CN115568805A - Endoscope control method, minimally invasive surgery robot and readable storage medium - Google Patents

Abstract

The application discloses an endoscope control method, a minimally invasive surgery robot and a readable storage medium, wherein the endoscope control method comprises the steps of generating a control instruction based on a control instruction; executing a driving action of the endoscope based on the control instruction; in the embodiment of the application, by adopting the endoscope control method, the position information of the input end is mapped into the driving action of the endoscope, so that the endoscope is accurately controlled by an operator, and meanwhile, the translation driving and the rotation actions of the endoscope are respectively executed by judging the direction and the quantity of the input end position information, so that the translation driving control and the axial rotation control of the endoscope can be synchronously performed without interference, and the driving control efficiency of the endoscope is greatly improved.

Description

Endoscope control method, minimally invasive surgery robot and readable storage medium

Technical Field

The invention relates to the technical field of medical instruments, in particular to an endoscope control method, a minimally invasive surgery robot and a readable storage medium.

Background

The minimally invasive surgery is a surgical method for performing surgery inside a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small trauma, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, the difficulty of the surgical operation is greatly increased, and the actions of fatigue, trembling and the like of a doctor in the long-time surgical process are amplified, which becomes a key factor restricting the development of the minimally invasive surgery technology. With the development of the robot technology, a novel technology in the minimally invasive medical field, namely the minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, is developed.

A common minimally invasive surgical robot consists of a surgeon console, a patient side cart, and a display device, where the surgeon operates input devices and transmits inputs to the patient side cart connected to a remotely operated surgical instrument. The surgeon console is also referred to as the master hand, which is typically provided with two robotic arms on the left and right for satisfying the freedom of movement requirements of the operating input device, the patient side cart is also referred to as the slave hand, which is typically provided with a plurality of robotic arms and a single mirror arm, controlled by the operating input device to effect a particular movement, and teleoperated surgical instruments are actuated at the patient side cart to operate on the patient based on surgeon inputs at the surgeon console, thereby creating a master-slave control relationship between the surgeon console and the surgical instruments at the patient side cart.

Before and during the operation, the doctor or nurse usually needs to adjust the position and posture of the 3D endoscope on the arm holding the scope to achieve the required operation field, and generally, the 3D endoscope has six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom), and chinese patent application CN101340853A discloses an articulated and interchangeable endoscope of a surgical operation robot, which discloses a method of operating the endoscope in a manner similar to a bicycle handlebar: an "active input device can be manipulated using at least six degrees of freedom, as described in U.S. patent No. 6714839, which is incorporated herein by reference in its entirety. If the user's left and right hands use independent active input devices, at least twelve degrees of freedom in total are available due to the practical combination of two active input devices to control the position and orientation of the endoscopic camera and the functions of focus, aperture, etc. The two active input devices, in effect, are combined to operate in a similar manner to a bicycle handlebar. Since the camera is movable along and rotates about the X, Y and Z axes, the six degrees of freedom provided by the active input devices of the actual combination are required to use velocity (also referred to as velocity) or position control to govern these six positions and directions ".

In the above-mentioned patent solutions, since the endoscope is operated in a manner similar to a bicycle handle, six movement combinations (three movement and rotation) are required in three directions of front and back, left and right, and up and down of the operation input device, which results in a complicated movement combination, a large operation space required, a high time cost required for an operator to skillfully grasp the movement combination, a high error rate of actual operation, and a certain potential safety hazard in a work scene requiring high stability such as a surgical operation.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an endoscope control method which is convenient to operate and small in occupied space, a minimally invasive surgery robot and a readable storage medium.

In order to achieve the above object, the present invention is achieved by the following technical solutions.

The present application provides an endoscope control method including:

generating a control instruction based on the control instruction;

executing a driving action of the endoscope based on the control instruction;

the control command comprises position information and/or speed information of an input end, and the driving action of the endoscope is matched with the position information and/or the speed information of the input end.

