Control method for surgical auxiliary system and related apparatus

Abstract

A control method for a surgical auxiliary system and a related apparatus. The control method comprises: in response to a pose adjustment operation by a user on the basis of an operating end, sending, by a main end console (410), a pose adjustment instruction to a mechanical arm (310), such that the mechanical arm (310) adjusts, according to the pose adjustment instruction, a pose of a surgical execution apparatus (320) to a pose corresponding to the pose adjustment operation (S2101); and in response to a driving operation for a catheter system (3210) by the user on the basis of the operating end, sending, by the main end console (410), a driving instruction for the catheter system (3210) to the surgical execution apparatus (320), such that a surgical driving apparatus (3230) drives, by means of a sheath adapter (3220), the catheter system (3210) to execute an action corresponding to the driving operation for the catheter system (3210) (S2102). By means of the control method, the main end console (410) can send a corresponding instruction to a robotic device (300), such that the mechanical arm (310) adjusts the pose of the surgical execution apparatus (320) according to the pose adjustment instruction, and the surgical driving apparatus (3230) drives, according to the driving instruction for the catheter system (3210) by means of the sheath adapter (3220), the catheter system (3210) to execute a corresponding action, thereby achieving semi-automatic control of the surgical auxiliary system.

Description

A control method for a surgical assistance system and related apparatus TECHNICAL FIELD

[0001] The present application relates to the control field, in particular to a control method for a surgical assistance system and related apparatus. BACKGROUND

[0002] In the related art, a passive minimally invasive surgical instrument usually needs to be manually operated by a doctor during use. For some complex surgical procedures or instruments, the operation difficulty is relatively high, the technical level and clinical experience of the doctor are required to be relatively high, and the learning curve of the doctor is relatively long, which to some extent restricts the application of the surgical instrument in the clinic.

[0003] Therefore, it is urgent to provide a control method for a surgical assistance system and related apparatus to solve the above technical problems.

[0004] SUMMARY

[0005] The present application provides a control method for a surgical assistance system and related apparatus, which realizes semi-automatic control of the surgical assistance system, avoids complex manual operation of the doctor on the catheter system, reduces the difficulty of surgical operation, shortens the learning curve of the doctor, and ensures the application of the surgical assistance system in the clinic.

[0006] In a first aspect, the present application provides a control method for a surgical assistance system, the surgical assistance system comprising a robot device and a control device;

[0007] The robot device comprises a mechanical arm and a surgical execution device arranged at an execution end of the mechanical arm, and the mechanical arm is used to adjust the pose of the surgical execution device;

[0008] The surgical execution device comprises a catheter system, a sheath adapter and a surgical driving device, the sheath adapter is connected with the surgical driving device, the sheath adapter is used to carry the catheter system, and the surgical driving device is used to drive the catheter system through the sheath adapter;

[0009] The control device comprises a master control console, the master control console comprises an operation end and a display screen, the operation end is used to control the robot device, and the display screen is used to display a surgical picture;

[0010] The control method comprises:

[0011] In response to a pose adjustment operation of a user based on the operation end, the master control console sends a pose adjustment instruction to the mechanical arm, so that the mechanical arm adjusts the pose of the surgical execution device to a pose corresponding to the pose adjustment operation according to the pose adjustment instruction;

[0012] In response to a user's operation-end-based catheter system driving operation, the master console sends a catheter system driving instruction to the surgical execution device, so that the surgical driving device drives the catheter system through the sheath tube adapter to perform an action corresponding to the catheter system driving operation.

[0013] In a second aspect, the present application further provides a control device for a surgical auxiliary system, comprising:

[0014] The first sending unit is configured to, in response to a user's operation-end-based pose adjustment operation, send a pose adjustment instruction to the mechanical arm by the master console, so that the mechanical arm adjusts the pose of the surgical execution device to a pose corresponding to the pose adjustment operation according to the pose adjustment instruction.

[0015] The second sending unit is configured to, in response to a user's operation-end-based catheter system driving operation, send a catheter system driving instruction to the surgical execution device by the master console, so that the surgical driving device drives the catheter system through the sheath tube adapter to perform an action corresponding to the catheter system driving operation.

[0016] In a third aspect, the present application further provides an electronic device, comprising a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, and the machine readable instructions are executed by the processor to perform the control method for the surgical auxiliary system provided by the present application.

[0017] In a fourth aspect, the present application further provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by the processor to perform the control method for the surgical auxiliary system provided by the present application.

[0018] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, and the computer program is executed by the processor to perform the control method for the surgical auxiliary system provided by the present application.

[0019] In summary, the application provides a control method for a surgical assistance system and related devices, the surgical assistance system comprising a robot device and a control device; the robot device comprising a mechanical arm and a surgical execution device arranged at an execution end of the mechanical arm, the mechanical arm being configured to adjust a pose of the surgical execution device; the surgical execution device comprising a catheter system, a sheath adapter and a surgical driving device, the sheath adapter being connected with the surgical driving device, the sheath adapter being configured to carry the catheter system, and the surgical driving device being configured to drive the catheter system through the sheath adapter; the control device comprising a master control console, the master control console comprising an operation end and a display screen, the operation end being configured to control the robot device, and the display screen being configured to display a surgical picture. The control method comprises: in response to a pose adjustment operation of a user based on the operation end, the master control console sends a pose adjustment instruction to the mechanical arm, so that the mechanical arm adjusts the pose of the surgical execution device to a pose corresponding to the pose adjustment operation according to the pose adjustment instruction; and in response to a catheter system driving operation of the user based on the operation end, the master control console sends a catheter system driving instruction to the surgical execution device, so that the surgical driving device drives the catheter system to perform an action corresponding to the catheter system driving operation through the sheath adapter. Through the above control method, in response to the relevant operation of the user based on the operation end of the master control console, the master control console can send corresponding instructions to the robot device, so that the mechanical arm adjusts the pose of the surgical execution device according to the pose adjustment instruction, and the surgical driving device drives the catheter system to perform the corresponding action through the sheath adapter according to the catheter system driving instruction, realizing the semi-automatic control of the surgical assistance system, avoiding the complex manual operation of the doctor on the catheter system, reducing the difficulty of the surgical operation, shortening the learning curve of the doctor, and ensuring the application of the surgical assistance system in the clinic.

[0020] Other advantages of the application will be explained in more detail in conjunction with the following description and drawings.

[0021] It should be understood that the above description is only a summary of the technical solutions of the application, so as to enable a general understanding of the technical means of the application, and then implement the content of the description. In order to make the above and other purposes, features and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. The drawings herein are incorporated into the description and form a part of the description, which show the embodiments consistent with the present application, and are used to illustrate the technical solutions of the present application together with the description. It should be understood that the drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope of protection, and for those skilled in the art, other related drawings can also be obtained without creative labor. Moreover, the same reference numerals are used to represent the same components throughout the drawings. In the drawings:

[0023] Fig. 1 is a schematic diagram of a heart structure according to an embodiment of the present application;

[0024] Fig. 2 is a schematic diagram of a catheter system according to an embodiment of the present application;

[0025] Fig. 3 is a schematic diagram of an outer catheter system according to an embodiment of the present application;

[0026] Fig. 4 is a schematic diagram of a middle catheter system according to an embodiment of the present application;

[0027] Fig. 5 is a schematic diagram of an inner catheter system according to an embodiment of the present application;

[0028] Fig. 6 is a schematic diagram of a first state of a fixing element and a clamping element according to an embodiment of the present application;

[0029] Fig. 7 is a schematic diagram of a second state of a fixing element and a clamping element according to an embodiment of the present application;

[0030] Fig. 8 is a schematic diagram of a third state of a fixing element and a clamping element according to an embodiment of the present application;

[0031] Fig. 9 is a schematic diagram of a human body structure according to an embodiment of the present application;

[0032] Fig. 10 is a schematic diagram of a first state of a catheter system placed in a human body according to an embodiment of the present application;

[0033] Fig. 11 is a schematic diagram of a second state of a catheter system placed in a human body according to an embodiment of the present application;

[0034] Fig. 12 is a schematic diagram of a first state of a catheter system placed in a heart according to an embodiment of the present application;

[0035] Fig. 13 is a schematic diagram of a second state of a catheter system placed in a heart according to an embodiment of the present application;

[0036] Fig. 14 is a structural schematic view of a third state of a catheter system provided by an embodiment of the application in a heart;

[0037] Fig. 15 is a structural schematic view of a fourth state of a catheter system provided by an embodiment of the application in a heart;

[0038] Fig. 16 is a structural schematic view of a surgical assisting system provided by an embodiment of the application;

[0039] Fig. 17 is a structural schematic view of a robot device provided by an embodiment of the application;

[0040] Fig. 18 is a structural schematic view of a surgical performing device including a catheter system provided by an embodiment of the application;

[0041] Fig. 19 is a structural schematic view of a surgical performing device not including a catheter system provided by an embodiment of the application;

[0042] Fig. 20 is a structural schematic view of a control device provided by an embodiment of the application;

[0043] Fig. 21 is a method flowchart of a control method for a surgical assisting system provided by an embodiment of the application;

[0044] Fig. 22 is a structural schematic view of an outer catheter system adapter carrying an outer catheter system in a first perspective provided by an embodiment of the application;

[0045] Fig. 23 is a structural schematic view of an outer catheter system adapter in a second perspective provided by an embodiment of the application;

[0046] Fig. 24 is a structural schematic view of a surgical driving device provided by an embodiment of the application;

[0047] Fig. 25 is a structural schematic view of a middle catheter system adapter carrying a middle catheter system in a first perspective provided by an embodiment of the application;

[0048] Fig. 26 is a structural schematic view of a middle catheter system adapter in a second perspective provided by an embodiment of the application;

[0049] Fig. 27 is a structural schematic view of an inner catheter system adapter carrying an inner catheter system in a first perspective provided by an embodiment of the application;

[0050] Fig. 28 is a structural schematic view of an inner catheter system adapter in a second perspective provided by an embodiment of the application;

[0051] Fig. 29 is a structural schematic view of a robot arm installed on a surgical bed provided by an embodiment of the application;

[0052] Fig. 30 is a structural schematic view of a robot arm provided by an embodiment of the application;

[0053] Fig. 31 is a schematic view of a medical bed connecting piece installed on a surgical bed according to an embodiment of the present application;

[0054] Fig. 32 is a schematic view of a mechanical arm body according to an embodiment of the present application;

[0055] Fig. 33 is a schematic view of a medical cart according to an embodiment of the present application;

[0056] Fig. 34 is a schematic view of a medical cart installed with a mechanical arm according to an embodiment of the present application;

[0057] Fig. 35 is a schematic view of a control device for a surgical auxiliary system according to an embodiment of the present application;

[0058] In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0059] 1001-Right atrium; 1002-Interventricular septum; 1003-Left atrium; 1004-Mitral valve; 1005-Left ventricle;

[0060] 201-Outer catheter system; 2011-Outer catheter system handle; 2012-Outer catheter; 2013-Outer catheter system knob;

[0061] 202-Middle catheter system; 2021-Middle catheter system handle; 2022-Middle catheter; 2023-First middle catheter system knob; 2024-Second middle catheter system knob;

[0062] 203-Internal catheter system; 2031-Internal catheter system handle; 2032-Internal catheter; 2033-Clamping element locking rod; 2034-Clamping element driving wheel; 2035-First clamping element operating rod; 2036-Second clamping element operating rod;

[0063] 204-First clamping element; 205-Second clamping element;

[0064] 300-Robot device; 310-Mechanical arm; 3101-Mechanical arm body; 3102-Medical bed connecting piece;

[0065] 320-Surgical execution device; 3210-Catheter system; 3220-Sheath adapter;

[0066] 3221-Outer catheter system adapter; 322101-Outer catheter system base; 322102-First outer catheter system transmission assembly; 322103-Second outer catheter system transmission assembly; 322104-First input shaft; 322105-Second input shaft;

[0067] 3222 - mid-catheter system adapter; 322201 - mid-catheter system base; 322202 - first mid-catheter system transmission assembly; 322203 - second mid-catheter system transmission assembly; 322204 - third input shaft; 322205 - fourth input shaft;

[0068] 3223 - inner-catheter system adapter; 322301 - inner-catheter system base; 322302 - inner-catheter rotation transmission assembly; 322303 - clamping element lock lever transmission assembly; 322304 - clamping element drive wheel transmission assembly; 322305 - first clamping element operating lever transmission assembly; 322306 - second clamping element operating lever transmission assembly; 322307 - fifth input shaft; 322308 - sixth input shaft; 322309 - seventh input shaft; 3223010 - eighth input shaft; 3223011 - ninth input shaft;

[0069] 3230 - surgical drive device; 32301 - first output shaft; 32302 - second output shaft; 32303 - third output shaft; 32304 - fourth output shaft; 32305 - fifth output shaft; 32306 - sixth output shaft; 32307 - seventh output shaft; 32308 - eighth output shaft; 32309 - ninth output shaft; 323010 - slave end control touch screen;

[0070] 330 - medical cart; 400 - control device; 410 - master end control console; 420 - enable operation switch; 500 - medical bed; 600 - sterile barrier. DETAILED DESCRIPTION

[0071] Exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms without being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0072] In the description of embodiments of the present application, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the existence of the disclosed features, numbers, steps, actions, components, parts, or combinations thereof, and are not to exclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof can exist.

[0073] Unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean: A alone, A and B together, and B alone.

[0074] The terms "first", "second", etc. are only used for the purpose of distinguishing similar or identical technical features, and cannot be understood as indicating or implying relative importance or quantity thereof. Thus, features defined by "first", "second", etc. can explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, the meaning of the term "a plurality of" is two or more, unless otherwise specified.

[0075] In the related art, the passive minimally invasive surgical instrument usually needs to be manually operated by a doctor during use. For some complex surgical procedures or instruments, the operation is difficult, the technical level and clinical experience of the doctor are required to be relatively high, and the learning curve of the doctor is long, which to some extent restricts the application of the surgical instrument in the clinic.

