Surgical robot system and control method therefor

Abstract

A surgical robot system (10) and a control method therefor, and a storage medium. The method comprises: detecting an activation operation for transitioning a control arm (1011) of a surgical robot system (10) to a switching mode, wherein the switching mode is used for switching an instrument holding arm (102a) controlled by the control arm (1011); and in response to the activation operation, controlling the control arm (1011) to enter the switching mode, and displaying a switching guide on a display interface of the surgical robot system (10), wherein the switching guide is used for indicating a switching operation of the instrument holding arm (102a) controlled by the control arm (1011).

Description

Surgical robot system and its control method Cross-reference to related applications

[0001] This application is based on and claims priority to Chinese Patent Application No. 202411863796.3, filed on December 16, 2024, and Chinese Patent Application No. 202411855159.1, filed on December 16, 2024, the entire contents of which are hereby incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotic systems, and more particularly to a surgical robot system and its control method. Background Technology

[0003] Surgical robot systems typically include a main control console and slave operating devices. The main control console includes a control arm, and the slave operating devices include a robotic arm and a surgical arm at the end of the robotic arm. Surgical instruments are mounted on the surgical arm. The surgeon sends control commands to the slave operating devices by operating the control arm to control the surgical arm and perform surgical operations. When the surgeon needs to switch surgical arms, a switching operation can be performed to switch the currently controlled surgical arm. In related technologies, a switching control component is usually included in the surgical robot system. However, during surgery, the surgeon needs to operate the control arm, and the above switching method requires the surgeon to expend additional effort to operate the switching control component, resulting in high operational complexity. Summary of the Invention

[0004] In a first aspect, this application provides a control method for a surgical robot system, the method comprising: detecting an activation operation for switching a control arm of the surgical robot system from a current mode to a switching mode, the switching mode being used to switch a hand-held arm controlled by the control arm; causing the control arm to enter the switching mode in response to the activation operation; acquiring a first motion amount of the control arm in the switching mode; and switching the hand-held arm controlled by the control arm based on the first motion amount.

[0005] In a second aspect, this application provides a surgical robot system, the surgical robot system comprising: a holding arm for holding surgical instruments; a control arm for controlling the plurality of holding arms; and a processor for executing the method described in the first aspect.

[0006] In this embodiment, after the control arm of the surgical robot system enters the switching mode, the hand-held arm controlled by the control arm can be switched based on the first motion of the control arm in the switching mode. This way, the surgeon only needs to operate the control arm during the switching process, eliminating the need to switch between the control arm and the switching control component, thus reducing the operational complexity of the hand-held arm switching process.

[0007] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0008] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0009] Figure 1 is a schematic diagram of the structure of a surgical robot system according to an exemplary embodiment of this application;

[0010] Figure 2A is a schematic diagram of the structure of a console shown in an exemplary embodiment of this application;

[0011] Figure 2B is a schematic diagram of the structure of a control arm shown in an exemplary embodiment of this application;

[0012] Figure 3 is a schematic diagram illustrating an exemplary embodiment of this application showing the switching of a single control arm controlled by a single foot pedal.

[0013] Figure 4 is a schematic diagram illustrating an exemplary embodiment of this application showing the switching of two control arms controlled by two foot pedals.

[0014] Figure 5 is a flowchart illustrating a control method for a surgical robot system according to an exemplary embodiment of this application;

[0015] Figure 6 is a schematic diagram of a display interface and switching instructions when the number of control arms is 1, according to an exemplary embodiment of this application;

[0016] Figure 7 is a schematic diagram of the display interface when the number of control arms is 2, according to an exemplary embodiment of this application;

[0017] Figure 8A is a schematic diagram of a display interface when the holding arms controlled by the two control arms overlap, as shown in an exemplary embodiment of this application.

[0018] Figure 8B is a schematic diagram of another display interface when the holding arms controlled by the two control arms overlap, as shown in an exemplary embodiment of this application.

[0019] Figure 9A is a schematic diagram showing a change in the display interface when the control arm controls the mechanical arm switching, according to an exemplary embodiment of this application.

[0020] Figure 9B is a schematic diagram illustrating another change in the display interface when the control arm controls the mechanical arm switching, as shown in an exemplary embodiment of this application.

[0021] Figure 10 is a flowchart illustrating another control method for a surgical robot system according to an exemplary embodiment of this application;

[0022] Figure 11 is a flowchart illustrating a control method for another surgical robot system according to an exemplary embodiment of this application;

[0023] Figure 12 is a schematic diagram of another switching guide when the number of control arms is 1, as shown in an exemplary embodiment of this application;

[0024] Figure 13 is a schematic diagram showing a variation of the switching guide when the control arm controls the mechanical arm switching, according to an exemplary embodiment of this application.

[0025] Figure 14 is a schematic diagram of another variation of the switching guide when the control arm controls the holding arm switching, as shown in an exemplary embodiment of this application.

[0026] Figure 15 is a schematic diagram of another switching guide when the number of control arms is 2, as shown in an exemplary embodiment of this application. Detailed Implementation

[0027] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0028] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0029] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0030] A surgical robot system is an advanced medical system designed to help surgeons perform more precise and safer surgical procedures. A surgical robot system typically includes a control arm, a surgical arm, and a processor. The surgical arm holds the surgical instruments, the control arm controls the surgical arm to hold the instruments and perform the surgical operation, and the processor implements various control functions for the surgical robot system.

[0031] Figure 1 illustrates the specific structure of a surgical robot system 10 in an exemplary embodiment. The surgical robot system 10 includes a console 101, a robotic arm system 102, and an imaging system 103. The console 101 includes a display unit for displaying the surgical instrument environment, a control arm, and a handrail. The display unit has an observation window (also called a stereoscopic display) for the surgeon to observe. The movement of the control arm corresponds to the movement of the surgical instruments; by controlling the control arm, the position and orientation of the surgical instruments can be adjusted. The handrail is used to support the surgeon's arm. In addition, the console 101 includes other control switches that are easily touched or pressed by hand or foot for various functional operations and human-machine interaction. A processor can be integrated into the console 101.

[0032] The robotic arm system 102 includes several robotic arms. The holding arm includes a holding arm 102a and several connecting arms 102b. Adjacent connecting arms 102b move relative to each other with specific degrees of freedom, allowing the end effector of the holding arm 102a to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the instrument). An instrument actuator, surgical instrument, or image acquisition device is mounted on the end effector of the holding arm 102a. This image acquisition device can be an endoscope (e.g., a 3D endoscope) detachably mounted on the instrument actuator. For ease of understanding, the following description uses an endoscope as an example of the image acquisition device; however, it is understood that the image acquisition device in this application can also be of other types.

[0033] The imaging system 103 includes a display screen that can display images acquired by the endoscope. The endoscope can acquire images (such as surgical images) and send them to the imaging system 103. The endoscope can send acquired images directly to the imaging system 103 or via a console. The endoscope can perform image processing (e.g., decoding) on ​​the acquired images using its own processor or through a processor. The processed images can also be sent to other image processing devices for further image processing (e.g., noise reduction, contrast enhancement, sharpness improvement, etc.).

[0034] Figure 2A shows a schematic diagram of a console 101 according to an exemplary embodiment. The console 101 includes two control arms 1011, namely a first control arm 1011a (also referred to as the left main hand) and a second control arm 1011b (also referred to as the right main hand). The user can control different surgical arms through the first control arm 1011a and the second control arm 1011b. The number of surgical arms controlled by either the first control arm 1011a or the second control arm 1011b can be greater than or equal to one. The console 101 may also include a display unit 1012, which can output an image of the surgical site captured by an imaging device, and this image can be a stereoscopic image. The display unit 1012 can be a stereoscopic vision display with a left eyepiece and a right eyepiece. Furthermore, the console 101 may also include at least one foot pedal 1013 for performing various functional operations and completing human-computer interaction. For example, when the number of foot pedals 1013 is equal to two, the two foot pedals can be referred to as foot pedal 1013a and foot pedal 1013b, respectively.

[0035] Figure 2B shows a schematic diagram of the control arm 1011, which can be used for both the left and right main hands. The control arm 1011 includes a handpiece 10111 (such as a fingertip clamp), which can rotate about its central axis x. The rotation of the handpiece 10111 can be used as a control quantity to control the mechanical arm 102a. The user can also translate the handpiece 10111 and use the translation of the handpiece 10111 as a control quantity to control the mechanical arm 102a.

[0036] In related technologies, a switching control component is usually set up in the surgical robot system. The current holding arm 102a controlled by the control arm 1011 is switched by operating the switching control component (such as foot pedal 1013a). In this way, the doctor needs to exert extra effort to operate the switching control component.

[0037] Furthermore, the switching operations achievable through the switching control component are very limited. A single switching control component can only switch the holding arm 102a controlled by one control arm 1011, and cannot switch the holding arms 102a controlled by two or more control arms 1011.

[0038] As shown in Figure 3, assuming that the first control arm 1011a is assigned to control the mechanical arm 102a with the number X (hereinafter referred to as mechanical arm X for simplicity), and the second control arm 1011b is assigned to control the mechanical arm 102a with the number Y (hereinafter referred to as mechanical arm Y) and the mechanical arm 102a with the number Z (hereinafter referred to as mechanical arm Z), the mechanical arm 102a controlled by the second control arm 1011b can be switched from mechanical arm Y to mechanical arm Z by stepping on the foot pedal 1013a, or the mechanical arm 102a controlled by the second control arm 1011b can be switched from mechanical arm Z to mechanical arm Y.

[0039] When the first control arm 1011a is assigned to control a holding arm 102a, which also includes a holding arm 102a numbered U (hereinafter referred to as holding arm U), as shown in Figure 4, there is a situation where both the holding arm 102a controlled by the first control arm 1011a and the holding arm 102a controlled by the second control arm 1011b need to be switched quickly. In this case, it is not possible to quickly switch both holding arms 102a controlled by the two control arms 1011a using only the foot pedal 1013a. A foot pedal 1013b is needed to switch the holding arm 102a controlled by the first control arm 1011a using the foot pedal 1013a, and to switch the holding arm 102a controlled by the second control arm 1011b using the foot pedal 1013b. For example, by pressing foot pedal 1013a, the mechanical arm 102 controlled by the first control arm 1011a can be switched to mechanical arm X or mechanical arm U; by pressing foot pedal 1013b, the mechanical arm 102 controlled by the second control arm 1011b can be switched to mechanical arm Y or mechanical arm Z. However, when the console 101 only includes one foot pedal for activating the control arm 1011 to enter the switching mode (such as only including foot pedal 1013a), the hardware structure of the console 101 needs to be modified; and the user needs to spend extra effort to distinguish the correspondence between different foot pedals 1013 and control arms 1011. If it is desired to use only one foot pedal 1013 to switch between mechanical arms 102a controlled by multiple control arms 1011, a more complex switching logic may need to be designed, thereby reducing the user experience.