Further limited, the endoscope control method above, wherein the translation driving of the endoscope in the corresponding direction is controlled by a piece of unidirectional position information of the input end;

and controlling the rotation driving of the endoscope by using the position information of the two same or opposite directions of the input end.

Further limited, in the endoscope control method described above, the translation driving in the direction corresponding to the endoscope is controlled by the information of the two positions of the input end in the same direction;

and controlling the rotation driving of the endoscope by using the position information of the input end in a single direction or two opposite directions.

Further, in the endoscope control method described above, a difference between the two pieces of opposite-direction position information at the input end is associated with a driving operation of the endoscope.

Further, in the endoscope control method described above, the driving speed of the endoscope is controlled by the speed information of the input terminal.

Further defined, the endoscope control method described above, wherein the translation driving or the rotation driving of the endoscope in the corresponding direction is controlled by the speed information of the input end initial section.

Further, in the endoscope control method described above, when the positional information of the input end in the single direction is acquired, the positional information of the input end in the other directions is subjected to error correction;

and if the position information of the input end in other directions is within the error judgment threshold, ignoring the position information, and executing the driving action of the endoscope only based on the position information of the input end in a single direction.

Further, the endoscope control method may further include acquiring a trigger command, and executing the driving operation of the endoscope upon receiving the trigger command.

The application also provides a minimally invasive surgery robot, which comprises a master hand and a slave hand, wherein the master hand comprises a master hand mechanical arm, the slave hand comprises a slave hand mechanical arm and an endoscope, and the endoscope adopts the endoscope control method of any one of the above items;

the main manipulator is used for controlling the X-direction or Z-direction position of the endoscope in an independent coordinate system of the main manipulator, and the auxiliary manipulator is used for controlling the Y-direction position of the endoscope in the independent coordinate system of the auxiliary manipulator.

The present application also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the endoscope control method of any one of the above.

The invention has at least the following beneficial effects:

1. the position information of the input end is mapped into the driving action of the endoscope, so that the endoscope can be accurately controlled by an operator;

2. the translation driving and the rotation of the endoscope are respectively executed through the direction and quantity judgment of the input end position information, so that the translation driving control and the axial rotation control of the endoscope can be synchronously performed without interference, and the driving control efficiency of the endoscope is improved;

3. by setting an error correction threshold value and an error judgment threshold value, errors such as irregular jitter of hand movement are eliminated, the movement of the endoscope is more linear, and the control precision is higher;

4. the endoscope is controlled by controlling the X/Z movement and rotation of the endoscope by the main hand and manually adjusting the Y-direction movement of the endoscope, so that the operation space (especially the Y-direction space) required by the main hand is greatly reduced, and the occupied space of the minimally invasive surgery robot is reduced.

Drawings

FIG. 1 is a schematic diagram of an endoscope control system according to an embodiment of the present application;

FIG. 2 is a schematic diagram illustrating operation of the endoscope control system method "endoscope 500" in the null position according to an embodiment of the present application;

FIG. 3 is a schematic view of the operation of the endoscope control system method "endoscope 500" in a non-null position according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a minimally invasive surgical robot according to an embodiment of the present application.

Reference numerals

The device comprises a control unit-100, a Y-direction sensing unit-110, an X/Z and axial direction sensing unit-120, a control unit-200, a trigger unit-300, a driving feedback unit-400, an X-direction driving unit-410, a Z-direction driving unit-420, a Y-direction driving unit-430, an axial direction driving unit-440, an endoscope-500, a main manipulator-600, a display-700 and a base-800.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application are capable of operation in sequences other than those illustrated or described herein, and that the terms "first," "second," etc. are generally used in a generic sense and do not limit the number of terms, e.g., a first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The endoscope control method, the minimally invasive surgical robot and the readable storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.

As shown in fig. 1, an endoscope control system provided in an embodiment of the present application includes a manipulation unit 100, a control unit 200, a trigger unit 300, and a driving feedback unit 400, where the manipulation unit 100 is configured to sense an operation instruction of an operator and generate a first control signal output, the trigger unit 300 is configured to sense a trigger instruction of the operator and generate a trigger signal output, the control unit 200 is configured to receive the first control signal and the trigger signal and generate a second control signal output by processing, and the driving feedback unit 400 is configured to receive the second control signal and feed it back to an instruction action of an endoscope.