[0076] For example, as shown in FIG. 1, the mitral valve, i.e. the left atrioventricular valve, is like a "one-way flap" between the left atrium 1003 and the left ventricle 1005, which can ensure that the blood circulation flows from the left atrium 1003 to the left ventricle 1005. When the left ventricle 1005 is in a diastolic state, both are in an open state, and blood can flow from the left atrium 1003 to the left ventricle 1005. When the left ventricle 1005 is in a systolic state, the chordae tendineae are stretched, and the mitral valve 1004 ensures that blood does not flow from the left atrium 1003 to the left ventricle 1005. When the mitral valve 1004 is diseased, when the left ventricle 1005 is in a systolic state, the mitral valve 1004 cannot recover to a closed state as in the normal state, causing blood to flow back. In the related art, for the diseased mitral valve 1004, the mitral valve 1004 can be clamped by a mitral valve 1004 repair instrument to reduce the backflow.

[0077] Specifically, the present application can use a catheter system as a mitral valve 1004 repair instrument, as shown in FIGS. 2-5, the catheter system includes an outer catheter system 201, a middle catheter system 202 and an inner catheter system 203, as shown in FIG. 3, the outer catheter system 201 includes an outer catheter 2012, an outer catheter system knob 2013 and an outer catheter system handle 2011, the proximal end of the outer catheter 2012 is arranged on the outer catheter system handle 2011, the outer catheter system knob 2013 is arranged on the outer catheter system handle 2011 and is used to adjust the bending of the distal end of the outer catheter 2012, that is, rotating the outer catheter system knob 2013 in different directions can bend the outer catheter 2012 in different directions; as shown in FIG. 4, the middle catheter system 202 includes a middle catheter 2022, a first middle catheter system knob 2023 and a second middle catheter system knob 2024 and a middle catheter system handle 2021, the proximal end of the middle catheter 2022 is arranged on the middle catheter system handle 2021, the first middle catheter system knob 2023 and the second middle catheter system knob 2024 are arranged on the middle catheter system handle 2021 respectively, the first middle catheter system knob 2023 is used to adjust the bending of the distal end of the middle catheter 2022 in the first direction, and the second middle catheter system knob 2024 is used to adjust the bending of the distal end of the middle catheter 2022 in the second direction; as shown in FIG. 5, the inner catheter system 203 includes an inner catheter 2032, a first clamping element 204, a second clamping element 205, a clamping element locking rod 2033, a clamping element driving wheel 2034, a first clamping element operating rod 2035, a second clamping element operating rod 2036 and an inner catheter system handle 2031, the proximal end of the inner catheter is arranged on the inner catheter system handle 2031, the first clamping element 204 and the second clamping element 205 are arranged on the distal end of the inner catheter 2031, the clamping element locking rod 2033 is used to control the unlocking and locking of the first clamping element 204 located at the distal end of the inner catheter 2031, the clamping element driving wheel 2034 is used to control the opening and closing of the first clamping element 204, the first clamping element operating rod 2035 is used to control the lifting or capture of the first capture arm of the second clamping element 205 located at the distal end of the inner catheter 2031, and the second clamping element operating rod 2036 is used to control the lifting and capture of the second capture arm of the second clamping element 205.

[0078] In the actual application of the catheter system, as shown in FIGS. 6-8, the outer catheter 2012 is sleeved outside the middle catheter 2022, the middle catheter 2022 is sleeved outside the inner catheter 2032, and the outer catheter 2012, the middle catheter 2022 and the inner catheter 2032 can move or rotate relative to each other. The inner catheter 2032 is provided with a first clamping element 204 and a second clamping element 205 at the end opposite to the inner catheter system handle 2031. As shown in FIG. 6, the first clamping element 204 and the second clamping element 205 at the end of the inner catheter 2032 can be placed in the middle catheter 2032. As shown in FIG. 7, with the relative movement of the middle catheter 2022 and the inner catheter 2032, the first clamping element 204 and the second clamping element 205 at the end of the inner catheter 2032 can be placed outside the middle catheter 2022. As shown in FIG. 8, when the first clamping element 204 and the second clamping element 205 at the end of the inner catheter 2032 are placed outside the middle catheter 2022, the first clamping element 204 and the second clamping element 205 are both in an open state.

[0079] As shown in FIGS. 9-11, the end of the catheter system with the first clamping element 204 and the second clamping element 205 can enter the inferior vena cava and then enter the superior vena cava from the right femoral vein, and then enter the right atrium 1001. As shown in FIG. 12, the end with the first clamping element 204 and the second clamping element 205 can be located in the right atrium 1001. As shown in FIG. 13, the inner catheter 2032 can pass through the atrial septum 1002 into the left atrium 1003 under the guidance of the middle catheter 2022 and the outer catheter 2012. As shown in FIG. 14, in the left atrium 1003, the first clamping element 204 and the second clamping element 205 can extend out of the middle sheath and be in an open state. As shown in FIG. 15, the first clamping element 204 can pass through the gap of the mitral valve 1004 to be placed in the left atrium 1005, and the second clamping element 205 is still placed in the left atrium 1003, and then corresponding operations are performed to enable the second clamping element 205 to capture the mitral valve 1004 to repair the diseased mitral valve 1004.

[0080] That is, during the operation of treating the mitral valve 1004, the doctor usually needs to manually operate the catheter system, the operation is complex, difficult and time-consuming, and during the operation, the doctor needs to perform the operation under the condition of cooperating with the Defense Shipping Authority (DSA) equipment in most cases, which causes the doctor to be exposed to the radiation environment for a long time, causing a certain degree of harm to the health of the doctor.

[0081] In view of this, the application provides a control method for a surgical assistance system and related devices, which realizes semi-automatic control of the surgical assistance system, avoids complex manual operation of the catheter system by the doctor, reduces the difficulty of surgical operation, shortens the learning curve of the doctor, and ensures the application of the surgical assistance system in the clinic.

[0082] The control method for the surgical assistance system provided in the embodiments of the application can be implemented by a computer device, which can be a terminal device or a server. The server can be a physical server, a server cluster composed of multiple physical servers, or a distributed system, or a cloud server providing cloud computing services. The terminal device includes but is not limited to a mobile phone, a computer, a smart voice interaction device, a smart home appliance, a vehicle-mounted terminal, an aircraft, and the like. The terminal device and the server can be directly or indirectly connected through wired or wireless communication, which is not limited in the application.

[0083] The control method for the surgical assistance system provided in the embodiments of the application will be described below by means of method embodiments. The control method is applied to a surgical assistance system, which includes a robot device 300 and a control device 400.

[0084] The robot device 300 includes a mechanical arm 310 and a surgical execution device 320 arranged at the execution end of the mechanical arm 310. The mechanical arm 310 is used to adjust the pose of the surgical execution device 320.

[0085] The surgical execution device 320 includes a catheter system 3210, a sheath adapter 3220, and a surgical driving device 3230. The sheath adapter 3220 is connected to the surgical driving device 3230. The sheath adapter 3220 is used to carry the catheter system 3210. The surgical driving device 3230 is used to drive the catheter system 3210 through the sheath adapter 3220.

[0086] The control device 400 includes a master control console 410, which includes an operation end and a display screen. The operation end is used to control the robot device 300. The display screen is used to display a surgical picture.

[0087] Specifically, as shown in FIG. 16, the surgical assistance system can include the robot device 300 and the control device 400. In the process of implementing the mitral valve 1004 repair surgery by the surgical assistance system, in addition to the robot device 300 and the control device 400, a sterile barrier 600 and a medical bed 500 can also be included. The robot device 300, the sterile barrier 600, and the medical bed 500 can be in the operating room together with the patient. In order to avoid radiation of the doctor who controls the control device 400, the control device 400 can be placed outside the operating room.

[0088] As shown in FIG. 17, the robotic device 300 can include a mechanical arm 310 and a surgical execution device 320 arranged at an execution end of the mechanical arm 310, the mechanical arm 310 can be a jointed mechanical arm or other forms, the mechanical arm 310 can adjust the pose of the surgical execution device 320 arranged at the execution end of the mechanical arm 310, the pose of the surgical execution device 320 includes the three-dimensional space position and attitude of the surgical execution device 320.

[0089] As shown in FIGS. 18 and 19, the surgical execution device 320 can include a catheter system 3210, a sheath adapter 3220, and a surgical driving device 3230, the sheath adapter 3220 is connected with the surgical driving device 3230, the sheath adapter 3220 is used to carry the catheter system 3210, that is, the sheath adapter 3220 can carry the catheter system 3210 and connect and fix the catheter system 3210 on the surgical driving device 3230, the sheath adapter 3220 in FIG. 18 is equipped with the corresponding catheter system 3210, the sheath adapter 3220 in FIG. 19 is not equipped with the catheter system 3210, the surgical driving device 3230 is used to drive the catheter system 3210 through the sheath adapter 3220, that is, the surgical driving device 3230 can drive the catheter system 3210 by transmitting power to the catheter system 3210 through the sheath adapter 3220.

[0090] As shown in FIG. 20, the control device 400 includes a master control console 410, the master control console 410 includes an operation end and a display screen, the operation end can include functional hardware such as an operation handle and an operation button, the operation end is used to control the robotic device 300, and the display screen is used to display a surgical picture, the surgical picture refers to a surgical image in a surgical process, such as an ultrasonic image, a computed tomography (CT) image, and the like, so that a user can intuitively master relevant information in the surgical process.

[0091] As shown in FIG. 21, FIG. 21 is a method flowchart of a control method for a surgical auxiliary system provided by an embodiment of the present application, the foregoing computer device can be a server, and the method includes the following steps:

[0092] S2101, in response to a user-based pose adjustment operation of the operation end, the master control console 410 sends a pose adjustment instruction to the mechanical arm 310, so that the mechanical arm 310 adjusts the pose of the surgical execution device 320 to a pose corresponding to the pose adjustment operation according to the pose adjustment instruction;

[0093] S2102, in response to a user-based catheter system 3210 driving operation of the operation end, the master control console 410 sends a catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the catheter system 3210 through the sheath adapter 3220 to perform an action corresponding to the catheter system 3210 driving operation.

[0094] Specifically, for the surgical execution device 320, in order to adjust the position and posture of the surgical execution device 320, in response to the user's pose adjustment operation based on the operation end of the master console 410, the pose adjustment operation refers to the operation of the user adjusting the pose of the surgical execution device 320 based on the operation end of the master console 410, the master console 410 can send the pose adjustment instruction corresponding to the pose adjustment operation to the mechanical arm 310, the pose adjustment instruction refers to the instruction sent by the master console 410 to the mechanical arm 310 to adjust the pose of the surgical execution device 320, and the mechanical arm 310 can adjust the pose of the surgical execution device 320 according to the pose adjustment instruction after receiving the pose adjustment instruction.

[0095] After adjusting the pose of the surgical execution device 320, for the catheter system 3210 on the surgical execution device 320, in order to drive the catheter system 3210 to perform the corresponding action, in response to the user's catheter system driving operation based on the operation end of the master console 410, the catheter system driving operation refers to the operation of the user driving the catheter system 3210 based on the operation end of the master console 410, the master console 410 can send the catheter system driving instruction corresponding to the catheter system driving operation to the surgical execution device 320, the catheter system driving instruction refers to the instruction sent by the master console 410 to the surgical driving device 3230 to drive the catheter system 3210 to perform the corresponding action, and the surgical driving device 3230 can drive the catheter system 3210 to perform the action corresponding to the catheter system driving operation through the sheath adapter 3220 according to the catheter system driving instruction after receiving the catheter system driving instruction.

[0096] That is, by responding to the user's related operation based on the operation end of the master console 410, the master console 410 can send the corresponding instruction to the robot device 300, so that the mechanical arm 310 adjusts the pose of the surgical execution device 320 according to the pose adjustment instruction and drives the catheter system 3210 to perform the corresponding action through the sheath adapter 3220 according to the catheter system driving instruction, realizing the semi-automatic control of the surgical auxiliary system, avoiding the complex manual operation of the doctor on the catheter system, reducing the difficulty of the surgical operation, shortening the learning curve of the doctor, and ensuring the application of the surgical auxiliary system in the clinic.

[0097] In a possible implementation, as shown in FIGS. 2-5, for a mitral valve 1004 repair surgery, the catheter system 3210 can include an outer catheter system 201, a middle catheter system 202, and an inner catheter system 203.

[0098] As shown in FIG. 19, the sheath adapter 3220 can include an outer catheter system adapter 3221 for carrying the outer catheter system 201, a middle catheter system adapter 3222 for carrying the middle catheter system 202, and an inner catheter system adapter 3223 for carrying the inner catheter system 203, at this time, the surgical driving device 3230 is used to drive the outer catheter system 201 through the outer catheter system adapter 3221, drive the middle catheter system 202 through the middle catheter system adapter 3222, and drive the inner catheter system 203 through the inner catheter system adapter 3223.

[0099] As shown in FIG. 20, in order to be able to realize one-to-one control of the outer catheter system 201, the middle catheter system 202, and the inner catheter system 203, the operation end can include an outer catheter system operation end, a middle catheter system operation end, and an inner catheter system operation end.

[0100] In S2102, in response to the user's catheter system driving operation based on the operation end, the main end console 410 sends a catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the catheter system 3210 through the sheath adapter to perform an action corresponding to the catheter system driving operation, specifically including:

[0101] S101, in response to the user's outer catheter system driving operation based on the outer catheter system operation end, the main end console 410 sends an outer catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the outer catheter system 201 through the outer catheter system adapter 3221 to perform an action corresponding to the outer catheter system driving operation;

[0102] S102, in response to the user's middle catheter system driving operation based on the middle catheter system operation end, the main end console 410 sends a middle catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the middle catheter system 202 through the middle catheter system adapter 3222 to perform an action corresponding to the middle catheter system driving operation;

[0103] S103, in response to the user's inner catheter system driving operation based on the inner catheter system operation end, the main end console 410 sends an inner catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the inner catheter system 203 through the inner catheter system adapter 3223 to perform an action corresponding to the inner catheter system driving operation.

