

[0041] To achieve the above objectives, the present invention provides a surgical robot system based on a single trolley and a single arm, which adopts the above-mentioned method for adjusting the configuration of the robotic arm of the surgical robot system, and includes at least a robotic arm, a control device, and a trigger device:

[0042] The trigger device triggers the movement of the robotic arm by using a combination of keystrokes;

[0043] The control device reads the target posture corresponding to the combination key and calculates the planned motion trajectory of the robotic arm;

[0044] The robotic arm moves according to the planned motion trajectory to reach the target position.

[0045] In some embodiments, the target posture includes a storage posture, a sterile barrier installation posture, and a specific positioning posture;

[0046] During the storage and handling phase, the trigger device uses a combination of key triggering methods to enable the control device to control the robotic arm to reach the storage position;

[0047] During the surgical preparation phase, the trigger device uses a combination button trigger mode, so that the control device controls the robotic arm to reach the sterile barrier installation posture and perform sterile barrier installation;

[0048] At the beginning of the operation, according to the type and method of the operation, the trigger device uses a combination button triggering method to enable the control device to control the robotic arm to reach a specific positioning posture, which includes an inverted hook placement posture and a forward placement posture;

[0049] At the end of the operation, the trigger device uses a combination of button triggering methods to enable the control device to control the robotic arm to reach the storage position.

[0050] The present invention proposes a method for adjusting the configuration of the robotic arm of a surgical robot system based on a single trolley and a single arm, and a surgical robot system based on a single trolley and a single arm. Through combined key operations, the position adjustment of the robotic arm can be conveniently achieved, thereby reducing the risk of squeezing and collision of the robotic arm and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which like reference numerals represent like features throughout, wherein:

[0052] FIG1 discloses a step diagram of a method for adjusting the configuration of a robotic arm of a surgical robot system based on a single trolley and a single arm according to an embodiment of the present invention;

[0053] FIG2 illustrates a diagram showing the positions of buttons on a robotic arm according to an embodiment of the present invention;

[0054] FIG3 discloses a flow chart of motion path planning for a robotic arm according to an embodiment of the present invention;

[0055] FIG4 a shows a posture diagram of the trolley in the stowed position according to an embodiment of the present invention;

[0056] FIG4 b shows a posture diagram of the trolley in a sterile barrier posture according to an embodiment of the present invention;

[0057] FIG5 a shows a posture diagram of the trolley in the inverted hook placement posture according to one embodiment of the present invention;

[0058] FIG5 b shows a posture diagram of the trolley in a forward-facing position according to an embodiment of the present invention;

[0059] FIG6 illustrates a schematic diagram of a trolley reaching the abdominal hole to perform an operation in a robotic arm under an inverted hook placement according to an embodiment of the present invention;

[0060] FIG7 is a top view showing a trolley in a hook-down position of a robotic arm according to an embodiment of the present invention, reaching the abdominal hole to perform an operation;

[0061] FIG8 a shows a first posture diagram of a robotic arm according to an embodiment of the present invention;

[0062] FIG8 b illustrates a second posture diagram of the robotic arm according to an embodiment of the present invention;

[0063] FIG8 c shows a third posture diagram of the robotic arm according to an embodiment of the present invention;

[0064] FIG9 a shows a first posture diagram of a robot arm in an inverted hook placement posture according to an embodiment of the present invention;

[0065] FIG9 b shows a second posture diagram of the robot arm in the inverted hook posture according to an embodiment of the present invention;

[0066] FIG9c is a schematic diagram illustrating the range of motion of a robotic arm in an inverted hook placement position according to an embodiment of the present invention;

[0067] FIG10 illustrates a schematic diagram of the operation of the trolley in a forward-facing position of the robotic arm according to an embodiment of the present invention;

[0068] FIG11 illustrates a schematic top view of a trolley in operation with a robotic arm in a forward-facing position according to an embodiment of the present invention;

[0069] FIG12 a shows a first posture diagram of a robot arm in a forward posture according to an embodiment of the present invention;

[0070] FIG12 b shows a second posture diagram of the robot arm in the forward posture according to an embodiment of the present invention;

[0071] FIG12c is a schematic diagram illustrating the range of motion of the robotic arm in a forward-facing position according to an embodiment of the present invention.