It can be understood that the control logic of the control unit 200 for the trigger signal and the first control signal can be set to receive the first control signal and generate the second control signal only when the trigger signal is received, and can also be set to generate the second control signal output only when the first control signal and the trigger signal are received simultaneously, the former trigger signal is a single trigger, and the latter trigger signal is a persistent trigger, and the actual processing method can be set according to the actual situation.

In a preferred embodiment, the control unit 100 includes a Y-direction sensing unit 110 and an X/Z and axial-direction sensing unit 120, the first control signal includes an X-direction sensing signal, a Y-direction sensing signal, a rotation sensing signal output by the Y-direction sensing unit 110, and a Y-direction sensing signal output by the X/Z and axial-direction sensing unit 120, the driving feedback unit 400 includes an X-direction driving unit 410 for controlling the X-direction movement of the endoscope, a Z-direction driving unit 420 for controlling the Z-direction movement of the endoscope, a Y-direction driving unit 430 for controlling the Y-direction movement of the endoscope, and an axial-direction driving unit 440 for controlling the axial rotation of the endoscope, the control unit 200 generates a second control signal according to the X-direction sensing signal, the Y-direction sensing signal, the rotation sensing signal, or the Y-direction sensing signal, and the driving feedback unit 400 controls the X-direction driving unit 410, the Z-direction driving unit 420, and the Y-direction driving unit 430 to perform corresponding control actions based on the second control signal.

It can be understood that the directional coordinates of the manipulation unit 100 and the driving feedback unit 400 are independent coordinate systems and are mapped to each other, that is, the directional coordinates of the manipulation unit 100 and the driving feedback unit 400 can be different reference systems, and in the manipulation unit 100, the sensing signal in the X-direction corresponds to the X-direction driving unit 410, the sensing signal in the Z-direction corresponds to the Z-direction driving unit 420, and the sensing signal in the Y-direction corresponds to the Y-direction driving unit 430.

In the embodiment of the present application, with the endoscope control system, the control unit 100 senses the instruction action of the operator, and the driving feedback unit 400 drives the endoscope according to the instruction action, wherein the control unit 200 processes the first control signal only when receiving the trigger signal, so as to switch the endoscope control and improve the stability of the endoscope driving control.

As shown in fig. 4, an embodiment of the present application provides a minimally invasive surgery robot including a master hand including a base 800, a master hand robot 600, and a display 700, and a slave hand including a slave hand robot having an endoscope, the endoscope being driven and controlled using the endoscope control system.

The master manipulator 600 is provided with two hands corresponding to an operator respectively, and is used for providing induction input by doctor operation, generally, a doctor operates a master control input device on the master manipulator 600, and a slave manipulator arm or an end assembly such as an endoscope provides corresponding actions according to the movement of the master control input device, so that the purposes of positioning, adjusting a visual angle, performing surgical operation and the like are fulfilled.

The two master manipulators 600 are specifically arranged as the Y-direction sensing unit 110 of the endoscope control system, the master manipulator 600 can move in the X or Z direction in a self-reference coordinate system, so that sensing and output of an X sensing signal and a Z sensing signal in the Y-direction sensing unit 110 are realized, wherein sensing and output of a rotation sensing signal in the Y-direction sensing unit 110 can be realized through action matching of the two master manipulators 600, the slave manipulator is provided with a reverse driving button and a position sensor, the reverse driving button and the position sensor are specifically arranged as the X/Z and axial sensing unit 120 of the endoscope control system, sensing and output of a Y sensing signal in the X/Z and axial sensing unit 120 can be realized through the position sensor, the reverse driving button mainly plays a role of a switch, the system knows that reverse driving is required after being pressed, and the reverse driving refers to that when a human hand pushes the slave manipulator, a driving motor of the slave manipulator starts a certain compensation force to the slave manipulator, so that the influence of friction force and gravity are compensated, the slave manipulator is easily pushed, thereby the position of the slave manipulator is conveniently adjusted, the position of the Y-direction sensing unit is adjusted in the endoscope control system, and the endoscope control system can realize feedback of the endoscope control system under the self-reference coordinate system, and the endoscope control of the endoscope control unit 400, and the endoscope control system, and the feedback of the endoscope control system under the endoscope control of the endoscope control system.