[0104] Specifically, for the outer catheter system 201 included in the catheter system 3210, in order to drive the outer catheter system 201 to perform a corresponding action, in response to the user's outer catheter system driving operation based on the operation end of the master console 410, the outer catheter system driving operation refers to the operation of the user driving the outer catheter system 201 based on the operation end of the master console 410, the master console 410 can send the outer catheter system driving instruction corresponding to the outer catheter system driving operation to the surgical execution device 320, the outer catheter system driving instruction refers to the instruction sent by the master console 410 to the surgical driving device 3230 to drive the outer catheter system 201 to perform a corresponding action, after receiving the outer catheter system driving instruction, the surgical driving device 3230 can drive the outer catheter system 201 to perform the action corresponding to the outer catheter system driving operation through the outer catheter system adapter 3221 according to the outer catheter system driving instruction.

[0105] Correspondingly, for the middle catheter system 202 included in the catheter system 3210, in order to drive the middle catheter system 202 to perform a corresponding action, in response to the user's middle catheter system driving operation based on the operation end of the master console 410, the middle catheter system driving operation refers to the operation of the user driving the middle catheter system 202 based on the operation end of the master console 410, the master console 410 can send the middle catheter system driving instruction corresponding to the middle catheter system driving operation to the surgical execution device 320, the middle catheter system driving instruction refers to the instruction sent by the master console 410 to the surgical driving device 3230 to drive the middle catheter system 202 to perform a corresponding action, after receiving the middle catheter system driving instruction, the surgical driving device 3230 can drive the middle catheter system 202 to perform the action corresponding to the middle catheter system driving operation through the middle catheter system adapter 3222 according to the middle catheter system driving instruction.

[0106] Correspondingly, for the inner catheter system 203 included in the catheter system 3210, in order to drive the inner catheter system 203 to perform a corresponding action, in response to the user's inner catheter system driving operation based on the operation end of the master console 410, the inner catheter system driving operation refers to the operation of the user driving the inner catheter system 203 based on the operation end of the master console 410, the master console 410 can send the inner catheter system driving instruction corresponding to the inner catheter system driving operation to the surgical execution device 320, the inner catheter system driving instruction refers to the instruction sent by the master console 410 to the surgical driving device 3230 to drive the inner catheter system 203 to perform a corresponding action, after receiving the inner catheter system driving instruction, the surgical driving device 3230 can drive the inner catheter system 203 to perform the action corresponding to the inner catheter system driving operation through the inner catheter system adapter 3223 according to the inner catheter system driving instruction.

[0107] That is, by responding to the user's operation of the operation end of the master console 410 for the relevant operation of the outer catheter system 201, the middle catheter system 202 and the inner catheter system 203, the master console 410 can send the relevant instructions for the outer catheter system 201, the middle catheter system 202 and the inner catheter system 203 to the surgical driving device 320, so that the surgical driving device 3230 drives the outer catheter system 201, the middle catheter system 202 and the inner catheter system 203 through the different catheter adapters according to the relevant instructions, thereby realizing the semi-automatic control of the surgical auxiliary system.

[0108] In one possible implementation, as shown in FIG. 3, the outer catheter system 201 includes an outer catheter 2012, an outer catheter system knob 2013 and an outer catheter system handle 2011, the proximal end of the outer catheter 2012 is arranged on the outer catheter system handle 2011, and the outer catheter system knob 2013 is arranged on the outer catheter system handle 2011 and is used to adjust the bending of the distal end of the outer catheter 2012.

[0109] As shown in FIGS. 22 and 23, the outer catheter system adapter 3221 can include an outer catheter system base 322101, a first outer catheter system transmission assembly 322102 and a second outer catheter system transmission assembly 322103, the first outer catheter system transmission assembly 322102 is arranged on the outer catheter system base 322101 and matches the outer catheter system knob 2013, and the second outer catheter system transmission assembly 322103 is arranged on the outer catheter system base 322101 and matches the outer catheter system handle 2011, as shown in FIG. 22, the outer catheter system 201 can be carried on the outer catheter system adapter 3221.

[0110] The surgical driving device 3230 includes a first outer catheter system driving assembly, a second outer catheter system driving assembly and a third outer catheter system driving assembly, the first outer catheter system driving assembly is connected with the first outer catheter system transmission assembly 322102, the second outer catheter system driving assembly is connected with the second outer catheter transmission assembly, and the third outer catheter system driving assembly is used to drive the extension and retraction of the surgical driving device 3230, as shown in FIG. 24, the first output shaft 32301 and the second output shaft 32302 of the surgical driving device 3230 can be used in cooperation with the first input shaft 322104 and the second input shaft 322105 of the outer catheter system adapter 3221, for connecting the first outer catheter system driving assembly with the first outer catheter system transmission assembly 322102 and connecting the second outer catheter system driving assembly with the second outer catheter system transmission assembly 322103, at the same time, the mounting surface of the surgical driving device 3230 is also designed with a positioning pin and a mounting fixing hole, for realizing the mounting between the outer catheter system adapter 3221 and the surgical driving device 3230.

[0111] As shown in FIG. 20, the outer catheter system operation end includes an outer catheter system operation handle and an outer catheter system operation knob.

[0112] In S101, in response to the user's outer catheter system driving operation based on the outer catheter system operation end, the master console 410 sends an outer catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the outer catheter system 201 to perform an action corresponding to the outer catheter system driving operation through the outer catheter system adapter 3221, including:

[0113] S11, in response to the user's outer catheter movement operation based on the outer catheter system operation handle or the outer catheter system operation knob, the master console 410 sends an outer catheter movement instruction to the surgical execution device 320, so that the outer catheter system 201 is moved by the third outer catheter driving assembly telescopic surgical driving device 3230, so as to adjust the outer catheter 2012 to the first target position by moving the outer catheter system;

[0114] S12, in response to the user's outer catheter bending adjustment operation based on the outer catheter system operation knob, the master console 410 sends an outer catheter bending adjustment instruction to the surgical execution device 320, so that the first outer catheter driving assembly drives the outer catheter system knob 2013 to rotate through the first outer catheter system transmission assembly 322102, so as to adjust the bending angle of the distal end of the outer catheter 2012 to the first target bending angle by driving the outer catheter system knob 2013 to rotate;

[0115] S13, in response to the user's outer catheter rotation operation based on the outer catheter system operation handle, the master console 410 sends an outer catheter rotation instruction to the surgical execution device 320, so that the second outer catheter system driving assembly drives the outer catheter system handle 2011 to rotate through the second outer catheter system transmission assembly 322103, so as to adjust the bending direction of the distal end of the outer catheter 2012 to the first target bending direction by rotating the outer catheter system handle 2011.

[0116] Specifically, for the outer catheter system 201, in order to drive the outer catheter system 201 to perform a corresponding movement action, in response to a user's outer catheter movement operation based on the outer catheter system operation handle or the outer catheter system operation button, the outer catheter movement operation refers to the user's operation of moving the outer catheter 2012 based on the outer catheter system operation handle or the outer catheter system operation button, the master control console 410 can send an outer catheter movement instruction corresponding to the outer catheter movement operation to the surgical execution device 320, the outer catheter movement instruction refers to an instruction sent by the master control console 410 to control the movement of the outer catheter 2012, and after the surgical drive device 3230 receives the outer catheter movement instruction, since the outer catheter system 201 is arranged on the surgical drive device 3230, the third outer catheter drive assembly can drive the outer catheter system 201 to move by stretching and contracting the surgical drive device 3230, so as to adjust the outer catheter 2012 to the first target position by moving the outer catheter system 201, and the first target position refers to the position that the outer catheter 2012 is expected to reach corresponding to the outer catheter movement operation.

[0117] For the outer catheter system 201, in order to drive the outer catheter system 201 to perform a corresponding bending action, in response to a user's outer catheter bending operation based on the outer catheter system operation button, the outer catheter bending operation refers to the user's operation of bending the outer catheter 2012 based on the outer catheter system operation button, the master control console 410 can send an outer catheter bending instruction corresponding to the outer catheter bending operation to the surgical execution device 320, the outer catheter bending instruction refers to an instruction sent by the master control console 410 to drive the outer catheter 2012 to bend, and after the surgical drive device 3230 receives the outer catheter bending instruction, since the first outer catheter drive assembly of the surgical drive device 3230 is connected with the outer catheter system knob 2013 and the outer catheter system knob 2013 is used to adjust the curvature of the distal end of the outer catheter 2012, the first outer catheter drive assembly can drive the outer catheter system knob 2013 to rotate, so as to adjust the curvature angle of the distal end of the outer catheter 2012 to the first target curvature angle by driving the outer catheter system knob 2013 to rotate, and the first target angle refers to the curvature angle that the outer catheter 2012 is expected to reach corresponding to the outer catheter bending operation.

[0118] For the outer catheter system 201, in order to drive the outer catheter system to perform a corresponding rotating action, in response to the user operating the outer catheter system handle based on the outer catheter rotating operation, the outer catheter rotating operation refers to the operation of the user operating the outer catheter system handle for the outer catheter 2012, the main control console 410 can send the outer catheter rotating operation corresponding outer catheter rotating instruction to the surgical execution device 320, the outer catheter rotating instruction refers to the instruction sent by the main control console 410 to the surgical driving device 3230 to drive the outer catheter 2012 to rotate, after receiving the outer catheter rotating instruction, the surgical driving device 3230, because the second outer catheter driving assembly of the surgical driving device 3230 is connected with the outer catheter system handle 2011, so the second outer catheter driving assembly can drive the outer catheter system handle 2011 to rotate, so as to adjust the bending direction of the distal end of the outer catheter 2012 to the first target bending direction by rotating the outer catheter system handle 2011, the first target bending direction refers to the bending direction that the outer catheter 2012 is expected to reach corresponding to the outer catheter rotating operation.

[0119] That is, by responding to the user's outer catheter system operation based on the outer catheter system operation end of the main control console 410 for the outer catheter moving operation, the outer catheter bending operation and the outer catheter rotating operation of the outer catheter system, the main control console 410 can send the outer catheter moving instruction, the outer catheter bending instruction and the outer catheter rotating instruction to the surgical execution device 320 for the outer catheter system 201 respectively, so that the surgical driving device 3230 can realize the movement, bending and rotation of the outer catheter 2012 according to the related instructions respectively.

[0120] In a possible implementation, as shown in FIG. 4, the middle catheter system 202 includes a middle catheter 2022, a first middle catheter system knob 2023 and a second middle catheter system knob 2024, and a middle catheter system handle 2021, the proximal end of the middle catheter 2022 is arranged on the middle catheter system handle 2021, the first middle catheter system knob 2023 and the second middle catheter system knob 2024 are arranged on the middle catheter system handle 2021 respectively, the first middle catheter system knob 2023 is used to adjust the bending of the distal end of the middle catheter 2022 in the first direction, and the second middle catheter system knob 2024 is used to adjust the bending of the distal end of the middle catheter 2022 in the second direction.

[0121] As shown in FIG. 25 and FIG. 26, the middle catheter system adapter 3222 comprises a middle catheter system base 322201, a first middle catheter system transmission assembly 322202, and a second middle catheter system transmission assembly 322203, the first middle catheter system transmission assembly 322202 is arranged on the middle catheter system base 322201 and matched with the first middle catheter system knob 2023, the second middle catheter system transmission assembly 322203 is arranged on the middle catheter system base 322201 and matched with the second middle catheter system knob 2024, as shown in FIG. 26, the middle catheter system 202 can be carried on the middle catheter system adapter 3222.

[0122] The surgical driving device 3230 can comprise a first middle catheter system driving assembly, a second middle catheter system driving assembly, and a third middle catheter driving assembly, the first middle catheter system driving assembly is connected with the first middle catheter system transmission assembly 322202, the second middle catheter system driving assembly is connected with the second middle catheter system transmission assembly 322203, and the third middle catheter driving assembly is used to drive the surgical driving device 3230 to stretch and retract, as shown in FIG. 24, the third output shaft 32303 and the fourth output shaft 32304 of the surgical driving device 3230 can be used in cooperation with the third input shaft 322204 and the fourth input shaft 322205 of the middle catheter system adapter 3222, for connecting the first middle catheter system driving assembly with the first middle catheter system transmission assembly 322202 and connecting the second middle catheter system driving assembly with the second middle catheter system transmission assembly 322203, at the same time, the mounting surface of the surgical driving device 3230 is also designed with a positioning pin and a mounting fixing hole, for realizing the installation between the middle catheter system adapter 3222 and the surgical driving device 3230.

[0123] The middle catheter system operation end comprises a first middle catheter system operation button, a second middle catheter system operation button, and a middle catheter system operation handle.

[0124] In S102, in response to the middle catheter system driving operation of the user based on the middle catheter system operation end, the main end console 410 sends a middle catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the middle catheter system 202 to perform an action corresponding to the middle catheter system driving operation through the middle catheter system adapter 3222, which comprises:

[0125] In S21, in response to the middle catheter moving operation of the user based on the middle catheter operation handle, the main end console 410 sends a middle catheter moving instruction to the surgical execution device 320, so that the third middle catheter system driving assembly stretches and retracts the surgical driving device 3230 to drive the middle catheter system 202 to move, so as to adjust the middle catheter 2022 to the second target position by moving the middle catheter system 202;

[0126] S22, in response to the user's first middle catheter bending operation based on the first middle catheter system operation button, the master control console 410 sends a first middle catheter bending instruction to the surgical execution device 320, so that the first middle catheter system drive assembly drives the first middle catheter system knob 2023 to rotate through the first middle catheter system transmission assembly 322202, so as to adjust the bending angle of the distal end of the middle catheter 2022 in the first direction to the second target bending angle by driving the first middle catheter system knob 2023 to rotate;

[0127] S23, in response to the user's second middle catheter bending operation based on the second middle catheter system operation button, the master control console 410 sends a second middle catheter bending instruction to the surgical execution device 320, so that the second middle catheter system drive assembly drives the second middle catheter system knob 2024 to rotate through the second middle catheter system transmission assembly 322203, so as to adjust the bending angle of the distal end of the middle catheter 2022 in the second direction to the third target bending angle by driving the second middle catheter system knob 2024 to rotate.