[0072] The meanings of the reference numerals in the figure are as follows: 10 trolley button group; 21 port clutch coarse adjustment button; 22 port clutch fine adjustment button; 23 instrument clutch button; 24 zero space upward adjustment button; 25 zero space downward adjustment button; 26 fixed point; 31 abdominal entry hole; 32 surgical operation area; 33 patient abdominal cavity area; 41 first joint link; 42 second joint link; 43 third joint link; 44 fourth joint link; 45 fifth joint link; 46 sixth joint link. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not intended to limit the invention.

[0074] FIG1 discloses a step diagram of a method for adjusting the configuration of a robotic arm of a surgical robot system based on a single trolley and a single arm according to an embodiment of the present invention. As shown in FIG1 , a method for adjusting the configuration of a robotic arm of a surgical robot system based on a single trolley and a single arm proposed by the present invention includes the following steps:

[0075] Step S1, triggering the movement of the robotic arm by using a combination of keystrokes;

[0076] Step S2: Read the target position corresponding to the key combination and calculate the planned motion trajectory of the robotic arm;

[0077] Step S3: The robotic arm moves according to the planned motion trajectory to reach the target position.

[0078] The method for adjusting the configuration of the manipulator arm of a single-cart single-arm surgical robot system proposed in the present invention can be applied to both multiple single-cart single-arm surgical robot systems and a single single-cart single-arm surgical robot system.

[0079] It should be understood that within the scope of the present invention, the above-mentioned technical features of the present invention and the technical features specifically described below (such as in the embodiments) can be combined with each other and interrelated to form a preferred technical solution.

[0080] Step S1: triggering the movement of the robotic arm by using a combination of keystrokes.

[0081] FIG2 illustrates the location of buttons on a robotic arm according to an embodiment of the present invention. As shown in FIG2 , there are five buttons on the robotic arm, including a port clutch coarse adjustment button 21, a port clutch fine adjustment button 22, an instrument clutch adjustment button 23, a null space upward adjustment button 24, and a null space downward adjustment button 25. It should be noted that while the buttons in this embodiment are physical, tangible buttons, these buttons may also be replaced by virtual, non-tangible buttons within a graphical user interface.

[0082] At the same time, in order to improve the intuitiveness of operation, the positions of these buttons are carefully set near the relevant motion joints / arms, making it convenient for users to operate.

[0083] As shown in FIG2 , the robotic arm includes a first joint link 41 , a second joint link 42 , a third joint link 43 , a fourth joint link 44 , a fifth joint link 45 and a sixth joint link 46 :

[0084] Wherein, the first joint link 41 is connected to the second joint link 42;

[0085] The second joint link 42 is connected to the first joint link 41 and the third joint link 43 respectively;

[0086] The third joint link 43 is connected to the second joint link 42 and the fourth joint link 44 respectively;

[0087] The fourth joint link 44 is connected to the third joint link 43 and the fifth joint link 45 respectively;

[0088] The fifth joint link 45 is connected to the fourth joint link 44 and the sixth joint link 46;

[0089] The sixth joint link 46 is connected to the fifth joint link 45 and the trolley base respectively.

[0090] The settings of the five buttons shown in Figure 2 are as follows:

[0091] A zero space upward adjustment button 24 or a zero space downward adjustment button 25 is provided at the end of the fourth joint link 44;

[0092] An instrument clutch button 23 is provided above the first joint link 41;

[0093] A port clutch fine adjustment button 22 is provided below the first joint link 41;

[0094] A port clutch coarse adjustment button 21 is provided at the middle position of the fourth joint link 44 .

[0095] In the existing technology, in order to adjust the robotic arm to the desired posture, it is necessary to repeatedly adjust the above-mentioned adjustment buttons. This is not only time-consuming and has low adjustment accuracy, but also requires a long learning curve for users and strong spatial imagination. When the robotic arm is in autonomous motion, there is a risk of colliding with surrounding people and equipment, or squeezing or pinching the human body (fingers or skin) or instrument accessories in the operating room (the robotic arm's sterile barrier) during movement.

[0096] The present invention proposes a method for adjusting the configuration of the robotic arm of a single-cart, single-arm surgical robot system. This method utilizes a combination of keystroke triggering methods, requiring the simultaneous or sequential pressing of at least two keys. These triggering methods require the user's hands to follow the movement of the robotic arm, meaning both hands remain on the keys. Consequently, unlike traditional dragging methods, the direction of the robotic arm's movement is not determined by the direction the user drags. Traditional dragging methods typically involve directly dragging key parts or parameters of the robotic arm through a graphical user interface (GUI), keystrokes, or other interactive means to change the arm's posture, position, or other characteristics in real time.