[0040] Based on this, this application proposes a control method for a surgical robot system, as shown in Figure 5, the method comprising:

[0041] Step S11: Detect the activation operation for switching the control arm of the surgical robot system from the current mode to the switching mode, the switching mode being used to switch the holding arm controlled by the control arm;

[0042] Step S12: In response to the activation operation, the control arm enters the switching mode;

[0043] Step S13: Obtain the first motion of the control arm in the switching mode;

[0044] Step S14: Switch the holding arm controlled by the control arm based on the first motion quantity.

[0045] In this embodiment, the user can switch the holding arm 102a controlled by the control arm 1011 based on the first motion of the control arm 1011 in the switching mode. The switching process only requires operating the control arm 1011 and does not require operating other switching control components, reducing the need for the user to switch between the control arm 1011 and other switching control components, thereby reducing the operational complexity. The specific implementation of this application is illustrated below.

[0046] In step S11, the user can switch the control arm 1011 of the surgical robot system 10 from the current mode to the switching mode through an activation operation. The activation operation can be a voice activation operation, a gesture activation operation, or an operation targeting an activation device in the surgical robot system 10. For example, the activation device can be a physical control on the surgical robot system 10, such as a foot pedal 1013a, a fingertip clutch on the control arm 1011, or other types of physical controls on the surgical robot system 10. In some embodiments, the number of control arms 1011 can be greater than one, and the number of activation devices can be equal to one; for example, a single physical control can be set as the activation device. That is, this application only needs to set a single number of activation devices to achieve switching between multiple control arms and the holding arm 102a.

[0047] The number of control arms 1011 in the surgical robot system 10 can be greater than or equal to one. When the number of control arms 1011 is greater than one, the current modes of different control arms 1011 can be the same or different.

[0048] In some embodiments, the current mode can be a teleoperation mode. When the control arm 1011 is in teleoperation mode, the user can control the surgical arm 102a to perform surgical operations through the control arm 1011. In other examples, the current mode can also be other modes, such as a "mouse" operation mode. In the "mouse" operation mode, the control arm 1011 is simulated as a mouse, and the user interface of the surgical robot system 10 can be interacted with through the control arm 1011. Another example is a decoupling mode. In decoupling mode, the control arm 1011 is decoupled from the surgical arm 102a, and the surgical arm 102a is locked and does not move with the control arm 1011. Besides the modes listed above, the current mode can also be other modes, which will not be listed here.

[0049] The switching mode is used to switch the robotic arm 102a controlled by the control arm 1011. For example, if the control arm 1011 originally controls robotic arm X, in the switching mode, the robotic arm 102a controlled by the control arm 1011 can be switched from robotic arm X to robotic arm Y. Furthermore, the robotic arm 102a controlled by the control arm 1011 can be switched from robotic arm Y to robotic arm Z, or from robotic arm Y back to robotic arm X. The robotic arms 102a controllable by the control arm 1011 can be pre-configured or assigned after entering the switching mode. After assigning a robotic arm 102a to the control arm 1011, the control arm 1011 can switch to control that robotic arm 102a. For example, a list of robotic arms 102a in the surgical robot system 10 can be displayed on the display interface of the surgical robot system 10, and the user can assign each robotic arm 102a in the list to the corresponding control arm 1011.

[0050] In step S12, the control arm 1011 can be put into a switching mode in response to the activation operation.

[0051] In some embodiments, the number of control arms 1011 in the surgical robot system 10 is greater than or equal to one. When the number of control arms 1011 is equal to one, if an activation operation is detected, one control arm 1011 can be controlled to enter a switching mode. When the number of control arms 1011 is greater than one, if an activation operation is detected, multiple control arms 1011 can be controlled to enter a switching mode.

[0052] In one specific embodiment, the activation operation is an operation performed on an activation device. The number of activation devices is equal to one, and the number of control arms 1011 is greater than one. After the user performs an activation operation on an activation device, multiple control arms 1011 can be controlled to enter the switching mode in response to the activation operation. In this way, the user does not need to perform multiple activation operations to control multiple control arms 1011 to enter the switching mode, thus reducing the operational complexity.

[0053] After the control arm 1011 enters the switching mode, it can also output a prompt message to inform the user that it has entered the switching mode. The prompt message may include, but is not limited to, visual prompts (such as indicator lights, or text, graphics, etc. on the display interface of the surgical robot system 10), sound prompts, and / or tactile prompts.

[0054] In steps S13 and S14, the first motion amount of the control arm 1011 in the switching mode can be obtained, and the holding arm 102a controlled by the control arm 1011 can be switched based on the first motion amount.

[0055] When the number of control arms 1011 is greater than one, the first motion amount of multiple control arms 1011 in the switching mode can be acquired respectively, and the holding arm 102a controlled by the corresponding control arm 1011 can be switched based on the first motion amount of multiple control arms 1011 in the switching mode. For example, assuming that the control arms 1011 include the first control arm 1011a and the second control arm 1011b in the aforementioned embodiment, the holding arm 102a controlled by the first control arm 1011a can be switched based on the first motion amount of the first control arm 1011a in the switching mode, and the holding arm 102a controlled by the second control arm 1011b can be switched based on the first motion amount of the second control arm 1011b in the switching mode.

[0056] The first amount of motion can be a rotation angle, that is, switching the holding arm 102a controlled by the control arm 1011 by rotating the control arm 1011. For example, when the control arm 1011 adopts the structure shown in FIG2B, the handheld part 10111 of the control arm 1011 can be rotated about its central axis x, and the amount of rotation of the handheld part 10111 can be used to switch the holding arm 102a controlled by the control arm 1011. Alternatively, the first amount of motion can be a movement distance, that is, switching the holding arm 102a controlled by the control arm 1011 by translating the control arm 1011.

[0057] In some embodiments, the range of motion in which the first motion is located can be determined, wherein the first motion in different ranges is used to switch the holding arm 102a controlled by the control arm 1011 from the current holding arm 102a to a different holding arm 102a, and to switch to the corresponding holding arm 102a according to the range of motion in which the first motion is located.

[0058] If the first motion quantity is greater than or equal to the lower limit of the target motion quantity interval among multiple motion quantity intervals, and less than the upper limit of the target motion quantity interval, the holding arm 102a controlled by the control arm 1011 can be switched from the current holding arm 102a to the holding arm 102a corresponding to the target motion quantity interval. If the first motion quantity is not within the motion quantity interval corresponding to any holding arm 102a, then the holding arm 102a controlled by the control arm 1011 is determined to remain the current holding arm 102a.

[0059] For example, if the control arm 1011 can control two mechanical arms 102a, assuming they include mechanical arms X and Y, when the current mechanical arm 102a is mechanical arm X, if the first motion amount is greater than or equal to the lower limit of the motion amount range corresponding to mechanical arm Y, and less than the upper limit of the motion amount range corresponding to mechanical arm Y, then the mechanical arm 102a controlled by the control arm 1011 can be switched from mechanical arm X to mechanical arm Y. Specifically, the upper limit of the motion amount range corresponding to mechanical arm Y can be greater than the upper limit of the rotation angle of the control arm 1011. In this case, as long as the first motion amount is greater than or equal to the lower limit of the motion amount range corresponding to mechanical arm Y (denoted as the first motion amount threshold), the mechanical arm 102a controlled by the control arm 1011 can be switched from mechanical arm X to mechanical arm Y. For example, the first motion amount threshold can be 10°, then when the first motion amount is greater than or equal to 10°, the mechanical arm 102a controlled by the control arm 1011 can be switched to mechanical arm Y. If the first motion amount is less than the first motion amount threshold, then the current mechanical arm 102a will remain as mechanical arm X.

[0060] For example, the number of controllable arms 102a by the control arm 1011 is greater than two, assuming they include arms X, Y, and Z. When the current arm 102a is arm X, if the first motion quantity is greater than or equal to the lower limit of the first motion quantity interval corresponding to arm Y (denoted as the first motion quantity threshold) and less than the upper limit of the first motion quantity interval (denoted as the second motion quantity threshold), then the current arm 102a is determined to switch to arm Y. If the first motion quantity is greater than or equal to the lower limit of the second motion quantity interval corresponding to arm Z (denoted as the third motion quantity threshold) and less than the upper limit of the second motion quantity interval (denoted as the fourth motion quantity threshold), then the current arm 102a is determined to switch to arm Z. Wherein, the first motion quantity threshold is less than the second motion quantity threshold, the second motion quantity threshold is less than or equal to the third motion quantity threshold, and the third motion quantity threshold is less than the fourth motion quantity threshold. If the first motion threshold is neither in the first motion range nor in the second motion range, then the current mechanical arm 102a will remain as mechanical arm X.

[0061] In some embodiments, if the first motion amount is not within the motion range corresponding to any of the mechanical arms 102a, a prompt message can be output to confirm whether to switch the mechanical arm 102a controlled by the control arm 1011. If an instruction to switch the mechanical arm 102a controlled by the control arm 1011 is received (hereinafter referred to as a switch permission instruction), the mechanical arm 102a controlled by the control arm 1011 can be switched from the current mechanical arm 102a to the next mechanical arm 102a. If an instruction not to switch the mechanical arm 102a controlled by the control arm 1011 is received (hereinafter referred to as a switch rejection instruction), the mechanical arm 102a controlled by the control arm 1011 can remain as the current mechanical arm 102a. In this embodiment, by outputting a prompt message, the user can perform a secondary confirmation when switching the mechanical arm 102a, thereby reducing the probability of misoperation. The prompt message may include voice prompts, visual prompts, and / or tactile prompts. For example, prompts can be displayed on the screen of the surgical robot system 10. Users can send instructions to allow or refuse switching via gestures, voice, or physical or virtual controls on the surgical robot system 10.