In a preferred embodiment, the endoscope further comprises a switching pedal arranged on the main hand, the switching pedal is specifically arranged as the trigger unit 300, the doctor can switch the control mode to the endoscope control through the switching pedal, that is, the sensing and the output of the trigger signal in the trigger unit 300 are realized through the switching pedal, and the control unit 200 realizes the output of the second control signal after receiving the trigger signal.

In the embodiment of the application, the minimally invasive surgical robot is adopted, the sensing and output of the X sensing signal, the Y sensing signal and the rotation sensing signal in the control unit 100 are realized through the two master manipulator arms 600, the sensing and output of the Y sensing signal in the X/Z and axial sensing unit 120 are realized through the position sensors arranged on the slave manipulator arms, wherein the endoscope is controlled to move and rotate in the X/Z direction through the master manipulator, the control of the endoscope is realized by combining the mode of manually adjusting the endoscope to move in the Y direction, the operation space (especially the space in the Y direction) required by the master manipulator can be reduced, and the occupied space of the surgical robot is reduced.

As shown in fig. 2 to 3, an endoscope control method is provided in the embodiments of the present application, and is applicable to the endoscope control system and the minimally invasive surgical robot, and includes the following specific steps:

s1, switching a control mode to control an endoscope 500 through a switching pedal;

s2, outputting an X induction signal, a Z induction signal and a rotation induction signal by controlling two main hand mechanical arms 600, and manually controlling a slave hand mechanical arm to output a Y induction signal;

s3, the control unit 200 outputs a second control signal to the drive feedback unit 400 based on the first control signal, and the drive feedback unit 400 controls the instruction operation of the endoscope 500 based on the second control signal.

The X, Y, and Z movements and rotations of the endoscope 500 may be performed individually or in combination, for example, when the doctor operates the master manipulator 600 to output an X sensing signal, the doctor also operates the master manipulator 600 to output a Z sensing signal, and at this time, the endoscope 500 only needs to perform combination based on two directional commands.

In a preferred embodiment, the reference coordinate system determination of the master manipulator 600 and the endoscope 500 is further included, as shown in fig. 2, when the endoscope 500 is in a zero position, that is, when the end of the endoscope 500 is used as a coordinate origin, and the axial direction of the endoscope 500 is used as a coordinate Z-axis, and the plane of the X-axis and the Y-axis is used as a horizontal plane, at this time, the reference coordinate origin of the master manipulator 600 is an initial position of the master manipulator 600 for operating the input device, and the X-axis, the Y-axis and the Z-axis thereof completely correspond to the reference coordinates of the endoscope 500, when the master manipulator 600 is moved horizontally (in the X-direction of the master hand) to operate the input device, the X-direction horizontal movement of the endoscope 500 can be realized, and when the master manipulator 600 is moved horizontally (in the X-direction of the master hand) to operate the input device, the Z-direction vertical movement of the endoscope 500 can be realized, and the reverse driving operation can be realized by pressing a reverse driving button on the slave manipulator 500 to perform the reverse driving operation.

It can be understood that when the endoscope 500 is in a non-zero position state, i.e. when the plane of the reference coordinate system X and the Y axis of the endoscope 500 is not horizontal, the endoscope 500 and the master arm 600 are independent coordinate systems, so the motion input of the master arm 600 in its own coordinate system is synchronized to the command motion of the endoscope 500 in its own coordinate system.