[0097] In this embodiment, a pair of combination buttons are used to control the movement of the robotic arm. For example, as shown in Figure 2, one of the buttons in the combination button is located at the fourth joint link 44 at the proximal end of the robotic arm, which is the zero space upward adjustment button 24 or the zero space downward adjustment button 25; the other button in the combination button is located at the first joint link 41 at the distal end of the robotic arm, which is the instrument clutch button 23 or the port clutch fine adjustment button 22, or the port clutch coarse adjustment button 21 in the middle of the fourth joint link 44.

[0098] When the user uses this key combination, both hands firmly grasp the robotic arm, allowing them to sense the arm's movements through touch and visually observe collisions. Because the user operates the robotic arm with both hands and stands next to it, pressing the key requires both hands to contact the arm, reducing the risk of fingers being accidentally pinched in the arm and improving safety.

[0099] The movement process of the robotic arm performing bedside positioning posture adjustment is a process involving large-scale movement of the robotic arm. When the user presses a combination of buttons, the robotic arm can autonomously adjust its posture. The specific implementation method is that the user presses two buttons at the same time. In order to ensure that the operation is carried out within the user's field of view and to avoid encountering obstacles in the external environment, it is necessary to hold them down until the target position is reached. During the mechanical movement process, the user needs to monitor the robotic arm to prevent people, equipment, accessories and the robotic arm from being squeezed and colliding. At the same time, there must be sufficient safety so that the robotic arm can be discovered in time and stopped in any unexpected situation.

[0100] In this embodiment, a combination of keystrokes is used to trigger the control logic for the robot arm's motion. However, any key in the combination can control the joint motion of the robot arm if pressed individually. To avoid possible confusion among multiple motions, the present invention proposes the following combination keystroke triggering logic:

[0101] When the first button of the combination key is pressed, it waits for a preset time. If other buttons in the combination key are pressed within the preset time, the combination key function will be triggered after the preset time ends. During the preset time, the robot arm will not start autonomous movement.

[0102] More specifically, when any key is pressed, the robot arm will not immediately start moving, but will wait for a short period of time (e.g., 0.2 seconds). During this waiting period, if any combination of keys is pressed, the system will execute the function of the combination key after the waiting time expires.

[0103] Furthermore, the key type of the combination key includes but is not limited to a physical key, and may also be a tactile key or a virtual key that can detect physical pressing.

[0104] In this embodiment, all buttons are triggered by physical buttons, ensuring that the doctor's fingers / palms can grasp the robot during the triggering process, thereby improving the safety of the robot during movement. When any button is released, the autonomous movement of the robot arm will stop immediately.

[0105] Furthermore, the combination button can be in the form of multiple buttons located at any position of the robotic arm, which is convenient for the assistant to operate.

[0106] In this embodiment, a combination of buttons not on the robotic arm can also be used to control the autonomous movement of the robotic arm. This control method includes but is not limited to using buttons on the switch panel of the trolley base, button functions on the trolley touch screen, etc., such as the trolley button group 10 in Figure 2.

[0107] Step S2: Read the target pose corresponding to the combination button and calculate the planned motion trajectory of the robotic arm.

[0108] While waiting for the combination button to be triggered, the industrial computer in the patient's surgical platform will begin to calculate the motion trajectory.

[0109] During the large-scale movement of the robotic arm, self-collision between the joint links of the robotic arm may occur. Therefore, the real-time path planning function is used in the process of controlling the autonomous movement of the robotic arm by combination keys.

[0110] Figure 3 reveals a flowchart of the robot arm motion path planning according to an embodiment of the present invention. As shown in Figure 3, each time the robot arm presses the combination button, that is, after the first button and the second button are pressed successively, the computer reads the target posture according to the combination button logic, executes the robot arm path planning algorithm, and detects possible collision paths, calculates and updates the trajectory to avoid self-collision to complete the autonomous movement of the robot arm, and the robot arm moves according to the planned motion trajectory until it reaches the target posture. During the movement, it is always determined whether the button is released. If it is released, the calculation is stopped to obtain the planned motion trajectory of the robot arm and / or the robot arm stops moving.

[0111] The robot arm path planning algorithm plans an optimal motion trajectory from the starting point to the end point for the robot arm by comprehensively considering the robot arm's own factors such as the robot arm's range of motion, speed, acceleration, etc.

[0112] In this embodiment, the target posture of the robotic arm includes but is not limited to a storage posture, a sterile barrier installation posture, and a placement posture for different surgeries (an inverted hook placement posture and a forward placement posture).