[0062] Since the control arm 1011 may include multiple modes, in some modes (such as remote operation mode), the motion of the control arm 1011 is used to control the follow-up movement of the holding arm 102a. After entering the switching mode, the motion of the control arm 1011 is no longer used to control the follow-up movement of the holding arm 102a, but is used to switch the holding arm 102a controlled by the control arm 1011. Therefore, in the switching mode, the holding arm 102a can be locked. After the holding arm 102a is locked, it does not follow the movement of the control arm 1011. The motion of the control arm 1011 only has the function of switching the holding arm 102a. In this way, it is possible to prevent the holding arm 102a from moving with the movement of the control arm 1011 during the switching process, thereby improving the safety of the device.

[0063] When the control arm 1011 is in remote operation mode, since its function is to control the surgical arm 102a, the second motion of the control arm 1011 in this remote operation mode can be acquired, and the surgical arm 102a can be controlled to perform surgical operations based on this second motion. In this way, by switching between different modes, the control arm 1011 can perform different functions, realizing the reuse of the control arm 1011 and reducing the need for users to switch between different operating components to achieve different functions, thereby reducing operational complexity.

[0064] In some embodiments, after entering the switching mode, information about the currently holding arm 102a controlled by the control arm 1011 can also be displayed on the display interface of the surgical robot system 10, so that the user can more intuitively observe the information about the currently holding arm 102a controlled by the control arm 1011. Referring to Figure 6, the information about the currently holding arm 102a may include, but is not limited to, at least one of the following: identification information of the currently holding arm 102a (such as "holding arm X"), category information of the surgical instrument held on the currently holding arm 102a (such as "suture needle"), and identification information of the control arm 1011 that controls the currently holding arm 102a (such as "left master hand"). In addition, the display interface can also display the first motion amount of the control arm 1011 (rotation amount in this embodiment, such as "60°"), information on the candidate surgical instruments 102a that the control arm 1011 can switch to (including but not limited to the identification information of the candidate surgical instruments 102a, such as "surgical instrument Y" and "surgical instrument Z", and / or the category information of the surgical instruments held by the candidate surgical instruments 102a, such as "surgical knife" and "hemostat"), the operation mode of the control arm 1011 (such as "clockwise rotation"), and / or the switching progress of the surgical instruments 102a (as shown by the gray progress bar in the figure). As shown in Figure 6, in order to facilitate differentiation, the information of the current surgical instrument 102a and the information of other surgical instruments 102a can be displayed through different visual features, for example, through arrows of different colors.

[0065] In some embodiments where the number of control arms 1011 is greater than one, the display interface includes display areas corresponding to multiple control arms 1011 respectively. Information about the currently held mechanical arm 102a controlled by the corresponding control arm 1011 is displayed in each of the multiple display areas. In some embodiments, within each of the multiple display areas, information about the currently held mechanical arm 102a controlled by the control arm 1011 and information about at least one candidate held mechanical arm 102a that the control arm 1011 can switch to are displayed.

[0066] Referring to Figure 7, there are two control arms 1011, designated as the left and right master arms. Correspondingly, the display interface includes a display area for the left master arm and a display area for the right master arm. The display area for the left master arm displays information about the currently controlled mechanical arm 102a, and the display area for the right master arm displays information about the currently controlled mechanical arm 102a. In addition, each display area can also display other information, as detailed above, which will not be repeated here. In Figure 7, black dashed arrows indicate the identification information corresponding to the currently controlled mechanical arm 102a.

[0067] In some embodiments, the number of control arms 1011 and the number of mechanical arms 102a in the surgical robot system are both greater than one, and at least one common mechanical arm 102a among the multiple mechanical arms 102a can be controlled by the multiple control arms 1011. The display interface includes multiple display areas corresponding to the multiple control arms 1011, wherein each display area is used to display information of the corresponding control arm 1011 and information of the mechanical arms 102a that the control arm 1011 can control, and information of the common mechanical arm 102a is displayed in all multiple display areas.

[0068] As shown in Figure 8A, assuming there are two control arms 1011, designated as the left and right master arms respectively, the display interface includes display areas corresponding to the left and right master arms. There are four mechanical arms 102a, denoted as Mechanical Arm X, Mechanical Arm Y, Mechanical Arm Z, and Mechanical Arm U. Mechanical Arm Z is a common mechanical arm 102a, meaning it can be controlled by both the left and right master arms. It can be seen that information about Mechanical Arm Z is displayed in both the display areas corresponding to the left and right master arms. This method visually represents the overlapping relationship of the mechanical arms 102a controlled by multiple control arms 1011, allowing users to quickly identify which mechanical arms 102a can be jointly controlled by multiple control arms 1011 through the display interface. It is understandable that although the information of the surgical arm 102a shown in the figure includes the identification information of the surgical arm 102a, in actual applications, the information of the surgical arm 102a displayed may also include other information, such as the type of surgical instrument held by the surgical arm 102a. In particular, Figure 8A shows the identification information corresponding to the current surgical arm 102a controlled by the control arm 1011 in the form of a black dashed arrow.

[0069] In some embodiments, in response to any one of the control arms 1011 controlling a holding arm 102a to switch from a common holding arm 102a to another holding arm 102a among the multiple holding arms 102a other than the common holding arm 102a, or in response to the control arm 1011 controlling a holding arm 102a to switch from another holding arm 102a to a common holding arm 102a, the information of the holding arms 102a displayed in multiple display areas can be updated.

[0070] As shown in Figure 8B, when the currently controlled mechanical arm 102a by the left master hand switches from mechanical arm X to mechanical arm Z, the display area corresponding to the left master hand will update the currently controlled mechanical arm 102a to mechanical arm Z. Simultaneously, the display area corresponding to the right master hand will update the status of mechanical arm Z to occupied, and this occupied status will be indicated by color or text. In this way, when the user switches the currently controlled mechanical arm 102a by the right master hand, they can intuitively observe whether the common mechanical arm 102a is controlled by another control arm 1011. Figure 8B uses black dashed arrows to illustrate the identification information corresponding to the currently controlled mechanical arm 102a by the control arm 1011.

[0071] In some embodiments, the display interface includes multiple identification information, including identification information corresponding to the current holding arm 102a controlled by the control arm 1011 and identification information corresponding to at least one candidate holding arm 102a that the control arm 1011 can switch to. The layout of the multiple identification information on the display interface can be fixed or can change as the current holding arm 102a controlled by the control arm 1011 is switched.

[0072] Referring to Figures 9A and 9B, the arrows represent the identification information corresponding to the holding arm 102a. The red arrow (illustrated as a black dashed arrow in Figures 9A and 9B) represents the identification information corresponding to the current holding arm 102a controlled by the control arm 1011, while the black arrow represents the identification information corresponding to the candidate holding arms 102a that the control arm 1011 can switch to. It can be seen that in Figure 9A, regardless of whether the current holding arm 102a controlled by the control arm 1011 is holding arm X, holding arm Z, or holding arm U, the layout of the various corresponding identification information for each of these three holding arms on the display interface remains fixed. However, in Figure 9B, as the current holding arm 102a controlled by the control arm 1011 is switched, the various corresponding identification information for each of these three holding arms rotates counterclockwise on the display interface, meaning the layout of the three displays changes. It is understood that the layout variation shown in Figure 9B is only an illustrative example. In other examples, the layout of each identification information can also be changed in other ways.

[0073] In some embodiments, when the currently held mechanical arm 102a controlled by the control arm 1011 changes, a prompt message can also be output to notify the user that the currently held mechanical arm 102a has changed. The prompt message includes at least one of the following: audible prompts, visual prompts, and tactile prompts.

[0074] In some embodiments, after entering the switching mode, an activation cancellation operation that causes the control arm 1011 to exit the switching mode can also be detected. The activation cancellation operation can be an operation on the activation device in the surgical robot system 10. For example, an odd number of operations (e.g., the first) on the activation device can cause the control arm 1011 to enter the switching mode, and an even number of operations (e.g., the second) on the activation device can cause the control arm 1011 to exit the switching mode. As another example, controlling the activation device to a first state can cause the control arm 1011 to enter the switching mode; controlling the activation device to a second state can cause the control arm 1011 to exit the switching mode. When the activation device is a foot pedal, the activation operation can be an odd number of foot pedal presses, and the deactivation operation can be an even number of foot pedal presses. Taking a foot pedal as an example, the first state can be a pressed foot pedal state, and the second state can be a released foot pedal state. In addition, the activation operation can also be a voice activation operation, a gesture activation operation, or other types of operation.

[0075] When the control arm 1011 is in switching mode, in response to a detected deactivation operation to exit switching mode, the control arm 1011 can be controlled to return from switching mode to the current mode (i.e., the mode before entering switching mode). Alternatively, in response to a detected deactivation operation to exit switching mode, the system can return to the mode selection interface, allowing the user to select the mode after exiting switching mode.

[0076] In some embodiments, the following situation may occur: the user performs a certain control operation on the control arm 1011, causing the first motion quantity of the control arm 1011 to be greater than 0. However, the first motion quantity is not within the motion quantity range corresponding to any of the holding arms 102a. In this case, the switching mode is exited. In the above situation, it can be determined that the holding arm 102a controlled by the control arm 1011 remains the current holding arm 102a, and the first motion quantity is cleared to zero. In this way, when entering the switching mode again, the user can control the control arm 1011 again, and switch the current holding arm 102a controlled by the control arm 1011 based on the first motion quantity of the control arm 1011 when it enters the switching mode again, without adding the first motion quantity of the control arm 1011 when entering the switching mode this time to the first motion quantity after entering the switching mode again.

[0077] Alternatively, in the above scenario, a prompt message can be output before exiting the switching mode. This prompt message confirms whether to switch the surgical arm 102a controlled by the control arm 1011. If an instruction to switch the surgical arm 102a controlled by the control arm 1011 is received, the surgical arm 102a controlled by the control arm 1011 can be switched from the current surgical arm 102a to the next surgical arm 102a, and the switching mode can be exited after the switch. If an instruction not to switch the surgical arm 102a controlled by the control arm 1011 is received, the surgical arm 102a controlled by the control arm 1011 can remain as the current surgical arm 102a, and the switching mode can be exited. The instructions to switch the surgical arm 102a controlled by the control arm 1011 and the instructions not to switch the surgical arm 102a controlled by the control arm 1011 can both be user-inputted voice instructions, gesture instructions, or instructions input by the user through the interactive components on the surgical robot system 10. In this way, users can choose whether to switch the current robotic arm 102a before exiting the switching mode, reducing the need to re-enter the switching mode and switch the current robotic arm 102a due to accidental triggering of the exit switching mode function, and further reducing the complexity of operation.