[0128] Specifically, for the middle catheter system 201, in order to drive the middle catheter system 202 to perform the corresponding movement action, in response to the user's middle catheter movement operation based on the middle catheter system handle, the middle catheter movement operation refers to the user's operation of moving the middle catheter 2022 based on the surgical execution device 320, the master control console 410 can send a middle catheter movement instruction corresponding to the middle catheter movement operation to the surgical execution device 320, the middle catheter movement instruction refers to the instruction sent by the master control console 410 to drive the middle catheter 2022 to move, and the surgical drive device 3230 receives the middle catheter movement instruction. After that, since the third middle catheter drive assembly is used to stretch and retract the surgical drive device 3230 and the middle catheter system 202 is arranged on the surgical drive device 3230, the third middle catheter drive assembly can drive the middle catheter system 202 to move by stretching and retracting the surgical drive device 3230, so as to adjust the middle catheter 2022 to the second target position by moving the middle catheter system 202, and the second target position refers to the position that the middle catheter 2022 is expected to reach corresponding to the middle catheter movement operation.

[0129] For the intermediate catheter system 202, in order to drive the intermediate catheter system 202 to perform the corresponding bending action in the first direction, in response to the user's first intermediate catheter bending operation based on the first intermediate catheter system operation button, the first intermediate catheter bending operation refers to the operation of the user adjusting the bending of the intermediate catheter 2022 in the first direction based on the first intermediate catheter system operation button, the master control console 410 can send the first intermediate catheter bending instruction corresponding to the first intermediate catheter bending operation to the surgical execution device 320, the first intermediate catheter bending instruction refers to the instruction sent by the master control console 410 to the surgical driving device 3230 to drive the intermediate catheter 2022 to bend in the first direction, after receiving the first intermediate catheter bending instruction, the surgical driving device 3230, because the first intermediate catheter driving assembly of the surgical driving device 3230 is connected with the first intermediate catheter system knob 2023 and the first intermediate catheter system knob 2023 is used to adjust the bending of the distal end of the intermediate catheter 2022 in the first direction, so the first intermediate catheter driving assembly can drive the first intermediate catheter system knob 2023 to rotate, so as to adjust the bending angle of the distal end of the intermediate catheter 2022 in the first direction to the second target bending angle by driving the first intermediate catheter system knob 2023 to rotate, and the second target angle refers to the bending angle of the intermediate catheter 2022 in the first direction that is expected to be reached corresponding to the first intermediate catheter bending operation.

[0130] For the intermediate catheter system 202, in order to drive the intermediate catheter system 202 to perform the corresponding bending action in the second direction, in response to the user's second intermediate catheter bending operation based on the second intermediate catheter system operation button, the second intermediate catheter bending operation refers to the operation of the user adjusting the bending of the intermediate catheter 2022 in the second direction based on the second intermediate catheter system operation button, the master control console 410 can send the second intermediate catheter bending instruction corresponding to the second intermediate catheter bending operation to the surgical execution device 320, the second intermediate catheter bending instruction refers to the instruction sent by the master control console 410 to the surgical driving device 3230 to drive the intermediate catheter 2022 to bend in the second direction, after receiving the second intermediate catheter bending instruction, the surgical driving device 3230, because the second intermediate catheter driving assembly of the surgical driving device 3230 is connected with the second intermediate catheter system knob 2024 and the second intermediate catheter system knob 2024 is used to adjust the bending of the distal end of the intermediate catheter 2022 in the second direction, so the second intermediate catheter driving assembly can drive the second intermediate catheter system knob 2024 to rotate, so as to adjust the bending angle of the distal end of the intermediate catheter 2022 in the second direction to the third target bending angle by driving the second intermediate catheter system knob 2024 to rotate, and the third target angle refers to the bending angle of the intermediate catheter 2022 in the second direction that is expected to be reached corresponding to the second intermediate catheter bending operation.

[0131] That is, by responding to the user's catheter moving operation, first catheter bending operation and second catheter bending operation for the catheter system 202 based on the catheter system operation end needle of the master console 410, the master console 410 can send the catheter moving instruction, first catheter bending instruction and second catheter bending instruction for the catheter system 202 to the surgical driving device 3230, so that the surgical driving device 3230 can realize the moving of the catheter 2022 and the bending of the catheter 2022 in the first direction and in the second direction according to the related instructions respectively.

[0132] In a possible implementation, as shown in FIG. 5, the inner catheter system includes an inner catheter 2032, a first clamping element 204, a second clamping element 205, a clamping element locking rod 2033, a clamping element driving wheel 2034, a first clamping element operation rod 2035, a second clamping element operation rod 2036 and an inner catheter system handle 2031, the proximal end of the inner catheter 2032 is arranged on the inner catheter system handle 2031, the first clamping element 204 and the second clamping element 205 are arranged at the distal end of the inner catheter 2032, the clamping element locking rod 2033 is used to control the unlocking and locking of the first clamping element 204 at the distal end of the inner catheter 2032, the clamping element driving wheel 2034 is used to control the opening and closing of the first clamping element 204, the first clamping element operation rod 2035 is used to control the lifting and capturing of the first capturing arm of the second clamping element 205 at the distal end of the inner catheter 2032, and the second clamping element operation rod 2036 is used to control the lifting and capturing of the second capturing arm of the second clamping element 205.

[0133] As shown in FIG. 27 and FIG. 28, the inner catheter system adapter 3223 can include an inner catheter system base 322301, an inner catheter rotation transmission assembly 322302, a clamping element locking rod transmission assembly 322303, a clamping element drive wheel transmission assembly 322304, a first clamping element operating rod transmission assembly 322305, and a second clamping element operating rod transmission assembly 322306, the inner catheter rotation transmission assembly 322302 is arranged on the inner catheter system base 322301 and matched with the inner catheter system handle 2031, the clamping element locking rod transmission assembly 322303 is arranged on the inner catheter system base 322301 and matched with the clamping element locking rod 2033, the clamping element drive wheel transmission assembly 322304 is arranged on the inner catheter system base 322301 and matched with the clamping element drive wheel 2034, the first clamping element operating rod transmission assembly 322305 is arranged on the inner catheter system base 322301 and matched with the first clamping element operating rod 2035, and the second clamping element operating rod transmission assembly 322306 is arranged on the inner catheter system base 322301 and matched with the second clamping element operating rod 2036, as shown in FIG. 27, the inner catheter system 301 can be carried on the inner catheter system adapter 3223.

[0134] The surgical drive device 3230 can include an inner catheter movement drive assembly, an inner catheter rotation drive assembly, a clamping element locking rod drive assembly, a clamping element drive wheel drive assembly, a first clamping element operating rod drive assembly, and a second clamping element operating rod drive assembly, the inner catheter movement drive assembly is used for the telescopic surgical drive device 3230, the inner catheter rotation drive assembly is connected with the inner catheter rotation transmission assembly 322302, the clamping element locking rod drive assembly is connected with the clamping element locking rod transmission assembly 322303, the clamping element drive wheel drive assembly is connected with the clamping element drive wheel transmission assembly 322304, the first clamping element operating rod drive assembly is connected with the first clamping element operating rod transmission assembly 322305, and the second clamping element operating rod drive assembly is connected with the second clamping element operating rod 322306, as shown in FIG. 24, the fifth output shaft 32305, the sixth output shaft 32306, the seventh output shaft 32307, the eighth output shaft 32308, and the ninth output shaft 32309 of the surgical drive device 3230 can be used in cooperation with the inner catheter system adapter 3223 and the fifth input shaft 322307, the sixth input shaft 322308, the seventh input shaft 322309, the eighth input shaft 3223010, and the ninth input shaft 3223011 to realize the connection between the inner catheter system adapter 3223 and the surgical drive device 3230, at the same time, the mounting surface of the surgical drive device 3230 is also designed with a positioning pin and a mounting fixing hole to realize the installation between the inner catheter system adapter 3223 and the surgical drive device 3230.

[0135] The inner catheter system operation end comprises a clamping element locking rod operation button, a clamping element driving wheel operation button, a first clamping element operation rod operation button, a second clamping element operation rod operation button, and an inner catheter system operation handle.

[0136] In S103, in response to the user's inner catheter system driving operation based on the inner catheter system operation end, the main end console 410 sends an inner catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the inner catheter system 203 to perform an action corresponding to the inner catheter system driving operation through the inner catheter system adapter 3223, including:

[0137] In S31, in response to the user's inner catheter movement operation based on the inner catheter system operation handle, the main end console 410 sends an inner catheter movement instruction to the surgical execution device 320, so that the inner catheter movement driving assembly extends and retracts the surgical driving device 3230 to drive the inner catheter system 203 to move, so as to adjust the inner catheter 2032 to the third target position by moving the inner catheter system 203;

[0138] In S32, in response to the user's inner catheter rotation operation based on the inner catheter system operation handle, the main end console 410 sends an inner catheter rotation instruction to the surgical execution device 320, so that the inner catheter rotation driving assembly drives the inner catheter system handle 2031 to rotate through the inner catheter rotation transmission assembly 322302, so as to adjust the bending direction of the distal end of the inner catheter 2032 to the second target bending direction by rotating the inner catheter system handle 2031;

[0139] In S33, in response to the user's clamping element locking rod operation based on the clamping element locking rod operation button, the main end console 410 sends a clamping element locking rod operation instruction to the surgical execution device 320, so that the clamping element locking rod driving assembly drives the clamping element locking rod 2033 to move through the clamping element locking rod transmission assembly 322303, so as to control the first clamping element 204 to be locked or unlocked by moving the clamping element locking rod 2033;

[0140] In S34, in response to the user's clamping element driving wheel operation based on the clamping element driving wheel operation button, the main end console 410 sends a clamping element driving wheel operation instruction to the surgical execution device 320, so that the clamping element driving wheel driving assembly drives the clamping element driving wheel 2034 to rotate through the clamping element driving wheel transmission assembly 322304, so as to control the first clamping element 204 to be opened or closed by rotating the clamping element driving wheel 2034;

[0141] S35、in response to the user operating the first clamping element operating lever operation button based on the first clamping element operating lever operation, the master control console 410 sends a first clamping element operating lever operation instruction to the surgical execution device 320, so that the first clamping element operating lever driving assembly drives the first clamping element operating lever 2035 to move through the first clamping element operating lever transmission assembly 322305, so as to control the capture or lifting of the first capture arm of the second clamping element 205 by moving the first clamping element operating lever 2035;

[0142] S36、in response to the user operating the second clamping element operating lever operation button based on the second clamping element operating lever operation, the master control console 410 sends a second clamping element operating lever operation instruction to the surgical execution device 320, so that the second clamping element operating lever driving assembly drives the second clamping element operating lever 2036 to move through the second clamping element operating lever transmission assembly 322306, so as to control the capture or lifting of the second capture arm of the second clamping element 205 by moving the second clamping element operating lever 2036;

[0143] in response to the user operating the clamping element operating lever operation button based on the first clamping element operating lever operation, or in response to the user operating the clamping element operating lever operation button based on the second clamping element operating lever operation, the master control console 410 sends an instruction to the surgical execution device 320, so that the first clamping element operating lever driving assembly and the second clamping element operating lever driving assembly drive the first clamping element operating lever 2035 and the second clamping element operating lever 2036 to move through the first clamping element operating lever transmission assembly 322305 and the second clamping element operating lever transmission assembly 322306, so as to control the simultaneous capture or lifting of the first capture arm and the second capture arm of the second clamping element 205 by moving the first clamping element operating lever 2035 and the second clamping element operating lever 2036.

[0144] Specifically, for the inner catheter system 203, in order to drive the inner catheter system 203 to perform a corresponding movement action, in response to the user performing an inner catheter movement operation on the inner catheter system operation handle, the inner catheter movement operation refers to the operation of the user moving the inner catheter 2032 based on the inner catheter system operation handle, the master control console 410 can send an inner catheter movement instruction corresponding to the inner catheter movement operation to the surgical execution device 320, the inner catheter movement instruction refers to the instruction sent by the master control console 410 to the surgical driving device 3230 to drive the inner catheter 2032 to move, after receiving the inner catheter movement instruction, the surgical driving device 3230, because the inner catheter movement driving assembly of the surgical driving device 3230 is used to stretch and retract the surgical driving device 3230 and the inner catheter system 203 is arranged on the surgical driving device 3230, so the inner catheter movement driving assembly can stretch and retract the surgical driving device 3230 to drive the inner catheter system 203 to move, so as to adjust the inner catheter 2032 to the third target position by moving the inner catheter system 203, the third target position refers to the position that the inner catheter 2032 is expected to reach corresponding to the inner catheter movement operation.

[0145] For the inner catheter system 203, in order to drive the inner catheter system 203 to perform a corresponding rotation action, in response to the user performing an inner catheter rotation operation on the inner catheter system operation handle, the inner catheter rotation operation refers to the operation of the user rotating the inner catheter system operation handle to adjust the bending direction of the distal end of the inner catheter 2032, the master control console 410 can send an inner catheter rotation instruction corresponding to the inner catheter rotation operation to the surgical execution device 320, the inner catheter rotation instruction refers to the instruction sent by the master control console 410 to the surgical driving device 3230 to rotate the inner catheter system operation handle to adjust the bending direction of the distal end of the inner catheter 2032. After receiving the inner catheter rotation instruction, the surgical driving device 3230, because the inner catheter rotation driving assembly of the surgical driving device 3230 is connected with the inner catheter system base 322301, so the inner catheter rotation driving assembly can drive the inner catheter system handle 2031 to rotate, so as to adjust the bending direction of the distal end of the inner catheter 2032 to the second target bending direction by rotating the inner catheter system handle 2031, the second target bending direction refers to the bending direction that the inner catheter is expected to reach corresponding to the inner catheter rotation operation.