It is understood that the endoscope 500 may be placed in the reference coordinate system of the master manipulator 600, and when the master manipulator 600 is manipulated, the movement of the endoscope 500 is a compound movement, as shown in fig. 3, the endoscope 500 rotates by a certain angle around the X axis of the reference coordinate system of the master manipulator 600, and when the input device is operated by moving the master manipulator 600 in the Z direction, the endoscope 500 generates a compound movement in the Z direction and the Y direction in the reference coordinate system of the master manipulator 600, wherein the position variation amounts corresponding to the Z direction and the Y direction can be calculated by the rotation angle of the endoscope 500, and the calculation manners in the movement in other directions are the same, so that the mapping relationship between the position variation amount of the input device operated by the master manipulator 600 and the position variation amount of the endoscope 500 can be reversely deduced, and the master-slave-hand variable mapping relationship based on the change of the rotation angle θ can be preset in the endoscope control system.

Of course, in addition to the above-described control method of placing the endoscope 500 in the reference coordinate system of the main robot 600, the main robot 600 may be placed in the reference coordinate system of the endoscope 500 based on the position mapping relationship between the main robot 600 and the endoscope 500, but the control logic is complicated, and is suitable for the case where the position mapping data is perfect.

In a preferred embodiment, in S2, the rotation sensing signals outputted by operating the two main robots 600 are specifically: the two main hand mechanical arms 600 are respectively operated to move one on top of the other (move along the Z direction), so that the sensing and the output of rotation sensing signals are realized, wherein if the main hand mechanical arms 600 are made to move left on top of the right on the operation input device, the endoscope 500 can rotate clockwise around the axis of the endoscope, otherwise, the endoscope 500 can rotate anticlockwise around the axis of the endoscope, it can be understood that the axial clockwise and anticlockwise rotation of the endoscope 500 only needs the two main hand mechanical arms 600 to meet the instruction action of one on top of the other, and the steering relation can be set according to the operation habit.

In a preferred embodiment, in S2 and S3, when the endoscope 500 is in the null position, one of the main robot 600 (which may be the left hand or the right hand, depending on the definition of the system) is moved horizontally (along the main hand X direction) to implement the horizontal movement of the endoscope 500 in the X direction, and the other main robot 600 is moved up and down (along the main hand Z direction) to implement the up and down movement of the endoscope 500 in the Z direction by operating the input device.

In the embodiment of the application, by using the above endoscope control method, the displacement of the endoscope 500 in the X and Z directions can be realized by controlling one of the main hand mechanical arms 600 to operate the input device, the requirements on the coordination and consistency of the left and right hands of an operator are low, and the operation is simple and convenient, at this time, the rotation motion of the endoscope 500 can be set to simultaneously control the two main hand mechanical arms 600 to operate the input device, that is, the two main hand mechanical arms 600 are controlled to operate the input device to move in the forward direction along the Z axis so as to realize the axial clockwise rotation of the endoscope 500, and to move in the reverse direction along the Z axis so as to realize the axial counterclockwise rotation of the endoscope 500, and of course, the steering relationship can be set according to the operation habit.

In a preferred embodiment, in S2 and S3, when the endoscope 500 is in the zero position, the two main hand mechanical arms 600 are moved horizontally (in the X direction of the main hand) in the same direction to operate the input device, so as to realize the X-direction horizontal movement of the endoscope 500, and the two main hand mechanical arms 600 are moved vertically (in the Z direction of the main hand) in the same direction to operate the input device, so as to realize the Z-direction vertical movement of the endoscope 500.

In the embodiment of the present application, by using the above-mentioned endoscope control method, the displacement of the endoscope 500 in the X and Z directions can be realized by simultaneously controlling the two main manipulators 600 to operate the input devices in the same direction, and at this time, the rotation motion of the endoscope 500 can be configured to control one of the main manipulators 600 to operate the input device, that is, one of the main manipulators 600 is controlled to move in the forward direction along the Z axis to realize the clockwise rotation of the endoscope 500 in the axial direction, and to move in the reverse direction along the Z axis to realize the counterclockwise rotation of the endoscope 500 in the axial direction, and of course, the steering relationship can be set according to the operation habit.