[0078] In some embodiments, if the first motion reaches a preset upper limit of motion, the control arm 1011 can be controlled to output force feedback and / or prompting information (such as vibration prompts, sound prompts and / or visual prompts) to prevent the first motion from continuing to increase, thereby reducing the risk of the control arm 1011 colliding with other objects due to excessive first motion and improving the safety of the surgical robot system 10.

[0079] The technical solution of this application will be illustrated below with a specific embodiment.

[0080] In this embodiment, the robotic arm system 102 is a patient-side robot. Patient-side robots typically have multiple patient-side robotic arms (i.e., the holding arm 102a in the aforementioned embodiment); however, only two control arms 1011 (i.e., the left master arm and the right master arm) on the control console control these multiple patient-side robotic arms. When it is necessary to switch between patient-side robotic arms controlled by control arms 1011, the relevant technology uses a foot pedal for switching. One foot pedal can only switch between patient-side robotic arms controlled by one control arm 1011. If it is necessary to switch between patient-side robotic arms controlled by two control arms 1011, two foot pedals are required, or a more complex control logic needs to be designed.

[0081] This application uses a foot pedal or button to switch between the two control arms 1011 that control the adjacent robotic arms. If it is necessary to switch the control arm 1011 to a different adjacent robotic arm, the foot pedal can be pressed to enter the switching mode, and one or both control arms 1011 can be manipulated to perform certain actions or gestures to complete the switch. Referring to Figure 10, the overall process of this application is as follows:

[0082] First, after starting the system, you can press the foot pedal to enter the switching mode while in remote operation mode or standby mode. Entering switching mode from remote operation mode will exit remote operation mode. In switching mode, console 101 cannot control the robotic arm beside the patient, but the following two functions will be available:

[0083] Function 1: The display interface of the control console 101 can indicate which robotic arm is currently being controlled by the left and right master arms.

[0084] Function 2: Doctors can move or rotate the control arm 1011 to switch the currently controlled robotic arm next to the patient. When the switch is successful, the control arm 1011 will provide force or vibration feedback or sound prompts, and the display interface can also indicate the robotic arm next to the patient currently controlled by the control arm 1011, for the purpose of prompting the user.

[0085] Releasing the foot pedal exits the switching mode and cancels the prompts on the display screen. Simultaneously, it returns to remote operation mode, and the posture of the robotic arm beside the patient changes according to the end effector posture of the control arm 1011.

[0086] As shown in Figure 7, the left master hand controls the robotic arms X and U, and the right master hand controls the robotic arms Y and Z. The display interface of the control console 101 shows the left display panel (i.e., the display area corresponding to the left master hand) and the right display panel (i.e., the display area corresponding to the right master hand), indicating which patient-side robotic arm the left and right master hands are currently controlling, as well as the remaining idle and switchable patient-side robotic arms. It is understood that in this application, the left and right display panels are only for illustrative purposes; other methods can also be used to display the left and right master hands and the patient-side robotic arms they control on the display interface.

[0087] When switching between the left and right master control arms 1011 as needed, the adjacent robotic arm can be switched by rotating the master arm. Each time the master arm rotates a certain angle, it can switch from the current adjacent robotic arm to the next adjacent robotic arm, and the switch is prompted through a graphical user interface or force, vibration feedback, sound feedback, etc.

[0088] For example, if the left master hand is currently controlling the robotic arm X, and the left master hand rotates 10° clockwise (as an example), the system will prompt the left master hand to switch to controlling the robotic arm U via a "click" sound. If the robotic arm next to the affected patient that the left master hand can control also includes the robotic arm M (not shown in the figure), continuing to rotate 10° clockwise will switch the left master hand to control the robotic arm M.

[0089] When the currently controlled robotic arm next to the affected patient is the holding arm X, if the left master hand only rotates 5° clockwise, then the currently controlled robotic arm next to the affected patient remains the holding arm X; if it is still necessary to switch to controlling the holding arm U, then:

[0090] ① If you do not release the foot pedal to exit the switching mode, continue to rotate clockwise 5° to switch to controlling the mechanical arm U;

[0091] ② If you release the foot pedal to exit the switching mode and then press the foot pedal again to enter the switching mode, the previous control value will be cleared. You need to rotate the left main hand clockwise by 10° to switch to control the mechanical arm U.

[0092] Furthermore, if rotating the left master hand 10° confirms the desired control of the robotic arm U, after switching the currently controlled robotic arm next to the affected area to the robotic arm U, the foot pedal can be released, and the switching mode can be exited. Alternatively, after rotating the left master hand 10° clockwise, a prompt message can be output, allowing the user to confirm whether to switch the currently controlled robotic arm next to the affected area to the robotic arm U.

[0093] If the right master hand also needs to switch the currently controlled robotic arm next to the affected area, rotate the right master hand to adjust it to the desired robotic arm next to the affected area. After both the left and right master hands have switched, release the foot pedal to exit the switching mode.

[0094] During the switching process, the display interface can be updated in real time, allowing users to more intuitively observe the status of the robotic arms currently controlled by the left and right master hands. For example, if the left master hand rotates 10° clockwise, after switching the robotic arm currently controlled by the left master hand to the holding arm U, the corresponding change in the left display panel of the left master hand may be as follows:

[0095] Format 1: The display positions of each patient-side robotic arm on the left display panel do not update, but the visual characteristics such as color and animation effects (e.g., flashing) indicate the patient-side robotic arm currently controlled by the left master hand, as shown in Figure 9A. In this case, after the patient-side robotic arm currently controlled by the left master hand is switched to the holding arm U, if the left master hand continues to rotate clockwise, force feedback or other forms of feedback information can be output to prevent the user from continuing to rotate the left master hand clockwise. Alternatively, after the patient-side robotic arm currently controlled by the left master hand is switched to the holding arm U, the left master hand can also be rotated counterclockwise to return the patient-side robotic arm currently controlled by the left master hand to the holding arm Z.

[0096] Form 2: The display positions of each patient-side robotic arm in the left display panel are updated, and the patient-side robotic arm currently controlled by the left master hand can be indicated by an icon (such as an arrow pointing in a specific direction) displayed at a specific display position, as shown in Figure 9B.

[0097] It is understood that, in addition to the case shown above involving two control arms 1011, the present application also applies to cases involving multiple control arms 1011. Furthermore, the patient-side robotic arms controlled by the multiple control arms 1011 can be partially identical. For example, the multiple control arms 1011 may include a left master hand and a right master hand, both of which can control the robotic arms on two patient-side robots (denoted as patient-side robot PSR1 and patient-side robot PSR2). Assuming the left master hand is currently controlling a robotic arm 102a on patient-side robot PSR1, after the left master hand switches modes, the remaining robotic arms 102a on patient-side robot PSR1 and each robotic arm 102a on patient-side robot PSR2 can be displayed in the corresponding display area of ​​the left master hand, so that the left master hand can be switched to control either the remaining robotic arms 102a on patient-side robot PSR1 or the robotic arms 102a on patient-side robot PSR2.

[0098] Based on the above embodiments, this application has the following technical effects:

[0099] (1) This application allows users to quickly switch between two or more control arms 1011 on the console 101 simultaneously. When the number of control arms 1011 is greater than 1, or when there are many control arms 102a to be controlled, only a single activation device is needed to enter the switching mode and switch the control arms 102a controlled by multiple control arms 1011 separately. There is no need to set up multiple activation devices, and users do not need to distinguish which activation device is used to activate which control arm 1011 for switching, thus improving the user experience.

[0100] (2) This application incorporates more prompts (such as visual prompts, tactile prompts, and sound prompts) and provides a more intuitive method for switching between robotic arms, further enhancing the user experience.

[0101] (3) This application realizes the switching of the holding arm 102a through the control arm 1011. During the switching process, the user can focus on the operation of the control arm 1011 without having to be distracted by the additional foot pedal or interface to perform the switching operation, making the surgery smoother.

[0102] As described in the previous embodiment, in the surgical robot system, multiple surgical arms 102a can be controlled by a control arm 1011. A switching operation can be performed to change the currently controlled surgical arm 102a. However, if the user is unfamiliar with the switching operation, they may switch to the wrong surgical arm 102a. For example, the user needs to perform a first operation to switch the current surgical arm 102a to the arm 102a holding a scalpel, and a second operation to switch the current surgical arm 102a to the arm 102a holding a hemostat. However, because the user is unfamiliar with the operation of switching the various surgical arms 102a, they might perform the second operation when they need to switch the current surgical arm 102a to the arm 102a holding a scalpel, and perform the first operation when they need to switch the current surgical arm 102a to the arm 102a holding a hemostat. This results in an incorrect switching operation. Users are forced to attempt the switch multiple times after each initial attempt, ultimately switching to the desired arm 102a, resulting in low switching efficiency. Therefore, if there were an intuitive way to guide users through the switching process of the currently controlled arm 102a by the control arm 1011, users would not switch to the incorrect arm 102a due to unfamiliarity with the switching procedure.

[0103] Based on this, this application provides a control method for a surgical robot system 10, as shown in Figure 11, the method comprising:

[0104] Step S21: Detect the activation operation for switching the control arm of the surgical robot system to a switching mode; wherein, the switching mode is a mode that allows switching of the holding arm controlled by the control arm.

[0105] Step S22: In response to the activation operation control, the control arm enters the switching mode and a switching guide is displayed on the display interface of the surgical robot system. The switching guide is used to indicate the switching operation of the holding arm controlled by the control arm.

[0106] In this embodiment, after detecting the activation operation of switching the control arm 1011 of the surgical robot system 10 to the switching mode, a switching guide is displayed on the display interface of the surgical robot system 10 simultaneously with entering the switching mode. This guide instructs on the switching operation of the robotic arm 102a controlled by the control arm 1011. This allows the user to intuitively switch the robotic arm 102a controlled by the control arm 1011 to the desired robotic arm 102a according to the switching guide on the display interface. This reduces the probability of switching errors and the need for multiple switching operations to finally switch to the desired robotic arm 102a, thus improving switching efficiency. The specific implementation of the above embodiment is illustrated below.

[0107] In step S21, the user can switch the control arm 1011 of the surgical robot system 10 to a switching mode through an activation operation. The activation operation can be a voice activation operation, a gesture activation operation, or an operation targeting an activation device within the surgical robot system 10. For example, the activation device can be a physical control on the surgical robot system 10, such as a foot pedal 1013a, a fingertip clutch on the control arm 1011, or other types of physical controls on the surgical robot system 10.