[0146] For the inner catheter system 203, in order to be able to control the first clamping element 204 to be locked or unlocked, in response to the user's clamping element locking rod operation based on the clamping element locking rod operation button, the clamping element locking rod operation refers to the user's operation on the clamping element locking rod based on the clamping element locking rod operation button, the master control console 410 can send a clamping element locking rod operation instruction to the surgical execution device 320, the clamping element locking rod operation instruction refers to the instruction sent by the master control console 410 to the surgical execution device 320 to drive the clamping element locking rod 2033 to move, after receiving the clamping element locking rod operation instruction, the surgical drive device 3230, because the clamping element locking rod drive assembly of the surgical drive device 3230 is connected with the clamping element locking rod 2033 and the clamping element locking rod 2033 is used to control the locking state of the first clamping element 204, so the clamping element locking rod drive assembly can drive the clamping element locking rod 2033 to move through the clamping element locking rod transmission assembly 322303, so as to control the first clamping element 204 to be locked or unlocked by driving the clamping element locking rod 2033 to move, it should be noted that only when the first clamping element 204 is unlocked, the first clamping element 204 can be controlled to open or close through the subsequent clamping element drive wheel 2034, that is, when the first clamping element 204 is locked, the state of the first clamping element 204 will not change.

[0147] For the inner catheter system 203, in order to be able to control the first clamping element 204 to be locked or unlocked, in response to the user's clamping element locking rod operation based on the clamping element locking rod operation button, the clamping element locking rod operation refers to the user's operation on the clamping element locking rod based on the clamping element locking rod operation button, the master control console 410 can send a clamping element locking rod operation instruction to the surgical execution device 320, the clamping element locking rod operation instruction refers to the instruction sent by the master control console 410 to the surgical execution device 320 to drive the clamping element locking rod 2033 to move, after receiving the clamping element locking rod operation instruction, the surgical drive device 3230, because the clamping element locking rod drive assembly of the surgical drive device 3230 is connected with the clamping element locking rod 2033 and the clamping element locking rod 2033 is used to control the locking state of the first clamping element 204, so the clamping element locking rod drive assembly can drive the clamping element locking rod 2033 to move through the clamping element locking rod transmission assembly 322303, so as to control the first clamping element 204 to be locked or unlocked by driving the clamping element locking rod 2033 to move, it should be noted that only when the first clamping element 204 is unlocked, the first clamping element 204 can be controlled to open or close through the subsequent clamping element drive wheel 2034, that is, when the first clamping element 204 is locked, the state of the first clamping element 204 will not change.

[0148] For the inner catheter system 203, in order to be able to control the capture or lifting of the first capture arm of the second clamping element 205, in response to the user's second clamping element operating lever operation based on the second clamping element operating lever operation button, the second clamping element operating lever operation refers to the operation of the second clamping element operating lever 2036 based on the second clamping element operating lever operation button, the master control console 410 can send the second clamping element operating lever operation instruction to the surgical execution device 320, the second clamping element operating lever operation instruction refers to the instruction sent by the master control console 410 to the surgical execution device 320 to drive the second clamping element operating lever 2036 to move, after receiving the second clamping element operating lever 2036 operation instruction, the surgical drive device 3230, because the second clamping element operating lever drive assembly of the surgical drive device 3230 is connected with the second clamping element operating lever 2036 and the second clamping element operating lever 2036 is used to control the capture or lifting of the second capture arm of the second clamping element, therefore the second clamping element operating lever drive assembly can drive the second clamping element operating lever 2036 to move through the second clamping element operating lever transmission assembly 322306, so as to control the capture or lifting of the second capture arm of the second clamping element 205 by driving the second clamping element operating lever 2036 to move.

[0149] For the inner catheter system 203, in order to be able to control the capture or lifting of the first capture arm of the second clamping element 205, in response to the user's second clamping element operating lever operation based on the second clamping element operating lever operation button, the second clamping element operating lever operation refers to the operation of the second clamping element operating lever 2036 based on the second clamping element operating lever operation button, the master control console 410 can send the second clamping element operating lever operation instruction to the surgical execution device 320, the second clamping element operating lever operation instruction refers to the instruction sent by the master control console 410 to the surgical execution device 320 to drive the second clamping element operating lever 2036 to move, after receiving the second clamping element operating lever 2036 operation instruction, the surgical drive device 3230, because the second clamping element operating lever drive assembly of the surgical drive device 3230 is connected with the second clamping element operating lever 2036 and the second clamping element operating lever 2036 is used to control the capture or lifting of the second capture arm of the second clamping element, therefore the second clamping element operating lever drive assembly can drive the second clamping element operating lever 2036 to move through the second clamping element operating lever transmission assembly 322306, so as to control the capture or lifting of the second capture arm of the second clamping element 205 by driving the second clamping element operating lever 2036 to move.

[0150] For the inner catheter system 203, in addition to being able to control the independent capture of the two capture arms of the second clamping element 205, it can also control the simultaneous capture of the two capture arms of the second clamping element 205, in response to the user operating the clamping element operating rod based on the first clamping element operating rod operation, or in response to the user operating the clamping element operating rod based on the second clamping element operating rod operation, the master control console 410 sends instructions to the surgical execution device 320, so that the first clamping element operating rod drive assembly and the second clamping element operating rod drive assembly drive the first clamping element operating rod 2035 and the second clamping element operating rod 2036 to move through the first clamping element operating rod transmission assembly 322305 and the second clamping element operating rod transmission assembly 322306, so as to control the simultaneous capture or lifting of the first capture arm and the second capture arm of the second clamping element 205 by moving the first clamping element operating rod 2035 and the second clamping element operating rod 2036.

[0151] In a possible implementation, as shown in FIG. 17, the mechanical arm 310 can be used to adjust the pose of the surgical execution device 320, so that the pose of the surgical execution device 320 can be adjusted by the relevant operation through the mechanical arm 310.

[0152] Next, the installation of the mechanical arm 310 will be described: as shown in FIGS. 29 and 30, the mechanical arm 310 can be arranged on the medical bed 500, and the mechanical arm 310 can include a mechanical arm body 3101 and a medical bed connecting piece 3102, as shown in FIGS. 31 and 32, during non-surgery time, the mechanical arm body 3101 can be detached from the medical bed connecting piece 3102, and the medical bed connecting piece 3102 can be left on the medical bed 500 or detached and stored.

[0153] The medical bed connecting piece 3102 includes a width adjustment assembly, a mechanical arm body connecting flange, and a height adjustment and fixing assembly. During installation, the width adjustment assembly and the height adjustment and fixing assembly can be adjusted first, so that the installation size of the medical bed connecting piece 3102 in the width and height directions matches the medical bed 500. In the matching state, the lower surface of the width adjustment assembly is attached to the upper surface of the medical bed 500, and the height adjustment and fixing assembly is matched with the steel rails on both sides of the medical bed 500. Then, the medical bed connecting piece 3102 is reliably fixed on the medical bed 500 through the fastening mechanism on the height adjustment and fixing assembly. After the medical bed connecting piece 3102 is installed in place, the flange on the mechanical arm body 3101 is matched and installed with the mechanical arm body connecting flange on the medical bed 500 connecting piece 3102, so as to realize the rapid connection and fixation of the mechanical arm 310 on the medical bed 500. Since the medical bed connecting piece 3102 can be adjusted in both the width and height directions of the medical bed 500, it can be installed and used with medical beds 500 of different sizes.

[0154] In order to be able to adjust the pose of the surgical execution device 320 by the mechanical arm 310, the operation end can comprise a mechanical arm operation end, and the mechanical arm operation end comprises a first mechanical arm operation button and a second mechanical arm operation button.

[0155] In response to the user's pose adjustment operation based on the operation end in S2101, the host end console 410 sends a pose adjustment instruction to the mechanical arm 310, so that the mechanical arm 310 adjusts the pose of the surgical execution device 320 to the pose corresponding to the pose adjustment operation according to the pose adjustment instruction, which comprises:

[0156] In response to the user's vertical movement operation based on the second mechanical arm operation button, the host end console 410 sends a vertical movement instruction to the mechanical arm 310, so that the mechanical arm 310 controls the surgical execution device 320 to rise or fall according to the vertical movement instruction.

[0157] Specifically, for the mechanical arm 310, in order to be able to control the surgical execution device 320 to rise or fall by the mechanical arm 310, in response to the user's vertical movement operation based on the second mechanical arm operation button, the host end console 410 can send a vertical movement instruction to the mechanical arm 310, the vertical movement instruction is an instruction sent by the host end console 410 to the mechanical arm 310 to control the surgical execution device 320 to move vertically by the mechanical arm 310, and the mechanical arm 310 can control the surgical execution device 320 to rise or fall after receiving the vertical movement instruction.

[0158] In one possible implementation, the control device 400 can further comprise a slave end control touch screen 323010, which can be arranged on the robot device 300, and the slave end control screen can be used to control the robot device 300, as shown in FIG. 24, the slave end control touch screen 323010 can be arranged on one side of the surgical execution device 320, and the control method can further comprise:

[0159] S301, in response to the user's pose adjustment operation based on the slave end control touch screen 323010, the slave end control touch screen 323010 sends a pose adjustment instruction to the mechanical arm 310, so that the mechanical arm 310 adjusts the pose of the surgical execution device 320 to the pose corresponding to the pose adjustment operation according to the pose adjustment instruction;

[0160] S302, in response to the user's catheter system driving operation based on the slave end control touch screen 323010, the slave end control touch screen 323010 sends a catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the catheter system 3210 to perform the action corresponding to the catheter system driving operation through the sheath adapter 3220.

[0161] Specifically, for the surgical execution device 320, in order to adjust the position and posture of the surgical execution device 320, in response to the user's operation end pose adjustment operation based on the slave end control touch screen 323010, the slave end control touch screen 323010 can send the pose adjustment instruction corresponding to the pose adjustment operation to the mechanical arm 310, and the mechanical arm 310 can adjust the pose of the surgical execution device 320 according to the pose adjustment instruction after receiving the pose adjustment instruction.

[0162] After adjusting the pose of the surgical execution device 320, for the catheter system 3210 on the surgical execution device 320, in order to drive the catheter system 3210 to perform the corresponding action, in response to the user's catheter system driving operation based on the slave end control touch screen 323010, the catheter system driving operation refers to the user's driving operation based on the slave end control touch screen 323010 for the catheter system 3210, the slave end control touch screen 323010 can send the catheter system driving instruction corresponding to the catheter system driving operation to the surgical execution device 320, and the surgical driving device 3230 can drive the catheter system 3210 to perform the action corresponding to the catheter system driving operation through the sheath adapter 3220 according to the catheter system driving instruction after receiving the catheter system driving instruction.

[0163] That is, in the embodiment, in addition to being able to adjust the pose of the surgical execution device 320 through the master control console 410, the pose of the surgical execution device 320 can also be adjusted through the slave end control touch screen 323010, and the catheter system 3210 can be driven to perform the action corresponding to the catheter system driving operation, that is, the slave end control touch screen 323010 can realize the auxiliary control of the surgical auxiliary system.

[0164] In a possible implementation, the control device 400 can further include a slave end mechanical arm locking button, the slave end mechanical arm locking button is arranged on the robot device 300, and the control method can further include:

[0165] In response to the user's mechanical arm operation based on the slave end mechanical arm locking button, the control device 400 sends the mechanical arm operation instruction to the mechanical arm 310, so as to control the locking or unlocking of the joint of the mechanical arm 310.

[0166] Specifically, for the mechanical arm 310, in response to the user's mechanical arm operation based on the slave end mechanical arm locking button, the control device 400 can send the mechanical arm operation instruction to the mechanical arm 310, and the mechanical arm 310 can control the locking or unlocking of the joint of the mechanical arm 310 after receiving the mechanical arm operation instruction. When the joint of the mechanical arm 310 is in the locked state, the joint of the mechanical arm 310 will not move, thereby ensuring the stability and reliability of the mechanical arm 310 and avoiding the risk caused by the random movement of the joint of the mechanical arm 310.

[0167] In a possible implementation, in response to the horizontal movement operation of the user based on the locking button of the slave end mechanical arm, the control device 400 sends a horizontal movement instruction to the mechanical arm 310, so that the mechanical arm 310 controls the surgical execution device 320 to advance or retreat according to the horizontal movement instruction.

[0168] Specifically, for the mechanical arm 310, in order to control the surgical execution device 320 to advance or retreat through the mechanical arm 310, in response to the horizontal movement operation of the user based on the locking button of the slave end mechanical arm, the control device 400 can send a horizontal movement instruction to the mechanical arm 310, the horizontal movement instruction is an instruction sent by the control device 400 to the mechanical arm 310 to control the surgical execution device 320 to move horizontally through the mechanical arm 310, and after receiving the horizontal movement instruction, the mechanical arm 310 can control the surgical execution device 320 to advance or retreat.

[0169] In a possible implementation, in order to obtain the state information of the robot device 300 in real time, the master control console 410 can further include an information display operation button, and the control method can further include:

[0170] In response to the information display operation of the user based on the information display operation button, the master control console 410 obtains the state information of the robot device 300;

[0171] The display area of the display screen is split to obtain a first sub-area and a second sub-area;

[0172] The surgical picture is displayed in the first sub-area, and the state information is displayed in the second sub-area.

[0173] Specifically, in response to the information display operation of the user based on the information display operation button, the master control console 410 can obtain the state information of the robot device 300, and the state information of the robot device 300 can include the pose of the mechanical arm 310, the pose of the surgical execution device 320, and the specific state of the catheter system included in the surgical execution device 320.

[0174] After obtaining the state information of the robot device 300, the display area of the display screen can be split to obtain a first sub-area and a second sub-area, and the areas of the first sub-area and the second sub-area can be the same or different, which is not limited herein. After splitting the display area of the display screen, the surgical picture can be displayed in the first sub-area, and the state information can be displayed in the second sub-area, that is, the surgical picture and the state information can be displayed on the display screen at the same time.

[0175] In a possible implementation, the control device 400 can further include an enabling operation switch 420, as shown in FIG. 20, the enabling operation switch 420 can be a foot switch, and the control method can further include:

[0176] In response to the enabling operation of the user based on the enabling operation switch 420, the control device 400 sends an enabling instruction to the robot device 300, so as to establish a communication connection between the control device 400 and the robot device 300.