[0113] The posture of the above-mentioned robotic arm can be the default posture configured when the robot leaves the factory, or the posture designed by the user according to the operating habits, or the posture recommended by the system according to the surgery after the user selects the surgical procedure.

[0114] The target pose is stored in the industrial computer of the trolley or the robot system.

[0115] In this embodiment, the robot arm postures referred to include but are not limited to the storage posture, sterile barrier installation posture, inverted hook placement posture, and forward placement posture as shown in Figures 4a to 5b.

[0116] During the storage and handling phase, a combination of buttons is used to trigger the robotic arm to reach the storage position.

[0117] During the surgical preparation phase, a combination of key triggers is used to control the robotic arm to reach the sterile barrier installation position for sterile barrier installation.

[0118] At the beginning of the operation, according to the type and method of the operation, a combination of key triggers is used to control the robotic arm to reach a specific positioning posture, which includes an inverted hook placement posture and a forward placement posture;

[0119] At the end of the operation, a combination of key triggers is used to control the robotic arm to reach the storage position.

[0120] Figure 4a reveals the trolley posture diagram in the storage position according to an embodiment of the present invention. As shown in Figure 4a, the robotic arm switches to the storage position, and the trigger logic of the combination button is as follows: press the instrument clutch button 23 or the port clutch coarse adjustment button 21 or one of the port clutch fine adjustment buttons 22, and press the zero space downward adjustment button 24.

[0121] When the robotic arm is in the storage position, the projection of the robotic arm on the ground is completely within the range of the trolley base. At this time, its footprint is minimized.

[0122] After the sterile barrier is removed after the operation, no matter what position the trolley robotic arm is in, the robotic arm can be adjusted to the storage position by pressing any instrument clutch button, one of the port clutch coarse adjustment buttons or the port clutch fine adjustment button, as well as the zero space downward adjustment button, thereby preventing the robotic arm from pinching the hand or causing accidents due to misoperation.

[0123] In the prior art, switching to the stowed position by dragging or using the zero-space adjustment button requires frequent adjustments and the movements are not intuitive. However, in this embodiment, switching between the stowed position and other positions can be easily accomplished. This switching process is more intuitive and can be completed quickly and accurately.

[0124] Figure 4b reveals the trolley posture diagram in the sterile barrier posture according to an embodiment of the present invention. As shown in Figure 4b, the robotic arm switches to the sterile barrier installation posture, and the trigger logic of the combination button is as follows: press the instrument clutch button 23 and press the zero space upward adjustment button 24.

[0125] When the trolley is placed in an open area of ​​the operating room, the user can press this combination button to extend the robotic arm to the sterile barrier installation position to perform the sterile barrier installation operation.

[0126] In the sterile barrier installation position, the joint links of the robotic arm are in the following states:

[0127] All sterile barrier protected robotic arm joint links are within the target ground clearance range, and / or

[0128] The angle between the joint links of two adjacent robotic arms is greater than a right angle.

[0129] In this embodiment, all joint links of the sterile barrier protected robotic arms are within a height range of 0.9 m to 1.5 m above the ground.

[0130] The design of the sterile barrier installation posture avoids the formation of sharp angles between the joint links or the formation of postures that can easily cause the sterile barrier to get stuck. This posture makes it easier for users to install or remove the sterile barrier.

[0131] The robotic arm can be positioned in different surgical positions, including a forward facing position and an inverted position. These two positions are determined based on the specific surgical procedure.

[0132] Since the single-cart, single-arm surgical robot system is suitable for abdominal surgery, thoracic surgery, and pelvic surgery, the operating area and surgical operation are different. Therefore, during the operation, it is necessary to reasonably select the position of the trolley during the operation based on the actual patient positioning, operating area, and the user's surgical operation habits.

[0133] During surgery, the placement of each trolley and the combination of multiple trolleys must be carefully selected to ensure that the patient's position on the operating table matches the surgical area. Furthermore, to optimize the placement of the robotic arms, appropriate positions must be selected and combined to reduce the risk of collision between the robotic arms on different trolleys and provide more operating space for the user, ensuring a more rational layout within the operating room.