[0108] In embodiments where the activation operation is an operation on an activation device, the activation device may include one or more foot pedals 1013. For example, as shown in FIG3, assuming that a first control arm 1011a is assigned to control a mechanical arm X, and a second control arm 1011b is assigned to control mechanical arms Y and Z, pressing the foot pedal 1013a can switch the mechanical arm 102a controlled by the second control arm 1011b from mechanical arm Y to mechanical arm Z, or switch the mechanical arm 102a controlled by the second control arm 1011b from mechanical arm Z to mechanical arm Y.

[0109] For example, as shown in Figure 4, when the first control arm 1011a is assigned to control a mechanical arm 102a that also includes a mechanical arm U, there may be situations where both the mechanical arm 102a controlled by the first control arm 1011a and the mechanical arm 102a controlled by the second control arm 1011b need to be switched quickly. In this case, the activation device may include foot pedals 1013a and 1013b. For example, by pressing foot pedal 1013a, the mechanical arm 102a controlled by the first control arm 1011a can be switched to mechanical arm X or mechanical arm U; by pressing foot pedal 1013b, the mechanical arm 102a controlled by the second control arm 1011b can be switched to mechanical arm Y or mechanical arm Z.

[0110] The control arm 1011 switches to a switching mode, which can be a change from the current mode to the switching mode. The number of control arms 1011 in the surgical robot system 10 can be greater than or equal to one. When the number of control arms 1011 is greater than one, the current modes of different control arms 1011 can be the same or different.

[0111] In some embodiments, the current mode can be a teleoperation mode. When the control arm 1011 is in teleoperation mode, the user can control the surgical arm 102a to perform surgical operations through the control arm 1011. In other examples, the current mode can also be other modes, such as a "mouse" operation mode. In the "mouse" operation mode, the control arm 1011 is simulated as a mouse, and the user interface of the surgical robot system 10 can be interacted with through the control arm 1011. Another example is a decoupling mode. In decoupling mode, the control arm 1011 is decoupled from the surgical arm 102a, and the surgical arm 102a is locked and does not move with the control arm 1011. Besides the modes listed above, the current mode can also be other modes, which will not be listed here.

[0112] The switching mode is used to switch the control arm 1011 controlling the robotic arm 102a. For example, if the control arm 1011 originally controls robotic arm X, in switching mode, it can switch the control arm 1011 from robotic arm X to robotic arm Y, and further switch the control arm 1011 from robotic arm Y to robotic arm Z, or from robotic arm Y back to robotic arm X. The robotic arms 102a that the control arm 1011 can control can be pre-configured, or they can be assigned after entering the switching mode. After assigning a robotic arm 102a to the control arm 1011, the control arm 1011 can switch to control that robotic arm 102a. For example, a list of robotic arms 102a in the surgical robot system 10 can be displayed on the display interface of the surgical robot system 10, and the user can assign each robotic arm 102a in the list to the corresponding control arm 1011.

[0113] In step S22, the control arm 1011 can enter a switching mode in response to an activation operation. In some embodiments, the number of control arms 1011 in the surgical robot system 10 is greater than or equal to one. When the number of control arms 1011 is equal to one, if an activation operation is detected, one control arm 1011 can be controlled to enter the switching mode. When the number of control arms 1011 is greater than one, if an activation operation is detected, multiple control arms 1011 can be controlled to enter the switching mode. In this way, the user does not need to perform multiple activation operations to control multiple control arms 1011 to enter the switching mode, thus reducing operational complexity.

[0114] In one specific embodiment, the activation operation is an operation performed on an activation device. The number of activation devices is equal to one, and the number of control arms 1011 is greater than one. After the user performs an activation operation on an activation device, multiple control arms 1011 can be controlled to enter the switching mode in response to the activation operation. In this way, the user does not need to perform multiple activation operations to control multiple control arms 1011 to enter the switching mode, thus reducing the operational complexity. When the activation device is a foot pedal, if the user presses the foot pedal, an activation operation is received. In response to the activation operation, one or more control arms 1011 are controlled to enter the switching mode. If the user remains in the pressed state after pressing the foot pedal, one or more control arms 1011 will remain in the switching mode. In the switching mode, one or more control arms 1011 can be selected to switch to a target holding arm 102a (wherein, the target holding arm 102a is the holding arm 102a to be switched to selected from at least one switchable candidate holding arms 102a). When exiting the switching mode or confirming the switching, the current holding arm 102a controlled by the control arm 1011 can be switched to the target holding arm 102a according to the target holding arm 102a selected when exiting or confirming the switching.

[0115] After entering the switching mode, a control quantity can be input through the input device of the surgical robot system 10, and the target holding arm 102a to which the control arm 1011 will switch will be determined based on the control quantity. The input device can be a button, a scroll wheel, a knob, or the control arm 1011, etc. For example, when the input device is a button, the control quantity is the number of times the button is pressed; each time the user presses the button, the target holding arm 102a to which the control arm 1011 will switch will be determined. When the input device is a scroll wheel or a knob, the control quantity can be the amount of rotation of the scroll wheel or knob. By rotating the scroll wheel or knob by a certain angle, the user can determine the target holding arm 102a corresponding to that angle. When the input device is the control arm 1011, the control quantity can be the amount of movement of the control arm 1011, which can be a rotation angle; that is, the target holding arm 102a to which the control arm 1011 will switch will be determined by rotating the control arm 1011. For example, when the control arm 1011 adopts the structure shown in FIG. 2B, the handheld portion 10111 of the control arm 1011 can be rotated about its central axis x, and the target handheld arm 102a to which the control arm 1011 switches is determined by the amount of rotation of the handheld portion 10111. Alternatively, the amount of movement can be a movement distance, that is, the target handheld arm 102a to which the control arm 1011 switches is determined by translating the control arm 1011.

[0116] During surgery, the surgeon typically holds the control arm 1011 and adjusts the position of the surgical arm 102a by moving the control arm 1011. In the example where the control arm 1011 is used as an input device, when switching between the surgical arm 102a controlled by the control arm 1011, the user does not need to remove their hand from the control arm 1011 during the surgery to switch to another input device, reducing the operational complexity of switching the surgical arm 102a.

[0117] Furthermore, when the number of control arms 1011 is greater than 1, each control arm 1011 can be used to switch the holding arm 102a it controls. In this way, the control method is more intuitive, and the user does not need to spend extra effort to distinguish which control arm 1011 controls which holding arm 102a each input device is used to switch.

[0118] In some embodiments, when the number of control arms 1011 is greater than one, each control arm 1011 corresponds to an input device, and the holding arm 102a controlled by the corresponding control arm 1011 can be switched through each input device. For example, when the input device is a control arm 1011, the first motion amount of multiple control arms 1011 in the switching mode can be obtained respectively, and the holding arm 102a controlled by the corresponding control arm 1011 can be switched based on the first motion amount of multiple control arms 1011 in the switching mode. For example, assuming that the control arms 1011 include the first control arm 1011a and the second control arm 1011b in the aforementioned embodiments, the holding arm 102a controlled by the first control arm 1011a can be switched based on the first motion amount of the first control arm 1011a in the switching mode, and the holding arm 102a controlled by the second control arm 1011b can be switched based on the first motion amount of the second control arm 1011b in the switching mode.

[0119] In some embodiments, the range of motion in which the first motion is located can be determined, wherein the first motion in different ranges is used to switch the holding arm 102a controlled by the control arm 1011 from the current holding arm 102a to a different holding arm 102a, and to switch to the corresponding holding arm 102a according to the range of motion in which the first motion is located.

[0120] If the first motion quantity is greater than or equal to the lower limit of the target motion quantity interval among multiple motion quantity intervals, and less than the upper limit of the target motion quantity interval, the holding arm 102a controlled by the control arm 1011 can be switched from the current holding arm 102a to the holding arm 102a corresponding to the target motion quantity interval. If the first motion quantity is not within the motion quantity interval corresponding to any holding arm 102a, then the holding arm 102a controlled by the control arm 1011 is determined to remain the current holding arm 102a.

[0121] For example, if the control arm 1011 can control two mechanical arms 102a, assuming they include mechanical arms X and Y, when the current mechanical arm is mechanical arm X, if the first motion amount is greater than or equal to the lower limit of the motion amount range corresponding to mechanical arm Y, and less than the upper limit of the motion amount range corresponding to mechanical arm Y, then the mechanical arm 102a controlled by the control arm 1011 can be switched from mechanical arm X to mechanical arm Y. Specifically, the upper limit of the motion amount range corresponding to mechanical arm Y can be greater than the upper limit of the rotation angle of the control arm 1011. In this case, as long as the first motion amount is greater than or equal to the lower limit of the motion amount range corresponding to mechanical arm Y (denoted as the first motion amount threshold), the mechanical arm 102a controlled by the control arm 1011 can be switched from mechanical arm X to mechanical arm Y. For example, the first motion amount threshold can be 10°, then when the first motion amount is greater than or equal to 10°, the mechanical arm 102a controlled by the control arm 1011 can be switched to mechanical arm Y. If the first motion amount is less than the first motion amount threshold, then the current mechanical arm 102a will remain as mechanical arm X.

[0122] For example, the number of controllable arms 102a by the control arm 1011 is greater than two, assuming they include arms X, Y, and Z. When the current arm is arm X, if the first motion quantity is greater than or equal to the lower limit of the first motion quantity interval corresponding to arm Y (denoted as the first motion quantity threshold) and less than the upper limit of the first motion quantity interval (denoted as the second motion quantity threshold), then the current arm is determined to switch to arm Y. If the first motion quantity is greater than or equal to the lower limit of the second motion quantity interval corresponding to arm Z (denoted as the third motion quantity threshold) and less than the upper limit of the second motion quantity interval (denoted as the fourth motion quantity threshold), then the current arm is determined to switch to arm Z. Here, the first motion quantity threshold is less than the second motion quantity threshold, the second motion quantity threshold is less than or equal to the third motion quantity threshold, and the third motion quantity threshold is less than the fourth motion quantity threshold. If the first motion quantity threshold is neither in the first motion quantity interval nor in the second motion quantity interval, then the current arm remains arm X.