In this case, the rotational movement of the endoscope 500 may be set to the above-described operation mode for controlling the two main manipulators 600 to operate the input devices one above the other, as long as the control does not interfere with the Z-direction movement of the endoscope 500.

In a preferred embodiment, in S2 and S3, when the operation input device is controlled by one of the main hand robot 600 to realize the displacement of the endoscope 500 in the X and Z directions, the rotation of the endoscope 500 is configured to simultaneously control the operation input devices of two main hand robot 600, that is, one of the main hand robot 600 is used to control the Z-direction movement of the endoscope 500, and the axial rotation of the endoscope 500 is controlled by the Z-direction movement of the other main hand robot 600, for example, the operation input device of the main hand robot 600 controls the axial clockwise rotation of the endoscope 500 when moving in the Z-axis forward direction and controls the axial counterclockwise rotation of the endoscope 500 when moving in the Z-axis reverse direction, and the steering relationship thereof may be set according to the operation habits.

In the embodiment of the present application, by using the above-described endoscope control method, the operation input device of one of the main manipulators 600 is controlled to realize the displacement of the endoscope 500 in the X and Z directions, and the operation of the operation input device of the other main manipulator 600 is controlled to realize the axial rotation of the endoscope 500, so that the Z-direction control and the axial rotation control of the endoscope 500 can be performed synchronously without interference, and the driving control efficiency of the endoscope 500 is improved.

In a preferred embodiment, in S2, the method further includes automatically correcting the X-, Z-, Y-, and rotation-induced signals, and since it is impossible for a human hand to completely follow a straight line when moving the master manipulator 600 to operate the input device or the slave manipulator, a movement tolerance value is set in each direction, specifically, when the master manipulator 600 operates the input device as a whole while moving horizontally, a position change in the Z-direction is detected, but as long as the position change is within a set threshold range, the position change is ignored, and only the X-induced signal is output by sensing, and similarly, the Z-direction, Y-direction, and rotation controls of the endoscope 500 are also performed.

In the embodiment of the present application, by using the endoscope control method described above and by setting the movement tolerance value, the error such as irregular shaking of the hand motion is eliminated, and the movement of the endoscope 500 is more linear.

In a preferred embodiment, in S2 and S3, when the two main robots 600 output the X sensing signal and the Z sensing signal, the moving distance of the endoscope 500 is related to the average moving distance of the two main robots 600 operating the input devices, and it is difficult to ensure the two main robots 600 operating the input devices to move completely synchronously due to manual control.

It is understood that the difference between the moving distances of the input devices operated by the two main manipulators 600 can set an error threshold, that is, the average sampling is performed only when the difference between the moving distances of the input devices operated by the two main manipulators 600 is within the threshold range, otherwise, the operation is determined to be a wrong operation, and the control command for the endoscope 500 is not executed.

Of course, a value with a larger or smaller moving distance of the main robot 600 operating the input device may be set as the sampling value, but an error threshold value is introduced in this manner to prevent control abnormality due to misoperation.

In a preferred embodiment, in S2 and S3, when the rotation sensing signals are outputted by manipulating the two master robots 600, the rotation angle of the endoscope 500 is related to the moving distance of the two master robots 600 to operate the input devices, and it can be understood that if the two master robots 600 to operate the input devices are simultaneously and simultaneously controlling the rotation of the endoscope 500, the rotation angle of the endoscope 500 is controlled by the average value of the distances between the two master robots 600 to operate the input devices, and if the two master robots 600 to operate the input devices are reversely controlled by the rotation of the endoscope 500, the rotation angle of the endoscope 500 is controlled by the distances between the two master robots 600 to operate the input devices.

It can be understood that when the two main manipulators 600 operate the input devices to synchronously control the rotation of the endoscope 500 in the same direction, an error threshold is introduced into the difference between the moving distances of the two main manipulators 600, that is, the average sampling is performed only when the difference between the moving distances of the two main manipulators 600 operate the input devices is within the threshold range, otherwise, the operation is determined as a misoperation, and the control instruction to the endoscope 500 is not performed.