[0134] FIG5a discloses a diagram of the trolley posture in an inverted hook placement position according to an embodiment of the present invention, FIG6 discloses a schematic diagram of the trolley reaching the abdominal access hole to perform an operation in an inverted hook placement position of the robotic arm according to an embodiment of the present invention, and FIG7 discloses a top view schematic diagram of the trolley reaching the abdominal access hole to perform an operation in an inverted hook placement position of the robotic arm according to an embodiment of the present invention. As shown in FIG5a, FIG6 and FIG7, when the robotic arm is in an inverted hook placement position, the trolley needs to step over the patient lying on the operating table to reach the abdominal access hole to perform an operation. In this placement position, the surgical operation area 32 and the area where the trolley is placed are located on the same side of the abdominal access hole 31 of the patient's abdominal cavity area 33. Using this placement position allows the trolley to step over the patient from behind, thereby avoiding the need for tedious adjustment operations.

[0135] Figure 8a reveals a first positioning posture diagram of the robotic arm according to an embodiment of the present invention. As shown in the positioning features of Figure 8a, when the robotic arm is in the inverted hook position, the angle between the parallelogram joint axis and the ground is negative, and the direction of the surgical instrument is opposite to the direction from the trolley base to the patient.

[0136] In this embodiment, the first joint link 41, the second joint link 42, the third joint link 43, and the fourth joint link 44 form a parallelogram. That is, during movement of the links, due to design constraints, the joint links 41 and 43 remain parallel, while the fourth joint link 44 and the second joint link 42 remain parallel. The parallelogram joint axis is the axis of the fourth joint link 44. The first joint link 41 of the robotic arm is used to carry surgical instruments. Therefore, surgical instrument pointing refers to the surgical instrument being directed toward the target surgical area through the fixed point 26.

[0137] Angles in the clockwise direction are defined as positive; angles in the counterclockwise direction are defined as negative.

[0138] Preferably, the angle between the parallelogram joint axis and the ground is between -5° and -30°. In this positioning posture, a larger space can be provided below the robotic arm, thereby avoiding collision with the patient's body below during movement.

[0139] Figure 9a discloses a first posture diagram of a robot arm in an inverted hook position according to an embodiment of the present invention, Figure 9b discloses a second posture diagram of a robot arm in an inverted hook position according to an embodiment of the present invention, and Figure 9c discloses a schematic diagram of a motion range of a robot arm in an inverted hook position according to an embodiment of the present invention. As shown in Figures 9a to 9c, the angle range between the first joint link 41 of the robot arm and the ground covers between 60° and 180°.

[0140] The robotic arm switches to the inverted hook placement position, and the trigger logic of the combination button is as follows: press the port clutch coarse adjustment button 21 and press the zero space upward adjustment button 24.

[0141] After completing the sterile barrier installation steps, the user presses this button combination to adjust the robotic arm to the inverted hook position. In this position, the user can complete the trolley docking when entering the abdominal hole in the inverted hook position.

[0142] FIG5b discloses a diagram of the trolley posture in a forward placement position according to an embodiment of the present invention, FIG10 discloses a schematic diagram of the trolley operation in a forward placement position of a robotic arm according to an embodiment of the present invention, and FIG11 discloses a top view schematic diagram of the trolley operation in a forward placement position of a robotic arm according to an embodiment of the present invention. As shown in FIG5b, FIG10 and FIG11, when the robotic arm is in a forward placement position, the trolley base is placed directly opposite the abdominal access hole on the patient to perform the surgical operation. In this placement position, the surgical operation area 32 and the trolley base placement area are located on opposite sides of the abdominal access hole 31 in the patient's abdominal cavity area 33. Using this placement position can prevent the trolley base from being too close, causing the robotic arm to collide with itself.

[0143] Figure 8b discloses a second positioning posture diagram of the robotic arm according to an embodiment of the present invention, and Figure 8c discloses a third positioning posture diagram of the robotic arm according to an embodiment of the present invention. The positioning features shown in Figures 8b and 8c are both one of the positioning postures when the robotic arm is in a forward positioning posture.

[0144] When the robotic arm is in the forward position, the angle between the parallelogram joint axis of the robotic arm and the ground is positive, and the direction of the surgical instrument is the same as the direction from the trolley base to the patient.

[0145] In this embodiment, the first joint link 41, the second joint link 42, the third joint link 43, and the fourth joint link 44 form a parallelogram. That is, during movement of the links, due to design constraints, the joint links 41 and 43 remain parallel, while the fourth joint link 44 and the second joint link 42 remain parallel. The parallelogram joint axis is the axis of the fourth joint link 44. The first joint link 41 of the robotic arm carries the surgical instrument. Surgical instrument pointing refers to the surgical instrument being directed toward the target surgical area through the fixed point 26.