[0123] In some embodiments, if the first motion amount is not within the motion range corresponding to any of the mechanical arms 102a, a prompt message can be output to confirm whether to switch the mechanical arm 102a controlled by the control arm 1011. If an instruction to switch the mechanical arm 102a controlled by the control arm 1011 is received (hereinafter referred to as a switch permission instruction), the mechanical arm 102a controlled by the control arm 1011 can be switched from the current mechanical arm 102a to the next mechanical arm 102a. If an instruction not to switch the mechanical arm 102a controlled by the control arm 1011 is received (hereinafter referred to as a switch rejection instruction), the mechanical arm 102a controlled by the control arm 1011 can remain as the current mechanical arm 102a. In this embodiment, by outputting a prompt message, the user can perform a secondary confirmation when switching the mechanical arm 102a, thereby reducing the probability of misoperation. The prompt message may include voice prompts, visual prompts, and / or tactile prompts. For example, prompts can be displayed on the screen of the surgical robot system 10. Users can send instructions to allow or refuse switching via gestures, voice, or physical or virtual controls on the surgical robot system 10.

[0124] Similarly, when the input device is of other types, the corresponding robotic arm 102a can be switched based on the motion range of the control quantity of the input device.

[0125] When the control arm 1011 is used as the input device for switching the holding arm 102a, since the control arm 1011 may have multiple modes, in some modes (such as remote operation mode), the movement of the control arm 1011 is used to control the following movement of the holding arm 102a. After entering the switching mode, the movement of the control arm 1011 is no longer used to control the following movement of the holding arm 102a, but is used to switch the holding arm 102a controlled by the control arm 1011. Therefore, in the switching mode, the holding arm 102a can be locked. After the holding arm 102a is locked, the holding arm 102a does not follow the movement of the control arm 1011, and the movement of the control arm 1011 only has the function of switching the holding arm 102a. In this way, it is possible to prevent the holding arm 102a from moving with the movement of the control arm 1011 during the switching process, thereby improving the safety of the device.

[0126] When the control arm 1011 is in remote operation mode, since its function is to control the surgical arm 102a, the second motion of the control arm 1011 in this remote operation mode can be acquired, and the surgical arm 102a can be controlled to perform surgical operations based on this second motion. In this way, by switching between different modes, the control arm 1011 can perform different functions, realizing the reuse of the control arm 1011 and reducing the need for users to switch between different operating components to achieve different functions, thereby reducing operational complexity.

[0127] After the control arm 1011 enters the switching mode, it can also output a prompt message to inform the user that it has entered the switching mode. The prompt message may include, but is not limited to, visual prompts (such as indicator lights, or text, graphics, etc. on the display interface of the surgical robot system 10), sound prompts, and / or tactile prompts.

[0128] In addition, in response to an activation operation, a switching guide can be displayed on the display interface of the surgical robot system 10. This display interface can be an interface on the display unit 1012. The switching guide is used to indicate a switching operation on the surgical arm 102a controlled by the control arm 1011. In some embodiments, when entering a switching mode, the currently controlled surgical arm 102a can be set as the default surgical arm 102a, and the switching guide is used to indicate switching the surgical arm 102a controlled by the control arm 1011 from the default surgical arm 102a to a target surgical arm 102a. The target surgical arm 102a is another surgical arm 102a other than the default surgical arm 102a of the surgical robot system 10. The default surgical arm 102a can be the surgical arm 102a from the last switching, a fixed surgical arm 102a pre-configured in the surgical robot system 10, or a surgical arm 102a holding a preset type of surgical instrument; this application does not limit this.

[0129] In some embodiments, referring to FIG6, the switching guide may include, but is not limited to, at least one of the following information: identification information of the control arm 1011 (e.g., "left master hand"); information of the surgical arm 102a currently controlled by the control arm 1011 (e.g., "surgical arm X"); and information of the surgical arm 102a that the control arm 1011 can switch to. The information of the surgical arm 102a may include identification information of the surgical arm 102a (e.g., "surgical arm Y" and "surgical arm Z") and / or the category information of the surgical instrument held by the surgical arm 102a (e.g., "suture needle", "scalpel", "hemostat").

[0130] In some embodiments, the switching guide may further include at least one of the following: the operation mode of the switching operation of the holding arm 102a controlled by the control arm 1011; the operation progress of the switching operation of the holding arm 102a controlled by the control arm 1011; and an indication message indicating whether the switching of the holding arm 102a controlled by the control arm 1011 was successful. Referring again to Figure 6, when the input device is the control arm 1011, the switching guide shows the operation mode of the switching operation as "rotate the control arm clockwise," and also shows the operation progress of the switching operation (as shown by the gray progress bar and the values ​​in the progress bar). If the switching is successful, the switching guide may also display an indication message indicating "switching successful."

[0131] In some embodiments, the switching guide may further include a configuration control for accessing a configuration interface, which is used to assign the robotic arms 102a controlled by the control arm 1011. For example, assuming the robotic arms 102a of the surgical robot system 10 include robotic arms X, Y, Z, and U, and the control arm 1011 includes a left master hand and a right master hand, then the configuration interface can be used to configure the left master hand to control robotic arms X and U, and the right master hand to control robotic arms Y and Z. Alternatively, the configuration interface can be used to configure the left master hand to control robotic arm Y, and the right master hand to control robotic arms X, Z, and U.

[0132] In some embodiments, in the switching mode, the target holding arm 102a to be switched to is determined based on the control operation of the control arm 1011, and a prompt message is displayed through the switching guidance to prompt the user to switch the holding arm 102a controlled by the control arm 1011 to the target holding arm 102a. Upon detecting a deactivation operation for exiting the switching mode, in response to the deactivation operation, the holding arm 102a controlled by the control arm 1011 is switched to the target holding arm 102a. If an instruction to switch the holding arm 102a controlled by the control arm 1011 is received (hereinafter referred to as a switch permission instruction), the holding arm 102a controlled by the control arm 1011 can be switched. If an instruction not to switch the holding arm 102a controlled by the control arm 1011 is received (hereinafter referred to as a switch rejection instruction), the holding arm 102a controlled by the control arm 1011 can be kept as the current holding arm 102a. Users can send permission to switch or rejection instructions via gestures, voice, or physical or virtual controls on the surgical robot system 10. In this embodiment, displaying prompts allows users to confirm the switching of the robotic arm 102a, reducing the probability of misoperation. Furthermore, in addition to displaying prompts in the switching instructions, the surgical robot system 10 can also output voice prompts and / or tactile prompts.

[0133] It is understood that the form of the switching guidance in the above embodiments is merely illustrative and is not intended to limit this application. In other examples, the switching guidance may have other forms.

[0134] For example, in some embodiments, the switching guidance includes a first module and multiple second modules. The first module is used to display the identification information of the control arm 1011, and the multiple second modules are used to display information about the currently controlled surgical arm 102a and / or the switchable surgical arm 102a of the control arm 1011. The multiple second modules are distributed around the first module. As shown in Figure 12, the first module 201 is shown as a circular area in the figure. The first module 201 is marked with the identification information of the control arm 1011 (such as "left main hand"). There are 3 second modules 202, each of which is shown as a fan-shaped area in the figure. Each second module 202 is marked with the identification information of the surgical arm 102a that the control arm 1011 can control (such as "surgical arm Y" and "surgical arm Z") and the category information of the surgical instrument held by the surgical arm 102a (such as "suture needle", "scalpel", "hemostat").

[0135] In some embodiments, in the switching instructions, the information of the currently controlled mechanical arm 102a by the control arm 1011 and the information of the switchable mechanical arm 102a by the control arm 1011 can be identified by different visual features so that the user can distinguish the currently controlled mechanical arm 102a by the control arm 1011 from other mechanical arms 102a.

[0136] For example, in the examples shown in Figures 6 and 12, different colors are used to identify the information of the currently controlled mechanical arm 102a and the switchable mechanical arms 102a controlled by the control arm 1011. In Figure 6, the red arrow (shown as a black dashed arrow in Figure 6) represents the identification information corresponding to the currently controlled mechanical arm 102a, and the black arrow represents the identification information corresponding to the switchable candidate mechanical arms 102a. In Figure 5, the gray sector represents the identification information corresponding to the currently controlled mechanical arm 102a, and the white sector represents the identification information corresponding to the switchable candidate mechanical arms 102a. Alternatively, different visual features such as different brightness levels or different animation effects can also be used to identify the information of the currently controlled mechanical arm 102a and the switchable mechanical arms 102a controlled by the control arm 1011.

[0137] In some embodiments, the information of each holding arm 102a displayed in the switching guide does not change as the holding arm 102a controlled by the control arm 1011 switches.

[0138] For example, when the switching guide is in the form shown in Figure 6, the red arrow (shown as a black dashed arrow in Figure 6) represents the identification information corresponding to the current holding arm 102a controlled by the control arm 1011, and the black arrow represents the identification information corresponding to the candidate holding arm 102a that the control arm 1011 can switch to. Referring to Figure 9A, regardless of whether the current holding arm 102a controlled by the control arm 1011 is holding arm X, holding arm Z, or holding arm U, the layout of the various corresponding identification information of holding arms X, Z, and U on the display interface is always the same: the arrow representing the identification information corresponding to holding arm X points upwards, the arrow representing the identification information corresponding to holding arm Y points to the lower right, and the arrow representing the identification information corresponding to holding arm Z points to the lower left. All three are fixed.

[0139] When the switching guide is in the form shown in Figure 12, the layout of the multiple second modules 202 in the switching guide does not change with the switching of the mechanical arm 102a controlled by the control arm 1011, that is, the layout of the multiple second modules 202 in the switching guide is fixed.

[0140] Referring to Figure 13, the second module 202 filled in gray represents the currently controlled mechanical arm 102a by the control arm 1011, and the second module 202 filled in white represents other mechanical arms 102a that can be controlled by the control arm 1011. It can be seen that regardless of whether the currently controlled mechanical arm 102a is mechanical arm X, mechanical arm Y, or mechanical arm Z, the positional layout of each second module 202 in the switching guide remains fixed.

[0141] In other embodiments, the information of each holding arm 102a displayed in the switching guide changes as the holding arm 102a controlled by the control arm 1011 switches.

[0142] For example, when the switching guide is in the form shown in Figure 6, the red arrow (indicated by a black dashed arrow in Figure 6) represents the identification information corresponding to the current holding arm 102a controlled by the control arm 1011, and the black arrow represents the identification information corresponding to the candidate holding arms 102a that the control arm 1011 can switch to. Referring to Figure 9B, as the current holding arm 102a controlled by the control arm 1011 switches, the various corresponding identification information of holding arm X, holding arm Z, or holding arm U rotates counterclockwise on the display interface, that is, the layout of the three displays on the display interface changes.