In the embodiment of the present application, the endoscope control method described above is adopted, by

In a preferred embodiment, the endoscope control system is preset with a mapping relationship of the X, Z position changes of the main manipulator 600 operation input device to the X, Z position changes and the rotation angle of the endoscope 500, and similarly, the reverse drive button is preset with a mapping relationship to the Y position changes of the endoscope 500.

In a preferred embodiment, the endoscope control system is preset with a mapping relationship between the X and Z displacement speeds of the main manipulator 600 and the change speed of the X and Z positions and the change speed of the rotation angle of the endoscope 500, and similarly, the reverse driving button is preset with a mapping relationship between the Y position change speed of the endoscope 500, that is, the control speed parameters of the operation input device of the main manipulator 600 and the reverse driving button are written in the first control signal and the second control signal, so as to control the displacement speed of the endoscope 500 by the driving feedback unit 400.

It is understood that, in addition to being able to map the speed information of the operation input device of the main manipulator 600 to the driving speed of the endoscope 500, the speed information may also be set to be associated with the driving type of the endoscope 500, for example, initial segment speed information of the operation input device of the main manipulator 600 is recorded, if a trigger threshold range of different driving types of the endoscope 500 is set, an action corresponding to the driving type of the endoscope 500 is executed when the initial segment speed information of the operation input device of the main manipulator 600 reaches the trigger threshold range, and of course, there are various forms of recording the specific matching relationship between the initial segment speed information of the operation input device of the main manipulator 600 and the driving type of the endoscope 500, which will not be specifically described herein.

Embodiments of the present application provide a readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the endoscope control method described above are implemented.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.

Claims (10)

1. An endoscope control method, comprising:

generating a control instruction based on the control instruction;

executing a driving action of the endoscope based on the control instruction;

the control command comprises position information and/or speed information of an input end, and the driving action of the endoscope is matched with the position information and/or the speed information of the input end.

2. The endoscope control method according to claim 1, wherein the translation driving of the endoscope in the corresponding direction is controlled by position information of a single direction at the input end;

and controlling the rotation driving of the endoscope by using the position information of the two same or opposite directions of the input end.

3. The endoscope control method according to claim 1, wherein the translation driving in the corresponding direction of the endoscope is controlled by the position information of the two same directions of the input end;

and controlling the rotation driving of the endoscope by the position information of the input end in a single direction or two opposite directions.

4. An endoscope control method according to claim 2 or 3 and wherein said difference between two opposite directional position information at said input end is related to the driving action of said endoscope.

5. The endoscope control method according to claim 1, characterized in that a driving speed of the endoscope is controlled with speed information of the input terminal.

6. An endoscope control method according to claim 1 or 5, characterized in that the endoscope is controlled to start translational driving or rotational driving in a corresponding direction with the speed information of the input end initial section.

7. The endoscope control method according to claim 1, wherein when the positional information of the input end in a single direction is acquired, the positional information of the input end in other directions is error-corrected;

and if the position information of the input end in other directions is within the error judgment threshold, ignoring the position information, and executing the driving action of the endoscope only based on the position information of the input end in a single direction.

8. The endoscope control method according to claim 1, further comprising acquiring a trigger command, and executing the driving operation of the endoscope upon receiving the trigger command.

9. A minimally invasive surgery robot, comprising a master hand and a slave hand, wherein the master hand comprises a master hand mechanical arm, the slave hand comprises a slave hand mechanical arm and an endoscope, and the endoscope adopts the endoscope control method of any one of the claims 1 to 8;

the main manipulator is used for controlling the X-direction or Z-direction position of the endoscope in an independent coordinate system of the main manipulator, and the auxiliary manipulator is used for controlling the Y-direction position of the endoscope in the independent coordinate system of the auxiliary manipulator.

10. A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the endoscope control method according to any one of claims 1 to 8.

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