[0177] Specifically, in order to be able to realize stable control of the robot device 300 through the control device 400, on the basis that the control device 400 includes the enabling operation switch 420, in response to the enabling operation of the user based on the enabling operation switch 420, the control device 400 can send an enabling instruction to the robot device 300, so as to establish a communication connection between the control device 400 and the robot device 300, that is, only when the robot device 300 receives the enabling instruction, the communication connection between the control device 400 and the robot device 300 is established.

[0178] In a possible implementation, the operation end can further include an emergency stop button, and the control method can further include:

[0179] In response to the emergency stop operation of the user based on the emergency stop button, the master console 410 can send an emergency stop instruction to the robot device 300, so as to pause the robot device 300.

[0180] Specifically, on the basis that the operation end includes the emergency stop button, in response to the emergency stop operation of the user based on the emergency stop button, the master console 410 can send an emergency stop instruction corresponding to the emergency stop operation to the robot device 300, so as to directly pause the robot device 300, that is, the robot device 300 can be directly paused through the emergency stop button, thereby ensuring the safety of the surgical auxiliary system.

[0181] In a possible implementation, the operation end can further include a reset button, and the control method can further include:

[0182] In response to the reset operation of the user based on the reset button, the master console 410 sends a reset instruction to the robot device 300, so as to reset the robot device 300.

[0183] Specifically, on the basis that the operation end includes the reset button, in response to the reset operation of the user based on the reset button, the master console 410 can send a reset instruction corresponding to the reset operation to the robot device 300, so as to reset the robot device 300, which means that the robot device 300 is controlled to return to an initial state, that is, the robot device 300 can be directly paused through the emergency stop button, thereby ensuring the safety of the surgical auxiliary system.

[0184] In a possible implementation, the robotic device 300 can further include a medical cart 330, the medical cart 330 is provided with a mechanical arm receiving space and a mechanical arm fixing interface matched with the mechanical arm 310, and the medical cart 330 is in communication connection with the control device 400, as shown in FIG. 33, the medical cart 330 is provided with the mechanical arm receiving space and the mechanical arm fixing interface, and the mechanical arm 310 can be received on the medical cart 330 in a non-surgery time, and the control method can further include:

[0185] S401, in response to a user-based mechanical arm moving operation of the control device 400, the control device 400 sends a mechanical arm moving instruction to the medical cart 330, so as to move the mechanical arm 310 to a fourth target position by moving the medical cart 330;

[0186] S402, in response to a user-based mechanical arm installation operation of the control device 400, the control device 400 sends a mechanical arm installation instruction to the medical cart 330, so as to install the mechanical arm 310 to the medical bed 500 by releasing the fixing of the medical cart 330 to the mechanical arm 310.

[0187] Specifically, when the mechanical arm 310 is heavy and inconvenient to disassemble and assemble, the medical cart 330 can be used to assist in completing the disassembly and assembly of the mechanical arm 310, when the mechanical arm 310 is fixed on the medical cart 330, in response to a user-based mechanical arm moving operation of the control device 400, the mechanical arm moving operation refers to an operation of moving the medical cart 330 by the user based on the control device 400 so as to move the mechanical arm 310, the control device 400 can send a mechanical arm moving instruction to the medical cart 330, the mechanical arm moving instruction refers to an instruction of the control device 400 to the medical cart 330 to move the medical cart 330 so as to move the mechanical arm 310, so as to move the mechanical arm 310 to a fourth target position by moving the medical cart 330, and the fourth target position refers to a position where the mechanical arm 310 can be installed on the medical bed 500.

[0188] After the mechanical arm 310 reaches the fourth target position, as shown in FIG. 34, in response to a user-based mechanical arm installation operation of the control device 400, the mechanical arm installation operation refers to an operation of releasing the fixing of the medical cart 330 to the mechanical arm 310 by the user based on the control device 400 so as to install the mechanical arm 310 to the medical bed 500, the control device 400 can send a mechanical arm installation instruction to the medical cart 330, the mechanical arm installation instruction refers to an instruction of the control device 400 to the medical cart 330 to release the fixing of the medical cart 330 to the mechanical arm 310 so as to install the mechanical arm 310 to the medical bed 500, and after receiving the mechanical arm installation instruction, the medical cart 330 can release the fixing of the mechanical arm 310 to install the mechanical arm 310 to the medical bed 500.

[0189] It should be noted that if the disassembly of the mechanical arm 310 is assisted by the medical cart 330, the above steps can be operated in reverse order, that is, first, in response to the user's mechanical arm dismounting operation based on the control device 400, the control device 400 sends a mechanical arm dismounting instruction to the medical cart 330, so as to realize the fixation of the medical cart 330 to the mechanical arm 310 arranged on the medical bed 500, and then, in response to the user's mechanical arm dismounting operation based on the control device 400, the control device 400 sends a mechanical arm dismounting instruction to the medical cart 330, so as to dismount the mechanical arm 310 fixed on the medical cart 330 from the medical bed 500 by moving the medical cart 330.

[0190] In summary, the present application provides a control method for a surgical assistance system, the surgical assistance system comprising a robot device 300 and a control device 400; the robot device 300 comprising a mechanical arm 310 and a surgical execution device 320 arranged at the execution end of the mechanical arm 310, the mechanical arm 310 being used to adjust the pose of the surgical execution device 320; the surgical execution device 320 comprising a catheter system 3210, a sheath adapter 3220 and a surgical driving device 3230, the sheath adapter 3220 being connected with the surgical driving device 3230, the sheath adapter 3220 being used to carry the catheter system 3210, and the surgical driving device 3230 being used to drive the catheter system 3210 through the sheath adapter 3220; the control device 400 comprising a master control console 410, the master control console 410 comprising an operation end and a display screen, the operation end being used to control the robot device 300, and the display screen being used to display a surgical picture. The control method comprises: in response to a user's pose adjustment operation based on the operation end, the master control console 410 sends a pose adjustment instruction to the mechanical arm 310, so as to adjust the pose of the surgical execution device 320 to a pose corresponding to the pose adjustment operation according to the pose adjustment instruction; and in response to a user's catheter system driving operation based on the operation end, the master control console 410 sends a catheter system driving instruction to the surgical execution device 320, so as to drive the catheter system 3210 to perform an action corresponding to the catheter system driving operation through the sheath adapter 3220 by the surgical driving device 3230. Through the above control method, in response to the user's related operation based on the operation end of the master control console 410, the master control console 410 can send corresponding instructions to the robot device 300, so as to adjust the pose of the surgical execution device 320 according to the pose adjustment instruction by the mechanical arm 310, and to drive the catheter system 3210 to perform a corresponding action through the sheath adapter 3220 by the surgical driving device 3230 according to the catheter system driving instruction, realizing the semi-automatic control of the surgical assistance system, avoiding the complex manual operation of the doctor on the catheter system 3210, reducing the difficulty of the surgical operation, shortening the learning curve of the doctor, and ensuring the application of the surgical assistance system in the clinic.

[0191] In the description of the present specification, the description made with reference to the terms "some possible embodiments", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application, and the above terms do not necessarily indicate the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0192] Regarding the method flowchart of the embodiments of the present application, some operations are described as different steps executed in a certain order. Such flowcharts are illustrative rather than limiting. Some steps described herein can be grouped together and executed in a single operation, or some steps can be divided into multiple sub-steps, and some steps can be executed in an order different from that shown herein. Each step shown in the flowchart can be implemented in any way by any circuit structure and / or tangible mechanism (for example, by software running on a computer device, hardware (for example, processor or chip implemented logic function) and the like, and / or any combination thereof) in any manner.

[0193] The person skilled in the art can understand that in the method described in the above specific embodiments, the writing order of each step does not mean a strict execution order, and the specific execution order of each step should be determined by its function and possible inherent logic.

[0194] Based on the foregoing Figs. 1-34, the control device for a surgical auxiliary system provided by the present application will be described below through a device embodiment. As shown in Fig. 35, the control device 3500 for a surgical auxiliary system comprises:

[0195] The first sending unit 3501 is configured to, in response to the user adjusting the pose of the operating end based on the pose adjustment operation, send a pose adjustment instruction to the mechanical arm 310 by the master console 410, so that the mechanical arm 310 adjusts the pose of the surgical execution device 320 to the pose corresponding to the pose adjustment operation according to the pose adjustment instruction;

[0196] The second sending unit 3502 is configured to, in response to the user driving the catheter system based on the operating end, send a catheter system driving instruction to the surgical execution device 320 by the master console 410, so that the surgical driving device 3230 drives the catheter system 3210 to perform the action corresponding to the catheter system driving operation through the sheath adapter 3220.

[0197] In a possible implementation, the second sending unit 3502 is configured to:

[0198] In response to the user's operation of the outer catheter system based on the outer catheter system operation end, the master console 410 sends an outer catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the outer catheter system 201 to perform an action corresponding to the outer catheter system driving operation through the outer catheter system adapter 3221;

[0199] In response to the user's operation of the middle catheter system based on the middle catheter system operation end, the master console 410 sends a middle catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the middle catheter system 202 to perform an action corresponding to the middle catheter system driving operation through the middle catheter system adapter 3222;

[0200] In response to the user's operation of the inner catheter system based on the inner catheter system operation end, the master console 410 sends an inner catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the inner catheter system 203 to perform an action corresponding to the inner catheter system driving operation through the inner catheter system adapter 3223.

[0201] In a possible implementation, the second sending unit 3502 is configured to:

[0202] In response to the user's operation of the outer catheter system based on the outer catheter system operation handle or the outer catheter system operation key, the master console 410 sends an outer catheter movement instruction to the surgical execution device 320, so that the outer catheter system 201 is moved by the third outer catheter driving assembly to extend or retract the surgical execution device 320, so as to adjust the outer catheter 2012 to the first target position by moving the outer catheter system 201;

[0203] In response to the user's operation of the outer catheter system based on the outer catheter system operation key, the master console 410 sends an outer catheter bending instruction to the surgical execution device 320, so that the first outer catheter driving assembly drives the outer catheter system knob 2013 to rotate through the first outer catheter system transmission assembly 322102, so as to adjust the bending angle of the distal end of the outer catheter 2012 to the first target bending angle by driving the outer catheter system knob 2013 to rotate;

[0204] In response to the user's operation of the outer catheter system based on the outer catheter system operation handle, the master console 410 sends an outer catheter rotation instruction to the surgical execution device 320, so that the second outer catheter driving assembly drives the outer catheter system handle 2011 to rotate through the second outer catheter system transmission assembly 322103, so as to adjust the bending direction of the distal end of the outer catheter 2012 to the first target bending direction by rotating the outer catheter system handle 2011.

[0205] In a possible implementation, the second sending unit 3502 is configured to:

[0206] In response to the user's catheter moving operation on the handle of the middle catheter system, the master control console 410 sends a middle catheter moving instruction to the surgical execution device 320, so that the third middle catheter system driving assembly drives the middle catheter system 202 to move through the telescopic surgical execution device 320, so as to adjust the middle catheter 2022 to the second target position by moving the middle catheter system 202;

[0207] In response to the user's first middle catheter bending operation on the key of the first middle catheter system, the master control console 410 sends a first middle catheter bending instruction to the surgical execution device 320, so that the first middle catheter system driving assembly drives the first middle catheter system knob 2023 to rotate through the first middle catheter system transmission assembly 322202, so as to adjust the bending angle of the distal end of the middle catheter 2022 in the first direction to the second target bending angle by driving the first middle catheter system knob 2023 to rotate;

[0208] In response to the user's second middle catheter bending operation on the key of the second middle catheter system, the master control console 410 sends a second middle catheter bending instruction to the surgical execution device 320, so that the second middle catheter system driving assembly drives the second middle catheter system knob 2024 to rotate through the second middle catheter system transmission assembly 322203, so as to adjust the bending angle of the distal end of the middle catheter 2022 in the second direction to the third target bending angle by driving the second middle catheter system knob 2024 to rotate.

[0209] In a possible implementation, the second sending unit 3502 is configured to:

[0210] In response to the user's catheter moving operation on the handle of the middle catheter system, the master control console 410 sends a middle catheter moving instruction to the surgical execution device 320, so that the third middle catheter system driving assembly drives the middle catheter system 202 to move through the telescopic surgical execution device 320, so as to adjust the middle catheter 2022 to the second target position by moving the middle catheter system 202;

[0211] In response to the user's catheter moving operation on the handle of the middle catheter system, the master control console 410 sends a middle catheter moving instruction to the surgical execution device 320, so that the third middle catheter system driving assembly drives the middle catheter system 202 to move through the telescopic surgical execution device 320, so as to adjust the middle catheter 2022 to the second target position by moving the middle catheter system 202;

[0212] In response to the user's clamping element locking lever operation based on the clamping element locking lever operation button, the master control console 410 sends a clamping element locking lever operation instruction to the surgical execution device 320 so that the clamping element locking lever driving assembly drives the clamping element locking lever 2033 to move through the clamping element locking lever transmission assembly 322303, so as to control the first clamping element 204 to be locked or unlocked by moving the clamping element locking lever 2033.

[0213] In response to the user's clamping element driving wheel operation based on the clamping element driving wheel operation button, the master control console 410 sends a clamping element driving wheel operation instruction to the surgical execution device 320 so that the clamping element driving wheel driving assembly drives the clamping element driving wheel 2034 to rotate through the clamping element driving wheel transmission assembly 322304, so as to control the first clamping element 204 to be opened or closed by rotating the clamping element driving wheel 2034.

[0214] In response to the user's first clamping element operation lever operation based on the first clamping element operation lever operation button, the master control console 410 sends a first clamping element operation lever operation instruction to the surgical execution device 320 so that the first clamping element operation lever driving assembly drives the first clamping element operation lever 2035 to move through the first clamping element operation lever transmission assembly 322305, so as to control the first capture arm of the second clamping element to be captured or lifted by moving the first clamping element operation lever 2035.

[0215] In response to the user's second clamping element operation lever operation based on the second clamping element operation lever operation button, the master control console 410 sends a second clamping element operation lever operation instruction to the surgical execution device 320 so that the second clamping element operation lever driving assembly drives the second clamping element operation lever 2036 to move through the second clamping element operation lever transmission assembly 322306, so as to control the second capture arm of the second clamping element 205 to be captured or lifted by moving the second clamping element operation lever 2036.