[0143] Referring to Figure 14, the layout of the multiple second modules 202 in the switching guide changes as the holding arm 102a controlled by the control arm 1011 switches. In Figure 14, the second modules 202 filled in gray represent the currently controlled holding arm 102a by the control arm 1011, and the second modules 202 filled in white represent other holding arms 102a that the control arm 1011 can control. It can be seen that when the currently controlled holding arm 102a by the control arm 1011 switches, the second modules 202 corresponding to each holding arm 102a move counterclockwise in the switching guide.

[0144] It is understood that the layout variations shown in Figures 9B and 14 are merely illustrative examples, and in other examples, the layout of each identification information can also be changed in other ways.

[0145] In some embodiments, the number of control arms 1011 is greater than one, and the display interface can display the switching guide corresponding to each control arm 1011. In some embodiments, the display interface may include multiple display areas corresponding to the multiple control arms 1011, and the switching guide of the corresponding control arm 1011 can be displayed in the multiple display areas respectively. The switching guide of the control arm 1011 is used to indicate the switching operation of the holding arm 102a controlled by the control arm 1011.

[0146] For example, in the case where the switching guidance is as shown in Figure 6, assuming that the control arm 1011 includes a left master hand and a right master hand, as shown in Figure 7, the switching guidance corresponding to the left master hand and the switching guidance corresponding to the right master hand can be displayed on the display interface. In some embodiments, the display interface includes a display area corresponding to the left master hand and a display area corresponding to the right master hand. The display area corresponding to the left master hand is used to display information about the currently controlled mechanical arm 102a by the left master hand, and the display area corresponding to the right master hand is used to display information about the currently controlled mechanical arm 102a by the right master hand. In addition, other information can also be displayed in each display area, as detailed above, and will not be repeated here.

[0147] For example, in the case of the switching guide as shown in Figure 12, the first module 201 includes multiple first sub-modules corresponding to multiple control arms 1011, and the multiple second modules 202 include multiple second sub-modules corresponding to multiple control arms 1011. Each first sub-module is used to display the identification information of the corresponding control arm 1011, and the various second sub-modules corresponding to each control arm 1011 are distributed around the first sub-module corresponding to that control arm 1011. As shown in Figure 15, assuming that the control arms 1011 include a left main hand and a right main hand, then the first module 201 includes a first sub-module corresponding to the left main hand and a first sub-module corresponding to the right main hand, and the multiple second modules 202 include a second sub-module corresponding to the left main hand and a second sub-module corresponding to the right main hand. The first sub-module and the second sub-module corresponding to the left main hand can be displayed in the display area corresponding to the left main hand, and the first sub-module and the second sub-module corresponding to the right main hand can be displayed in the display area corresponding to the right main hand. The second sub-module corresponding to the left main hand is distributed around the first sub-module corresponding to the left main hand, and the second sub-module corresponding to the right main hand is distributed around the first sub-module corresponding to the right main hand.

[0148] In some embodiments, the number of control arms 1011 and the number of mechanical arms 102a in the surgical robot system are both greater than one, and at least one common mechanical arm 102a among the multiple mechanical arms 102a can be controlled by the multiple control arms 1011. The display interface includes multiple display areas corresponding to the multiple control arms 1011, wherein each display area is used to display information of the corresponding control arm 1011 and information of the mechanical arms 102a that the control arm 1011 can control, and information of the common mechanical arm 102a is displayed in all multiple display areas.

[0149] As shown in Figure 8A, assuming there are two control arms 1011, designated as the left and right master arms respectively, the display interface includes display areas corresponding to the left and right master arms. There are four mechanical arms 102a, denoted as Mechanical Arm X, Mechanical Arm Y, Mechanical Arm Z, and Mechanical Arm U. Mechanical Arm Z is a common mechanical arm 102a, meaning it can be controlled by both the left and right master arms. It can be seen that information about Mechanical Arm Z is displayed in both the display areas corresponding to the left and right master arms. This method visually represents the overlapping relationship of the mechanical arms 102a controlled by multiple control arms 1011, allowing users to quickly identify which mechanical arms 102a can be jointly controlled by multiple control arms 1011 through the display interface. It is understandable that although the information of the surgical arm 102a shown in the figure includes the identification information of the surgical arm 102a, in actual applications, the information of the surgical arm 102a shown may also include other information, such as the type of surgical instrument held by the surgical arm 102a.

[0150] In some embodiments, in response to any one of the control arms 1011 controlling a holding arm 102a to switch from a common holding arm 102a to another holding arm 102a among the multiple holding arms 102a other than the common holding arm 102a, or in response to the control arm 1011 controlling a holding arm 102a to switch from another holding arm 102a to a common holding arm 102a, the information of the holding arms 102a displayed in multiple display areas can be updated.

[0151] As shown in Figure 8B, when the currently controlled mechanical arm 102a by the left master hand switches from mechanical arm X to mechanical arm Z, the display area corresponding to the left master hand will update the currently controlled mechanical arm 102a to mechanical arm Z. Simultaneously, the display area corresponding to the right master hand will update the status of mechanical arm Z to occupied, and this occupied status will be indicated by color or text. In this way, when the user switches the currently controlled mechanical arm 102a by the right master hand, they can intuitively observe whether the common mechanical arm 102a is controlled by another control arm 1011.

[0152] In some embodiments, the display interface includes multiple identification information, including identification information corresponding to the current holding arm 102a controlled by the control arm 1011 and identification information corresponding to at least one candidate holding arm 102a that the control arm 1011 can switch to. The layout of the multiple identification information on the display interface can be fixed or can change as the current holding arm 102a controlled by the control arm 1011 is switched.

[0153] In some embodiments, a deactivation operation for exiting the switching mode can also be detected. In response to the deactivation operation, the switching mode is exited, and the switching guidance is removed from the display interface. The activation / deactivation operation can be an operation on the activation device in the surgical robot system 10. For example, an odd number of operations (e.g., the first) on the activation device can cause the control arm 1011 to enter the switching mode, while an even number of operations (e.g., the second) can cause the control arm 1011 to exit the switching mode. Alternatively, controlling the activation device to a first state can cause the control arm 1011 to enter the switching mode; controlling the activation device to a second state can cause the control arm 1011 to exit the switching mode. When the activation device is a foot pedal, the activation operation can be an odd number of foot pedal presses, and the deactivation operation can be an even number of foot pedal presses. Taking a foot pedal as an example, the first state can be a pressed foot pedal state, and the second state can be a released foot pedal state. In addition, the activation operation can also be a voice activation operation, a gesture activation operation, or other types of operations.

[0154] When the control arm 1011 is in switching mode, in response to a detected deactivation operation to exit the switching mode, the holding arm 102a controlled by the control arm 1011 is switched to the target holding arm 102a determined in the switching mode, and the control arm 1011 can be controlled to return from the switching mode to the current mode (i.e., the mode before entering the switching mode). Alternatively, in response to a detected deactivation operation to exit the switching mode, the user can also return to the mode selection interface, allowing the user to select the mode after exiting the switching mode.

[0155] In some embodiments, the following situation may occur: the user performs a certain control operation on the control arm 1011, causing the first motion quantity of the control arm 1011 to be greater than 0. However, the first motion quantity is not within the motion quantity range corresponding to any of the holding arms 102a. In this case, the switching mode is exited. In the above situation, it can be determined that the holding arm 102a controlled by the control arm 1011 remains the current holding arm 102a, and the first motion quantity is cleared to zero. In this way, when entering the switching mode again, the user can control the control arm 1011 again, and switch the current holding arm 102a controlled by the control arm 1011 based on the first motion quantity of the control arm 1011 when it enters the switching mode again, without adding the first motion quantity of the control arm 1011 when entering the switching mode this time to the first motion quantity after entering the switching mode again.

[0156] Alternatively, in the above-described case, a prompt message can be output before exiting the switching mode. For example, the prompt message can be output in the switching guide. This prompt message is used to confirm whether to switch the mechanical arm 102a controlled by the control arm 1011. If an instruction to switch the mechanical arm 102a controlled by the control arm 1011 is received, the mechanical arm 102a controlled by the control arm 1011 can be switched from the current mechanical arm 102a to the next mechanical arm 102a, and the switching mode can be exited after the switch. If an instruction not to switch the mechanical arm 102a controlled by the control arm 1011 is received, the mechanical arm 102a controlled by the control arm 1011 can remain as the current mechanical arm 102a, and the switching mode can be exited. The instructions to switch the control arm 102a controlled by the control arm 1011, and the instructions not to switch the control arm 102a controlled by the control arm 1011, can be user-inputted voice instructions, gesture instructions, or instructions input by the user through the interactive components on the surgical robot system 10. In this way, the user can autonomously choose whether to switch the current control arm 102a before exiting the switching mode, reducing the need to re-enter the switching mode and switch the current control arm 102a due to accidental triggering of the exit switching mode function, further reducing operational complexity.

[0157] In some embodiments, if the first motion reaches a preset upper limit of motion, the control arm 1011 can be controlled to output force feedback and / or prompting information (such as vibration prompts, sound prompts and / or visual prompts) to prevent the first motion from continuing to increase, thereby reducing the risk of the control arm 1011 colliding with other objects due to excessive first motion and improving the safety of the surgical robot system 10.

[0158] The technical solution of this application will be illustrated below with a specific embodiment.

[0159] In some cases, the control arm 1011 can control multiple mechanical arms 102a and switch the currently controlled mechanical arm 102a. It is necessary to provide guidance on the operation of the control arm 1011 in switching the currently controlled mechanical arm 102a, so as to guide the user to quickly and effectively complete the above switching process.

[0160] One guidance method involves arranging all switchable robotic arms 102a options in a row on the menu of the display interface. The selection of the robotic arm 102a currently controlled by the control arm 1011 is based on the relative positions of the robotic arms 102a. When the user issues a single, discontinuous switching instruction to the control console 101, the control console 101 automatically selects the next option on the menu and sets the corresponding robotic arm 102a as the currently controlled robotic arm 102a. However, when the control arm 1011 can control more than two robotic arms 102a, multiple selection operations are required to complete the switching process. For example, assuming the control arm 1011 can control robotic arms X, Y, and Z, the options corresponding to robotic arms X, Y, and Z can be displayed sequentially on the display interface. When currently controlling robotic arm X, switching to robotic arm Z requires first selecting robotic arm Y, and then selecting robotic arm Z a second time. Users are forced to switch robotic arms 102a in the order specified by the system. Therefore, although the above method can provide some guidance, the operation is cumbersome and the switching efficiency is low.