[0146] As shown in FIG8b , the angle between the parallelogram joint axis of the manipulator and the ground is positive, and as shown in FIG8c , the angle between the parallelogram joint axis of the manipulator and the ground is 0.

[0147] Angles in the clockwise direction are defined as positive; angles in the counterclockwise direction are defined as negative.

[0148] Preferably, the angle between the parallelogram joint axis and the ground is between 0° and 30°. In this positioning posture, a larger space can be provided above the robotic arm.

[0149] Figure 12a discloses a first posture diagram of a robotic arm in a forward position according to an embodiment of the present invention, Figure 12b discloses a second posture diagram of a robotic arm in a forward position according to an embodiment of the present invention, and Figure 12c discloses a schematic diagram of a motion range of a robotic arm in a forward position according to an embodiment of the present invention. As shown in Figures 12a to 12c, the angle range between the first joint link 41 of the robotic arm and the ground covers a range of 0° to 120°.

[0150] The robotic arm switches to the forward placement position, and the trigger logic of the combination button is as follows: press the port clutch fine adjustment button 22 and press the zero space upward adjustment button 24.

[0151] After completing the sterile barrier installation steps, the user presses this button combination to adjust the robotic arm to the forward position. In this position, the user can complete the trolley docking when facing the abdominal access port.

[0152] Step S3: The robotic arm moves according to the planned motion trajectory to reach the target position.

[0153] The robotic arm detects collisions and executes path planning in real time during motion. The robotic arm uses its own sensors to monitor its motion status in real time, compares it with the calculated planned trajectory, and uses a pre-set collision detection algorithm to determine whether a collision has occurred. If a collision occurs, the robotic arm immediately stops to prevent further damage. This real-time collision detection and path planning allows the robotic arm to complete tasks safely and efficiently in complex environments.

[0154] When the waiting time is over, the robotic arm starts to move, and at the same time, it will remind the user through lights or sounds that the robotic arm is moving. This prompt method can effectively remind the user to pay attention to safety and avoid any dangerous behavior during the movement of the robotic arm.

[0155] The present invention proposes a method for adjusting the configuration of the robotic arm of a surgical robot system based on a single trolley and a single arm, which realizes convenient and safe adjustment of the robotic arm. Through combined button operation, preoperative adjustment of the posture can be conveniently achieved, while ensuring safety and effectively avoiding collision between the robotic arm and the outside world or the robotic arm itself. When a collision occurs, the robotic arm can stop moving immediately.

[0156] Although the above methods are illustrated and described as a series of acts for simplicity of explanation, it is to be understood and appreciated that these methods are not limited by the order of the acts, as some acts may occur in a different order and / or concurrently with other acts from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art according to one or more embodiments.

[0157] The present invention also proposes a single-cart single-arm surgical robot system, which can be applied to multiple single-cart single-arm surgical robot systems as well as a single-cart single-arm surgical robot system. Its innovative robotic arm posture can adapt to different surgical methods, thereby facilitating various adjustments by users in the operating room, including surgical docking, storage, and installation of sterile barriers.

[0158] The present invention proposes a surgical robot system based on a single trolley and a single arm, which comprises at least a robotic arm, a control device, and a trigger device:

[0159] The trigger device triggers the movement of the robotic arm by using a combination of keystrokes;

[0160] The control device reads the target posture corresponding to the combination key and calculates the planned motion trajectory of the robotic arm;

[0161] The robotic arm moves according to the planned motion trajectory to reach the target position.

[0162] In some embodiments, the target posture includes a storage posture, a sterile barrier installation posture, and a specific positioning posture;

[0163] During the storage and handling phase, the trigger device uses a combination of key triggering methods to enable the control device to control the robotic arm to reach the storage position;

[0164] During the surgical preparation phase, the trigger device uses a combination button trigger mode, so that the control device controls the robotic arm to reach the sterile barrier installation posture and perform sterile barrier installation;

[0165] At the beginning of the operation, according to the type and method of the operation, the trigger device uses a combination button triggering method to enable the control device to control the robotic arm to reach a specific positioning posture, which includes an inverted hook placement posture and a forward placement posture;

[0166] At the end of the operation, the trigger device uses a combination of button triggering methods to enable the control device to control the robotic arm to reach the storage position.

[0167] The specific implementation details of the surgical robot system based on a single cart and a single arm correspond to the aforementioned method for adjusting the robotic arm configuration of the surgical robot system based on a single cart and a single arm, so the specific details will not be repeated here.