[0216] In response to the user's clamping element operation lever operation based on the first clamping element operation lever operation button, or in response to the user's clamping element operation lever operation based on the second clamping element operation lever operation button, the master control console 410 sends an instruction to the surgical execution device 320 so that the first clamping element operation lever driving assembly and the second clamping element operation lever driving assembly drive the first clamping element operation lever 2035 and the second clamping element operation lever 2036 to move through the first clamping element operation lever transmission assembly 322305 and the second clamping element operation lever transmission assembly 322306, so as to control the first capture arm and the second capture arm of the second clamping element 205 to be captured or lifted at the same time by moving the first clamping element operation lever 2035 and the second clamping element operation lever 2036.

[0217] In a possible implementation, the first sending unit 3501 is configured to:

[0218] In response to the user operating the vertical movement of the second mechanical arm based on the key, the master control console 410 sends a vertical movement instruction to the mechanical arm 310, so that the mechanical arm 310 controls the surgical execution device 320 to rise or fall according to the vertical movement instruction.

[0219] In a possible implementation, the first sending unit 3501 is further configured to:

[0220] In response to the user operating the pose adjustment of the slave control touch screen 323010, the slave control touch screen 323010 sends a pose adjustment instruction to the mechanical arm 310, so that the mechanical arm 310 adjusts the pose of the surgical execution device 320 to the pose corresponding to the pose adjustment operation according to the pose adjustment instruction.

[0221] In response to the user operating the catheter system driving of the slave control touch screen 323010, the slave control touch screen 323010 sends a catheter system driving instruction to the surgical execution device 320, so that the surgical driving device 3230 drives the catheter system 3210 to perform an action corresponding to the catheter system driving operation through the sheath adapter 3220.

[0222] In a possible implementation, the first sending unit 3501 is further configured to:

[0223] In response to the user operating the mechanical arm of the slave mechanical arm locking key based on the mechanical arm, the control device 400 sends a mechanical arm operation instruction to the mechanical arm 310, so that the control device 400 controls the locking or unlocking of the joint of the mechanical arm 310.

[0224] In a possible implementation, the first sending unit 3501 is further configured to:

[0225] In response to the user operating the horizontal movement of the slave mechanical arm locking key based on the mechanical arm, the control device 400 sends a horizontal movement instruction to the mechanical arm 310, so that the mechanical arm 310 controls the surgical execution device 320 to advance or retreat according to the horizontal movement instruction.

[0226] In a possible implementation, the control device further includes an acquisition unit, and the acquisition unit is configured to:

[0227] In response to the user operating the information display operation button based on the information display operation, the master control console 410 acquires the state information of the robot device 300;

[0228] The display area of the display screen is split to obtain a first sub-area and a second sub-area;

[0229] The surgical picture is displayed in the first sub-area, and the state information is displayed in the second sub-area.

[0230] In a possible implementation, the first sending unit 3501 is further configured to:

[0231] In response to the user enabling the control device 400 based on the enabling operation of the enabling operation switch 420, the control device 400 sends an enabling instruction to the robot device 300, so as to establish a communication connection between the control device 400 and the robot device 300.

[0232] In a possible implementation, the first sending unit 3501 is further configured to:

[0233] In response to the user pressing the emergency stop button, the main console 410 sends an emergency stop instruction to the robot device 300, so as to pause the robot device 300.

[0234] In a possible implementation, the first sending unit 3501 is further configured to:

[0235] In response to the user pressing the reset button, the main console 410 sends a reset instruction to the robot device 300, so as to reset the robot device 300.

[0236] In a possible implementation, the first sending unit 3501 is further configured to:

[0237] In response to the user moving the mechanical arm of the control device 400, the control device 400 sends a mechanical arm moving instruction to the medical cart 330, so as to move the mechanical arm 310 to the fourth target position by moving the medical cart 330.

[0238] In response to the user installing the mechanical arm of the control device 400, the control device 400 sends a mechanical arm installing instruction to the medical cart 330, so as to install the mechanical arm 310 to the medical bed 500 by releasing the fixing of the mechanical arm 310 by the medical cart 330.

[0239] It should be noted that the apparatus in the embodiments of the present application can implement each process of the embodiments of the foregoing method, and achieve the same effects and functions, which will not be described here.

[0240] The present application also provides an electronic device, comprising a processor, a memory and a bus. The memory stores machine readable instructions executable by the processor, and the processor communicates with the memory through the bus when the electronic device is running. When the machine readable instructions are executed by the processor, the following processing is performed:

[0241] In response to the user's operation-end-based pose adjustment operation, the master console 410 sends a pose adjustment instruction to the mechanical arm 310 so that the mechanical arm 310 adjusts the pose of the surgical execution device 320 to a pose corresponding to the pose adjustment operation according to the pose adjustment instruction;

[0242] In response to the user's operation-end-based catheter system driving operation, the master console 410 sends a catheter system driving instruction to the surgical execution device 320 so that the surgical driving device 3230 drives the catheter system 3210 to perform an action corresponding to the catheter system driving operation through the sheath adapter 3220.

[0243] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program. The computer program is run by a processor to execute the steps of the control method for the surgical auxiliary system described in the method embodiment.

[0244] The embodiment of the present application also provides a computer program product, which includes a computer program. The computer program product carries program codes. The instructions included in the program codes can be used to execute the steps of the control method for the surgical auxiliary system described in the method embodiment. For details, refer to the method embodiment, which will not be described here.

[0245] The computer program product can be specifically implemented by means of hardware, software or a combination thereof. In an optional embodiment, the computer program product is specifically embodied as a computer storage medium. In another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0246] Each of the embodiments in the present application is described in a progressive manner. The same or similar parts of each of the embodiments can be mutually referred to. Each of the embodiments mainly describes the differences from other embodiments. Especially, since the device, equipment and computer readable storage medium embodiments are basically similar to the method embodiments, the description thereof is simplified. The relevant parts can refer to the part of the description of the method embodiment.

[0247] Although the spirit and principles of the present application have been described with reference to a number of specific embodiments, it should be understood that the present application is not limited to the disclosed specific embodiments, and the division of aspects does not mean that the features in these aspects cannot be combined. The present application is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the appended claims.

Claims

1. A control method for a surgical assistance system, the surgical assistance system comprising a robot device (300) and a control device (400); the robot device (300) comprising a mechanical arm (310) and a surgical execution apparatus (320) disposed at an execution end of the mechanical arm (310), the mechanical arm (310) being configured to adjust a pose of the surgical execution apparatus (320); the surgical execution apparatus (320) comprising a catheter system (3210), a sheath adapter (3220) and a surgical driving apparatus (3230), the sheath adapter (3220) being connected with the surgical driving apparatus (3230), the sheath adapter (3220) being configured to carry the catheter system (3210), the surgical driving apparatus (3230) being configured to drive the catheter system (3210) through the sheath adapter (3220); the control device (400) comprising a master control console (410), the master control console (410) comprising an operation end configured to control the robot device (300) and a display screen configured to display a surgical picture; the control method comprising: in response to a user's pose adjustment operation based on the operation end, the master control console (410) sends a pose adjustment instruction to the mechanical arm (310) so that the mechanical arm (310) adjusts the pose of the surgical execution apparatus (320) to a pose corresponding to the pose adjustment operation according to the pose adjustment instruction; in response to a user's catheter system driving operation based on the operation end, the master control console (410) sends a catheter system driving instruction to the surgical execution apparatus (320) so that the surgical driving apparatus (3230) drives the catheter system (3210) to perform an action corresponding to the catheter system driving operation through the sheath adapter (3220).

2. The method of claim 1, the catheter system (3210) comprising an outer catheter system (201), a middle catheter system (202) and an inner catheter system (203); the sheath adapter (3220) comprising an outer catheter system adapter (3221), a middle catheter system adapter (3222) and an inner catheter system adapter (3223), the outer catheter system adapter (3221) being configured to carry the outer catheter system (201), the middle catheter system adapter (3222) being configured to carry the middle catheter system (202), the inner catheter system adapter (3223) being configured to carry the inner catheter system (203); the operation end comprising an outer catheter system operation end, a middle catheter system operation end and an inner catheter system operation end; the in response to a user's catheter system driving operation based on the operation end, the master control console (410) sends a catheter system driving instruction to the surgical execution apparatus (320) so that the surgical driving apparatus (3230) drives the catheter system (3210) to perform an action corresponding to the catheter system driving operation through the sheath adapter (3220) comprising: ​ In response to a user's operation of the outer catheter system operation end, the main end console (410) sends an outer catheter system driving instruction to the surgical execution device (320) so that the surgical driving device (3230) drives the outer catheter system (201) to perform an action corresponding to the outer catheter system driving operation through the outer catheter system adapter (3221); In response to a user's operation of the middle catheter system operation end, the main end console (410) sends a middle catheter system driving instruction to the surgical execution device (320) so that the surgical driving device (3230) drives the middle catheter system (202) to perform an action corresponding to the middle catheter system driving operation through the middle catheter system adapter (3222); In response to a user's operation of the inner catheter system operation end, the main end console (410) sends an inner catheter system driving instruction to the surgical execution device (320) so that the surgical driving device (3230) drives the inner catheter system (203) to perform an action corresponding to the inner catheter system driving operation through the inner catheter system adapter (3223).

3. The method of claim 2, wherein the outer catheter system (201) comprises an outer catheter (2012), an outer catheter system knob (2013) and an outer catheter system handle (2011), a proximal end of the outer catheter (2012) is arranged on the outer catheter system handle (2011), and the outer catheter system knob (2013) is arranged on the outer catheter system handle (2011) and used to adjust a bending of a distal end of the outer catheter (2012); the outer catheter system adapter (3221) comprises an outer catheter system base (322101), a first outer catheter system transmission assembly (322102) and a second outer catheter system transmission assembly (322103), the first outer catheter system transmission assembly (322102) is arranged on the outer catheter system base (322101) and matched with the outer catheter system knob (2013), and the second outer catheter system transmission assembly (322103) is arranged on the outer catheter system base (322101) and matched with the outer catheter system handle (2011); the surgical driving device (3230) comprises a first outer catheter system driving assembly, a second outer catheter system driving assembly and a third outer catheter system driving assembly, the first outer catheter system driving assembly is connected with the first outer catheter system transmission assembly (322102), the second outer catheter system driving assembly is connected with the second outer catheter system transmission assembly (322103), and the third outer catheter system driving assembly is used to drive the surgical driving device (3230) to stretch and retract; the outer catheter system operation end comprises an outer catheter system operation button and an outer catheter system operation handle; The main console (410) sends an outer catheter system driving instruction to the surgery execution device (320) in response to a user's outer catheter system driving operation based on the outer catheter system operation handle or the outer catheter system operation button, so that the surgery driving device (3230) drives the outer catheter system (201) to perform an action corresponding to the outer catheter system driving operation through the outer catheter system adapter (3221), including: The main console (410) sends an outer catheter moving instruction to the surgery execution device (320) in response to a user's outer catheter moving operation based on the outer catheter system operation handle or the outer catheter system operation button, so that the surgery driving device (3230) is extended and retracted through a third outer catheter driving assembly to drive the outer catheter system (201) to move, so as to adjust the outer catheter (2012) to a first target position by moving the outer catheter system (201); The main console (410) sends an outer catheter bending instruction to the surgery execution device (320) in response to a user's outer catheter bending operation based on the outer catheter system operation button, so that The first outer catheter driving assembly drives the outer catheter system knob (2013) to rotate through the first outer catheter system transmission assembly (322102), so as to adjust the bending angle of the distal end of the outer catheter (2012) to a first target bending angle by driving the outer catheter system knob (2013) to rotate; The main console (410) sends an outer catheter rotating instruction to the surgery execution device (320) in response to a user's outer catheter rotating operation based on the outer catheter system operation handle, so that the second outer catheter driving assembly drives the outer catheter system handle (2011) to rotate through the second outer catheter system transmission assembly (322103), so as to adjust the bending direction of the distal end of the outer catheter (2012) to a first target bending direction by rotating the outer catheter system handle (2011).