[0161] Based on this, this application employs a graphical interface (i.e., the user interface in the aforementioned embodiments) to express the mapping relationship between the control arm 1011 and multiple mechanical arms 102a. Users can arbitrarily select the mechanical arm 102a they wish to control via an input device, and switch to the selected mechanical arm 102a through a single control operation on the input device. If there are multiple control arms 1011, the mapping relationship between all control arms 1011 and mechanical arms 102a can also be displayed on the graphical interface, and switching between the mechanical arms 102a controlled by multiple control arms 1011 can be supported by simultaneously issuing switching commands from multiple input devices. The process of this application is as follows:

[0162] First, the switching mode is entered by pressing a foot pedal or other activation operation, and switching instructions are displayed on the screen. In switching mode, the control arm 1011 is used as an input device to switch the surgical arm 102a. At this time, the surgical arm 102a cannot move with the control arm 1011. Generally, the console 101 has two master arms, a left master arm and a right master arm, and the control arm 1011 can include both a left master arm and a right master arm. The display screen can show all the options for the surgical arms 102a that can be switched between the two master arms. The surgical robot system 10 can include a single-port robot, a multi-port robot, a single-port and single-arm robot, or a multi-port and single-arm robot, etc. The robotic arms 102a can be initially assigned to two primary hands. When switching between robotic arms 102a, the process occurs between the arms assigned to each primary hand. For example, assigning two robotic arms 102a from the two robots to the left primary hand and the remaining three robotic arms 102a to the right primary hand, allows for switching between arms 102a. A visual guide (such as a pie chart) can distinguish between the robotic arms 102a controlled by the left and right primary hands, or two separate guides can be used. This visual guidance helps the doctor switch between robotic arms 102a, for example, by rotating the primary hand. When exiting the switching mode, the robotic arms 102a controlled by the two primary hands will become the last selected option. Alternatively, the switching process can be achieved via foot pedals or voice control.

[0163] This application also provides a computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the methods described in any embodiment of this application. In some embodiments, the storage medium may be a memory including the instructions. For example, a non-transitory computer-readable storage medium may be a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0164] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method for a surgical robot system, the method comprising: The detection detects an activation operation for switching the control arm of the surgical robot system from a current mode to a switching mode, the switching mode being used to switch the holding arm controlled by the control arm; In response to the activation operation, the control arm enters the switching mode; The first motion of the control arm in the switching mode is obtained; The control arm controls the mechanical arm based on the first motion amount.

2. The method according to claim 1, wherein, The process of activating the control arm to enter the switching mode in response to the activation operation includes: In response to the activation operation, the control arm enters the switching mode and a switching guide is displayed on the display interface of the surgical robot system. The switching guide is used to indicate the switching operation of the holding arm controlled by the control arm.

3. The method according to claim 2, wherein, The switching instructions include: The identification information of the control arm; Information about the mechanical arm currently being controlled by the control arm; Information about the switchable holding arm of the control arm.

4. The method according to claim 3, wherein, The switching guidance includes a first module and multiple second modules. The first module is used to display the identification information of the control arm, and the multiple second modules are used to display the information of the currently controlled mechanical arm and / or the information of the mechanical arm that the control arm can switch to. The multiple second modules are distributed around the first module.

5. The method according to claim 4, wherein, The arrangement of the plurality of second modules in the switching guide does not change with the switching of the holding arm controlled by the control arm, or the arrangement of the plurality of second modules in the switching guide changes with the switching of the holding arm controlled by the control arm.

6. The method according to claim 4 or 5, wherein, The number of control arms is greater than 1. The first module includes a first sub-module corresponding to a plurality of control arms, and the plurality of second modules include a second sub-module corresponding to a plurality of control arms. Each first submodule is used to display the identification information of the corresponding control arm; Each of the second sub-modules corresponding to the control arm is distributed around the first sub-module corresponding to the control arm.

7. The method according to any one of claims 2 to 6, wherein, In the switching guidance, the information of the currently controlled holding arm and the information of the switching holding arms of the control arm are identified by different visual features.

8. The method according to any one of claims 2 to 7, wherein, The information about the surgical arm includes its identification information and / or the category of the surgical instrument held by the surgical arm.

9. The method according to any one of claims 2 to 8, wherein, The switching instructions also include at least one of the following: The operation method for switching the holding arm controlled by the control arm; The operation progress of switching operations between the control arm and the holding arm controlled by the control arm; Indication information regarding whether the switching of the mechanical arm controlled by the control arm has been successful.

10. The method according to any one of claims 2 to 9, wherein, The switching guide also includes a configuration control, which is used to enter the configuration interface, and the configuration interface is used to assign the holding arm controlled by the control arm.

11. The method according to any one of claims 2 to 10, wherein, When entering the switching mode, the currently controlled mechanical arm is set as the default mechanical arm. The switching instruction is used to indicate that the mechanical arm controlled by the control arm is switched from the default mechanical arm to the target mechanical arm. The target mechanical arm is another mechanical arm other than the default mechanical arm of the surgical robot system.

12. The method according to claim 11, wherein, In the switching mode, the target holding arm to be switched to is determined based on the control operation of the control arm, and a prompt message is displayed through the switching guidance to prompt the user to switch the holding arm controlled by the control arm to the target holding arm.

13. The method according to any one of claims 1 to 12, wherein, The number of control arms is greater than 1; the activation operation is used to cause multiple control arms to enter the switching mode. The step of obtaining the first motion of the control arm in the switching mode includes: obtaining the first motion of multiple control arms in the switching mode respectively; The step of switching the holding arm controlled by the control arm based on the first motion amount includes: switching the holding arm controlled by the corresponding control arm based on the first motion amount of the multiple control arms in the switching mode.

14. The method according to any one of claims 1 to 13, wherein, The activation operation is an operation on an activation device in the surgical robot system, the activation device including physical controls on the surgical robot system.

15. The method according to any one of claims 2 to 14, wherein, The number of control arms and the number of mechanical arms in the surgical robot system are both greater than 1. At least one common mechanical arm among the multiple mechanical arms can be controlled by multiple control arms. The display interface includes multiple display areas corresponding to the multiple control arms respectively. Each display area is used to display information of the corresponding control arm and information of the mechanical arms that the control arm can control. The information of the common mechanical arm is displayed in all multiple display areas.

16. The method according to claim 15, wherein, The method further includes: In response to any control arm switching from the common control arm to another control arm among the multiple control arms, or in response to a control arm switching from the other control arms to the common control arm, the information of the control arms displayed in the multiple display areas is updated.

17. The method according to any one of claims 13 to 16, wherein, The method further includes: The first amount of exercise is displayed on the display interface.

18. The method according to any one of claims 1 to 17, wherein, The switching of the robotic arm controlled by the control arm based on the first motion quantity includes: Determine the range of motion in which the first motion quantity is located; the first motion quantity in different ranges is used to switch the holding arm controlled by the control arm from the current holding arm to a different holding arm; Switch to the corresponding arm based on the range of motion of the first motion.

19. The method according to claim 18, wherein, The step of switching to the corresponding robotic arm based on the motion range of the first motion range includes: If the first motion amount is greater than or equal to the lower limit of the target motion amount interval among multiple motion amount intervals, and less than the upper limit of the target motion amount interval, the holding arm controlled by the control arm is switched from the current holding arm to the holding arm corresponding to the target motion amount interval. or, If the first motion amount is greater than or equal to the lower limit of the target motion amount interval among multiple motion amount intervals, and less than the upper limit of the target motion amount interval, a prompt message is output; the prompt message is used to confirm whether to switch the holding arm controlled by the control arm. If an instruction is received to switch the holding arm controlled by the control arm, the holding arm controlled by the control arm is switched from the current holding arm to the next holding arm; If an instruction is received not to switch the holding arm controlled by the control arm, the holding arm controlled by the control arm will remain the current holding arm.

20. The method according to claim 18 or 19, wherein, The step of switching to the corresponding robotic arm based on the comparison result includes: If the first motion amount is not within the motion amount range corresponding to any holding arm, the holding arm controlled by the control arm is determined to remain the current holding arm.

21. The method according to claim 18 or 19, wherein, The method further includes: If the first motion amount is not within the motion amount range corresponding to any of the holding arms, exit the switching mode, determine that the holding arm controlled by the control arm remains the current holding arm, and clear the first motion amount to zero.

22. The method according to claim 10, wherein, The method further includes: If the switching mode is exited when the first motion amount is not within the motion amount range corresponding to any of the robotic arms, a prompt message is output; the prompt message is used to confirm whether to switch the robotic arm controlled by the control arm. If an instruction is received to switch the holding arm controlled by the control arm, the holding arm controlled by the control arm is switched from the current holding arm to the next holding arm; If an instruction is received not to switch the holding arm controlled by the control arm, the holding arm controlled by the control arm will remain the current holding arm.

23. The method according to any one of claims 1 to 22, wherein, The method further includes: When the currently controlled mechanical arm changes, a prompt message is output; The prompting information includes at least one of the following: sound prompting information, visual prompting information, and tactile prompting information.

24. The method according to any one of claims 1 to 23, wherein, The first amount of exercise includes any of the following: The rotation angle and movement distance of the control arm.

25. The method according to any one of claims 1 to 24, wherein, The method further includes: When the control arm is in the switching mode, in response to detecting a deactivation operation to exit the switching mode, the switching mode is exited and the switching guide is de-displayed on the display interface; or, in response to detecting a deactivation operation to exit the switching mode, the holding arm controlled by the control arm is switched to the target holding arm. Exiting the switching mode includes: controlling the control arm to return from the switching mode to the current mode, or displaying a mode selection interface on the display interface of the surgical robot system so that the user can select the mode after exiting the switching mode in the mode selection interface.

26. The method according to any one of claims 1 to 25, wherein, The method further includes: If the first amount of exercise reaches the preset upper limit of exercise, the control arm is controlled to output force feedback and / or prompt information to prevent the first amount of exercise from continuing to increase.

27. The method according to any one of claims 1 to 26, wherein, The number of mechanical arms that the control arm can control is greater than 1.

28. A surgical robot system, the surgical robot system comprising: Surgical arm, used to hold surgical instruments; A control arm for controlling the plurality of mechanical arms; as well as A processor for performing the method according to any one of claims 1 to 27.

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