[0168] The present invention proposes a method for adjusting the configuration of a robotic arm of a surgical robot system based on a single trolley and a single arm, and a surgical robot system based on a single trolley and a single arm. Through combined key operations, the position adjustment of the robotic arm can be conveniently achieved, thereby reducing the risk of squeezing and collision of the robotic arm and improving safety.

[0169] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0170] Those skilled in the art will appreciate that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips cited throughout the foregoing description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0171] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. A skilled person may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0172] The above embodiments are provided to persons familiar with the art for implementing or using the present invention. Personnel familiar with the art may make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the scope of protection of the present invention is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. A method for adjusting the configuration of a robotic arm of a surgical robot system based on a single vehicle and a single arm, characterized in that, It includes the following steps: Step S1: Trigger the movement of the robotic arm by using the triggering method of a combination button; Step S2: Read the target pose corresponding to the combination button and calculate the planned movement trajectory of the robotic arm; Step S3: The robotic arm moves according to the planned movement trajectory and reaches the target pose.

2. The method for adjusting the robotic arm configuration of the surgical robot system based on a single vehicle and a single arm according to claim 1, wherein The combination button is composed of at least two buttons; Preferably, at least one of the combination buttons is a virtual button in the graphical user interface.

3. The method for adjusting the robotic arm configuration of the surgical robot system based on a single robotic arm of a single vehicle according to claim 2, wherein The movement of the robotic arm is triggered after meeting the following conditions: The first button in the combination button is pressed; Within a preset time or when the first button is pressed, other buttons in the combination button are pressed; And The preset time ends; Preferably, after the movement of the robotic arm is triggered, when at least one of the combination buttons is released, the movement of the robotic arm stops.

4. The method for adjusting the configuration of the robotic arm of the surgical robot system based on a single robotic arm of a single vehicle according to any one of the foregoing claims, characterized in that, In step S1, the button forms of the combination button include the buttons on the robotic arm, the buttons on the trolley switch panel, and the buttons on the trolley touch screen.

5. The method for adjusting the robotic arm configuration of the surgical robotic system based on a single vehicle and a single arm according to any one of the preceding claims, characterized in that, The robotic arm of the single-trolley single-arm surgical robot system includes a trolley base and a plurality of sequentially arranged joint linkages. Each joint linkage is connected end to end, and the last joint linkage is connected to the trolley base; Preferably, the robotic arm of the single-trolley single-arm surgical robot system includes at least four joint linkages. An instrument clutch button and / or a port clutch fine adjustment button are arranged on the first joint linkage, a zero-space upward adjustment button and / or a zero-space downward adjustment button are arranged on the fourth joint linkage, and a port clutch coarse adjustment button is arranged in the middle section of the fourth joint linkage.

6. The method for adjusting the robotic arm configuration of the surgical robot system based on a single robotic arm of a single vehicle according to any one of the preceding claims, characterized in that, The target pose includes a storage pose, a sterile barrier installation pose, a barb placement pose, and a forward placement pose: When the target pose is the storage pose, the triggering logic of the combination button is to press one of the instrument clutch button, the port clutch coarse adjustment button, or the port clutch fine adjustment button, and press the zero-space downward adjustment button; When the target pose is the sterile barrier installation pose, the triggering logic of the combination button is to press the instrument clutch button and press the zero-space upward adjustment button; When the target pose is the barb placement pose, the triggering logic of the combination button is to press the port clutch coarse adjustment button and press the zero-space upward adjustment button; When the target pose is the forward placement pose, the triggering logic of the combination button is to press the port clutch fine adjustment button and press the zero-space upward adjustment button.

7. The method for adjusting the manipulator configuration of the surgical robot system based on a single vehicle and a single arm according to any one of the preceding claims, characterized in that, In the storage and handling stage, the combination button triggering method is adopted to control the robotic arm to reach the storage pose; In the surgical preparation stage, the combination button triggering method is adopted to control the robotic arm to reach the sterile barrier installation pose and install the sterile barrier; In the surgical start stage, according to the surgical type and method, the combination button triggering method is adopted to control the robotic arm to reach a specific positioning posture, and the specific positioning posture includes the barb placement pose and the forward placement pose; In the surgical end stage, the combination button triggering method is adopted to control the robotic arm to reach the storage pose.

8. The method for adjusting the configuration of the robotic arm of the surgical robot system based on a single vehicle and a single arm according to any one of the preceding claims, characterized in that, In step S2, a real-time path planning algorithm is adopted, and the real-time path planning algorithm calculates the path trajectories that may collide to obtain the planned movement trajectory of the robotic arm.