4. The method of claim 2, wherein the middle catheter system (202) comprises a middle catheter (2022), a first middle catheter system knob (2023), a second middle catheter system knob (2024), and a middle catheter system handle (2021), a proximal end of the middle catheter (2022) is arranged on the middle catheter system handle (2021), the first middle catheter system knob (2023) and the second middle catheter system knob (2024) are arranged on the middle catheter system handle (2021) respectively, the first middle catheter system knob (2023) is used to adjust the bending of the distal end of the middle catheter (2022) in a first direction, and the second middle catheter system knob (2024) is used to adjust the bending of the distal end of the middle catheter (2022) in a second direction. The middle catheter system adapter (3222) comprises a middle catheter system base (322201), a first middle catheter system transmission assembly (322202) arranged on the middle catheter system base (322201) and matched with the first middle catheter system knob (2023), and a second middle catheter system transmission assembly (322203) arranged on the middle catheter system base (322201) and matched with the second middle catheter system knob (2024); The surgical driving device (3230) comprises a first middle catheter system driving assembly, a second middle catheter system driving assembly and a third middle catheter driving assembly, the first middle catheter system driving assembly is connected with the first middle catheter system transmission assembly (322202), the second middle catheter system driving assembly is connected with the second middle catheter system transmission assembly (322203), and the third middle catheter driving assembly is used for driving the surgical driving device (3230) to stretch and retract; The middle catheter system operation end comprises a first middle catheter system operation button, a second middle catheter system operation button and a middle catheter system operation handle; In response to a middle catheter system driving operation of a user based on the middle catheter system operation end, the master control console (410) sends a middle catheter system driving instruction to the surgical execution device (320) so that the surgical driving device (3230) drives the middle catheter system (203) to perform an action corresponding to the middle catheter system driving operation through the middle catheter system adapter (3222), which comprises: In response to a middle catheter moving operation of a user based on the middle catheter operation handle, the master control console (410) sends a middle catheter moving instruction to the surgical execution device (320) so that the third middle catheter system driving assembly drives the middle catheter system (202) to move by stretching and retracting the surgical driving device (3230), so as to adjust the middle catheter (2022) to a second target position by moving the middle catheter system (202); In response to a first middle catheter bending operation of a user based on the first middle catheter system operation button, the master control console (410) sends a first middle catheter bending instruction to the surgical execution device (320) so that the first middle catheter system driving assembly drives the first middle catheter system knob (2023) to rotate through the first middle catheter system transmission assembly (322202), so as to adjust a bending angle of a distal end of the middle catheter (2022) in the first direction to a second target bending angle by driving the first middle catheter system knob (2023) to rotate; In response to a middle catheter system driving operation of a user based on the middle catheter system operation end, the master control console (410) sends a middle catheter system driving instruction to the surgical execution device (320) so that the surgical driving device (3230) drives the middle catheter system (203) to perform an action corresponding to the middle catheter system driving operation through the middle catheter system adapter (3222), which comprises: In response to a middle catheter moving operation of a user based on the middle catheter operation handle, the master control console (410) sends a middle catheter moving instruction to the surgical execution device (320) so that the third middle catheter system driving assembly drives the middle catheter system (202) to move by stretching and retracting the surgical driving device (3230), so as to adjust the middle catheter (2022) to a second target position by moving the middle catheter system (202); In response to a first middle catheter bending operation of a user based on the first middle catheter system operation button, the master control console (410) sends a first middle catheter bending instruction to the surgical execution device (320) so that the first middle catheter system driving assembly drives the first middle catheter system knob (2023) to rotate through the first middle catheter system transmission assembly (322202), so as to adjust a bending angle of a distal end of the middle catheter (2022) in the first direction to a second target bending angle by driving the first middle catheter system knob (2023) to rotate; In response to a second catheter system operation of the user based on the second catheter system operation key, the main end console (410) sends a second catheter system bending operation instruction to the surgical execution device (320), so that the second catheter system driving assembly drives the second catheter system knob (2024) to rotate through the second catheter system transmission assembly (322203), so as to adjust the bending angle of the distal end of the catheter (2022) in the second direction to a third target bending angle by driving the second catheter system knob (2024) to rotate.

5. The method of claim 2, wherein the inner catheter system (203) comprises an inner catheter (2032), a first clamping element (204), a second clamping element (205), a clamping element locking rod (2033), a clamping element driving wheel (2034), a first clamping element operation rod (2035), a second clamping element operation rod (2036), and an inner catheter system handle (2031), the proximal end of the inner catheter (2032) is arranged on the inner catheter system handle (2031), the clamping element locking rod (2033) is used to control the unlocking and locking of the first clamping element (204) located at the distal end of the inner catheter (2032), the clamping element driving wheel (2034) is used to control the opening and closing of the first clamping element (204), the first clamping element operation rod (2035) is used to control the lifting and capturing of the first capturing arm of the second clamping element (205) located at the distal end of the inner catheter (2032), and the second clamping element operation rod (2036) is used to control the lifting and capturing of the second capturing arm of the second clamping element (205). The inner catheter system adapter (3223) comprises an inner catheter system base (322301), an inner catheter rotation transmission assembly (322302), a clamping element locking rod transmission assembly (322303), a clamping element drive wheel transmission assembly (322304), a first clamping element operating rod transmission assembly (322305), and a second clamping element operating rod transmission assembly (322306). The inner catheter rotation transmission assembly (322302) is arranged on the inner catheter system base (322301) and matched with the inner catheter system handle (2031). The clamping element locking rod transmission assembly (322303) is arranged on the inner catheter system base (322301) and matched with the clamping element locking rod (2033). The clamping element drive wheel transmission assembly (322304) is arranged on the inner catheter system base (322301) and matched with the clamping element drive wheel (2034). The first clamping element operating rod transmission assembly (322305) is arranged on the inner catheter system base (322301) and matched with the second clamping element operating rod (2035). The second clamping element operating rod transmission assembly (322306) is arranged on the inner catheter system base (322301) and matched with the second clamping element operating rod (2036). The surgical driving device comprises an inner catheter movement driving assembly, an inner catheter rotation driving assembly, a clamping element locking rod driving assembly, a clamping element drive wheel driving assembly, a first clamping element operating rod driving assembly, and a second clamping element operating rod driving assembly. The inner catheter movement driving assembly is used to drive the surgical driving device (3230) to stretch or retract. The inner catheter rotation driving assembly is connected with the inner catheter rotation transmission assembly (322302). The clamping element locking rod driving assembly is connected with the clamping element locking rod transmission assembly (322303). The clamping element drive wheel driving assembly is connected with the clamping element drive wheel transmission assembly (322304). The first clamping element operating rod driving assembly is connected with the first clamping element operating rod transmission assembly (322305). The second clamping element operating rod driving assembly is connected with the second clamping element operating rod transmission assembly (322306). The inner catheter system operating end comprises a clamping element locking rod operating button, a clamping element drive wheel operating button, a first clamping element operating rod operating button, a second clamping element operating rod operating button, and an inner catheter system operating handle. In response to the user's inner catheter system driving operation based on the inner catheter system operating end, the master control console (410) sends an inner catheter system driving instruction to the surgical execution device (320), so that the surgical driving device (3230) drives the inner catheter system (203) to perform an action corresponding to the inner catheter system driving operation through the inner catheter system adapter (3223), which comprises: ​ In response to the user's inner catheter moving operation of the handle based on the inner catheter system, the master control console (410) sends an inner catheter moving instruction to the surgery execution device (320) so that the inner catheter moving drive assembly extends and retracts the surgery drive device (3230) to drive the inner catheter system (203) to move, so as to adjust the inner catheter (2032) to the third target position by moving the inner catheter system (203); In response to the user's inner catheter rotating operation of the handle based on the inner catheter system, the master control console (410) sends an inner catheter rotating instruction to the surgery execution device (320) so that the inner catheter rotating drive assembly drives the inner catheter system handle (2031) to rotate through the inner catheter rotating transmission assembly (322302), so as to adjust the bending direction of the distal end of the inner catheter (2032) to the second target bending direction by rotating the inner catheter system handle (2031); In response to the user's clamping element locking rod operation of the key based on the clamping element locking rod (2033), the master control console (410) sends a clamping element locking rod operation instruction to the surgery execution device (320) so that the clamping element locking rod drive assembly drives the clamping element locking rod (2033) to move through the clamping element locking rod transmission assembly (322303), so as to control the first clamping element (204) to be locked or unlocked by moving the clamping element locking rod (2033); In response to the user's clamping element drive wheel operation of the key based on the clamping element drive wheel, the master control console (410) sends a clamping element drive wheel operation instruction to the surgery execution device (320) so that the clamping element drive wheel drive assembly drives the clamping element drive wheel (2034) to rotate through the clamping element drive wheel transmission assembly (322304), so as to control the first clamping element (204) to be opened or closed by rotating the clamping element drive wheel (2034); In response to the user's first clamping element operation lever operation of the key based on the first clamping element operation lever, the master control console (410) sends a first clamping element operation lever operation instruction to the surgery execution device (320) so that the first clamping element operation lever drive assembly drives the first clamping element operation lever (2035) to move through the first clamping element operation lever transmission assembly (322305), so as to control the capture or lifting of the first capture arm of the second clamping element (205) by moving the first clamping element operation lever (2035); ​ In response to a second gripper lever operation of the user based on the second gripper lever operation button, the master control console (410) sends a second gripper lever operation instruction to the surgical execution device (320) so that the second gripper lever driving assembly drives the second gripper lever (2036) to move through the second gripper lever transmission assembly (322306), so that the capture or lifting of the second capture arm of the second gripper element (205) is controlled by moving the second gripper lever (2036). In response to a gripper lever operation of the user based on the first gripper lever operation button or in response to a gripper lever operation of the user based on the second gripper lever operation button, the master control console (410) sends an instruction to the surgical execution device (320) so that the first gripper lever driving assembly and the second gripper lever driving assembly drive the first gripper lever (2035) and the second gripper lever (2036) to move through the first gripper lever transmission assembly (322305) and the second gripper lever transmission assembly (322306), so that the simultaneous capture or lifting of the first capture arm and the second capture arm of the second gripper element (205) is controlled by moving the first gripper lever (2035) and the second gripper lever (2036).

6. The method of claim 1, wherein the operation end comprises a mechanical arm operation end, and the mechanical arm operation end comprises a first mechanical arm operation button and a second mechanical arm operation button. In response to a position adjustment operation of the user based on the operation end, the master control console 410 sends a position adjustment instruction to the mechanical arm (310) so that the mechanical arm (310) adjusts the position of the surgical execution device (320) to a position corresponding to the position adjustment operation according to the position adjustment instruction, including: In response to a vertical movement operation of the user based on the second mechanical arm operation button, the master control console (410) sends a vertical movement instruction to the mechanical arm (310) so that the mechanical arm (310) controls the surgical execution device (320) to rise or fall according to the vertical movement instruction.

7. The method of claim 1, wherein the control device 400 further comprises a slave control touch screen (323010) disposed on the robot device (300), and the slave control touch screen (323010) is used to control the robot device (300), and the control method further comprises: In response to a position adjustment operation of the user based on the slave control touch screen (323010), the slave control touch screen (323010) sends a position adjustment instruction to the mechanical arm (310) so that the mechanical arm (310) adjusts the position of the surgical execution device (320) to a position corresponding to the position adjustment operation according to the position adjustment instruction. ​ In response to a user's catheter system driving operation based on the slave end control touch screen (323010), the slave end control touch screen (323010) sends catheter system driving instructions to the surgical execution device (320) so that the surgical driving device drives the catheter system (3210) to perform an action corresponding to the catheter system driving operation through the sheath adapter (3220).

8. The method of claim 1, wherein the control device (400) further comprises a slave end mechanical arm locking button arranged on the robot device (300), and the control method further comprises: In response to a user's mechanical arm operation based on the slave end mechanical arm locking button, the control device (400) sends mechanical arm operation instructions to the mechanical arm (310) so as to control locking or unlocking of the joints of the mechanical arm 310.

9. The method of claim 8, wherein the control method further comprises: In response to a user's horizontal movement operation based on the slave end mechanical arm locking button, the control device (400) sends horizontal movement instructions to the mechanical arm (310) so that the mechanical arm (310) controls the surgical execution device (320) to advance or retreat according to the horizontal movement instructions.

10. The method of claim 1, wherein the master end control console (410) further comprises an information display operation button, and the control method further comprises: In response to a user's information display operation based on the information display operation button, the master end control console (410) acquires state information of the robot device (300); divides the display area of the display screen to obtain a first sub-area and a second sub-area; displays the surgical picture in the first sub-area and displays the state information in the second sub-area.

11. The method of claim 1, wherein the control device (400) further comprises an enabling operation switch (420), and the control method further comprises: In response to a user's enabling operation based on the enabling operation switch (420), the control device (400) sends enabling instructions to the robot device (300) so that a communication connection is established between the control device 400 and the robot device (300).

12. The method of claim 1, wherein the operation end further comprises an emergency stop button, and the control method further comprises: In response to a user's emergency stop operation based on the emergency stop button, the master end control console (410) sends emergency stop instructions to the robot device (300) so as to pause the robot device (300).

13. The method of claim 1, wherein the operation end further comprises a reset button, and the control method further comprises: In response to a user's reset operation based on the reset button, the master end control console (410) sends reset instructions to the robot device (300) so as to reset the robot device (300).

14. The method of claim 1, wherein the robotic device 300 further comprises a medical cart 330, the medical cart 330 is provided with a mechanical arm receiving space and a mechanical arm fixing interface matched with the mechanical arm 310, the medical cart 330 is communicatively connected with the control device 400, and the control method further comprises: in response to a user-based mechanical arm transfer operation of the control device 400, the control device 400 sends a mechanical arm transfer instruction to the medical cart 330 so as to transfer the mechanical arm 310 to a fourth target position by moving the medical cart 330; in response to a user-based mechanical arm installation operation of the control device 400, the control device 400 sends a mechanical arm installation instruction to the medical cart 330 so as to install the mechanical arm 310 to the medical bed 500 by releasing the fixation of the medical cart 330 to the mechanical arm 310.

15. A control apparatus for a surgical assistance system, the surgical assistance system comprising a robotic device 300 and a control device 400; the robotic device 300 comprises a mechanical arm 310 and a surgical execution apparatus 320 provided at an execution end of the mechanical arm 310, the mechanical arm 310 is used to adjust a pose of the surgical execution apparatus 320; the surgical execution apparatus 320 comprises a catheter system 3210, a sheath adapter 3220 and a surgical driving apparatus 3230, the sheath adapter 3220 is connected with the surgical driving apparatus 3230, the sheath adapter 3220 is used to carry the catheter system 3210, and the surgical driving apparatus 3230 is used to drive the catheter system 3210 through the sheath adapter 3220; the control device 400 comprises a master control console 410, the master control console 410 comprises an operation end and a display screen, the operation end is used to control the robotic device 300, and the display screen is used to display a surgical picture; the control apparatus comprises: a first sending unit, in response to a user-based pose adjustment operation of the operation end, the master control console 410 sends a pose adjustment instruction to the mechanical arm 310 so that the mechanical arm 310 adjusts the pose of the surgical execution apparatus 320 to a pose corresponding to the pose adjustment operation according to the pose adjustment instruction; a second sending unit, in response to a user-based catheter system driving operation of the operation end, the master control console 410 sends a catheter system driving instruction to the surgical execution apparatus 320 so that the surgical driving apparatus 3230 drives the catheter system 3210 to perform an action corresponding to the catheter system driving operation through the sheath adapter 3220.

16. An electronic device comprising: The processor, the memory, and the bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, the machine readable instructions are executed by the processor, execute the control method for the surgical auxiliary system as claimed in any one of claims 1 to 14.

17. A computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by the processor to execute the control method for the surgical auxiliary system as claimed in any one of claims 1 to 14.

18. A computer program product, comprising a computer program, the computer program is executed by the processor to execute the control method for the surgical auxiliary system as claimed in any one of claims 1 to 14.

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