9. The method for adjusting the robotic arm configuration of the surgical robot system based on a single robotic arm of a single vehicle according to claim 8, wherein, The real-time path planning algorithm includes the detection of possible collision paths, and the real-time path planning algorithm calculates and updates a trajectory to avoid self-collision to complete the autonomous movement of the robotic arm.

10. The method for adjusting the robotic arm configuration of the surgical robot system based on a single vehicle and a single arm according to any one of the foregoing claims, characterized in that, The step S3 further includes: during the movement of the robotic arm along the planned movement trajectory, it always judges whether the button is released, and if it is released, the robotic arm stops moving.

11. The method for adjusting the manipulator configuration of the surgical robot system based on a single vehicle and a single arm according to claim 10, characterized in that, The user's hand moves following the movement of the robotic arm. During the movement of the robotic arm along the planned movement trajectory, it always judges whether the user's hand releases the button. If it is released, the calculation of the planned movement trajectory of the robotic arm is stopped and / or the robotic arm stops moving.

12. The method for adjusting the configuration of the robotic arm of the surgical robot system based on a single robotic arm of a single vehicle according to any one of the preceding claims, characterized in that, The target pose includes a storage pose: When the robotic arm is in the storage pose, the projection of the robotic arm on the ground is entirely within the range of the trolley base.

13. The method for adjusting the robotic arm configuration of the surgical robot system based on a single vehicle and a single arm according to any one of the foregoing claims, characterized in that, The target pose includes a sterile barrier installation pose: When the robotic arm is in the sterile barrier installation pose, all the joint linkages of the robotic arm are in the following state: All the joint linkages of the robotic arm protected by the sterile barrier are within the target height from the ground, and / or The angle between the joint linkages of two adjacent robotic arms is greater than a right angle.

14. The method for adjusting the configuration of the robotic arm of the surgical robot system based on a single vehicle and a single arm according to any one of the foregoing claims, wherein The target pose includes a barb placement pose: When the robotic arm is in the barb placement pose, the angle between the parallelogram joint axis and the ground is negative, and the pointing direction of the surgical instrument is opposite to the direction from the trolley base to the patient.

15. The method for adjusting the manipulator configuration of the surgical robot system based on a single vehicle and a single arm according to claim 14, wherein, The angle between the parallelogram joint axis and the ground is between -5° and -30°.

16. The method for adjusting the robotic arm configuration of the surgical robotic system based on a single vehicle and a single arm according to any one of the foregoing claims, characterized in that, The target pose includes a forward placement pose: When the robotic arm is in the forward placement pose, the angle between the parallelogram joint axis and the ground is positive, and the pointing direction of the surgical instrument is the same as the direction from the trolley base to the patient.

17. The method for adjusting the robotic arm configuration of the surgical robot system based on a single vehicle and a single arm according to claim 16, wherein, The angle between the parallelogram joint axis and the ground is between 0° and 30°.

18. The method for adjusting the robotic arm configuration of the surgical robot system based on a single robotic arm of a single vehicle according to any one of the foregoing claims, characterized in that In step S3, when the robotic arm moves, the operating state is prompted by means of light or sound.

19. A surgical robot system based on a single vehicle and a single arm, which adopts the method for adjusting the configuration of the robotic arm of the surgical robot system according to any one of claims 1 to 18, characterized in that, It at least includes a robotic arm, a control device, and a triggering device: The triggering device triggers the movement of the robotic arm by means of a combined button trigger; The control device reads the target pose corresponding to the combined button and calculates the planned movement trajectory of the robotic arm; The robotic arm moves along the planned movement trajectory and reaches the target pose.

20. The surgical robot system based on a single vehicle and a single arm according to claim 19, wherein The target pose includes a storage pose, a sterile barrier installation pose, and a specific placement pose; In the storage and handling stage, the triggering device uses a combined button trigger method to enable the control device to control the robotic arm to reach the storage pose; In the surgical preparation stage, the triggering device uses a combined button trigger method to enable the control device to control the robotic arm to reach the sterile barrier installation pose for installing the sterile barrier; In the surgical start stage, according to the type and method of the surgery, the triggering device uses a combined button trigger method to enable the control device to control the robotic arm to reach a specific placement pose, and the specific placement pose includes a barb placement pose and a forward placement pose; In the surgical end stage, the triggering device uses a combined button trigger method to enable the control device to control the robotic arm to reach the storage pose.

Images