CN117426877A - Medical equipment - Google Patents

Abstract

A medical device comprising an input device, a robotic arm on which an instrument is removably mounted, and a controller that pauses control of the input device over the instrument in response to a master-slave controller command being disconnected, and that controls the movement of the input device to cause the pose of the input device to follow the pose of the end device of the instrument when the robotic arm is actuated to cause the pose of the end device of the instrument to change.

Description

Medical equipment

Technical Field

The present application relates to the field of medical devices, and in particular, to a master-slave operated medical device.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of technology, minimally invasive medical robotic techniques are becoming mature and widely used. Minimally invasive medical robots generally include a master console and a slave operating device, and a doctor controls the slave operating device through an input device controlling the master console, and the slave operating device is used for responding to a control command sent from the master console and performing a corresponding surgical operation. The instrument is coupled to a drive device of the slave manipulator for performing a surgical procedure, and a distal end of the instrument includes an end device for performing the surgical procedure and a joint assembly coupled to the end device that is moveable in a plurality of degrees of freedom.

When the gesture of the input device of the main control console is inconsistent with the gesture of the end device of the instrument, how to adjust the gesture of the input device to be consistent with the gesture of the end device of the instrument again is not better solution at present.

Disclosure of Invention

Based thereon, the present application provides in a first aspect a medical device comprising: an input device; the mechanical arm is detachably mounted with the instrument; and a controller configured to:

control of the instrument by the input device is suspended in response to a turn-off master-slave controller command, and movement of the input device is controlled to cause the attitude of the input device to follow the attitude of the end device when the robotic arm is actuated to cause the attitude of the end device of the instrument to change.

In one embodiment, the robotic arm includes a parallelogram mechanism and a holding arm on which the instrument is removably mounted, a long axis of the instrument passing through a remote center of motion defined by the parallelogram mechanism;

when the parallelogram mechanism is actuated to rotate the long axis of the instrument about the remote center of motion, the controller controls movement of the input device such that the pose of the input device follows the pose of the end-device of the instrument.

In one embodiment, the robotic arm further comprises an adjustment arm having a distal end connected to a proximal end of the parallelogram mechanism, the controller controlling movement of the input device to cause the attitude of the input device to follow the attitude of the end-effector when the adjustment arm is actuated to change the attitude of the remote center of motion.

In one embodiment, the controller is further configured to resume control of the instrument by the input device in response to activating a master-slave control command, and after activating master-slave control, the controller no longer controls the attitude of the input device to align with the attitude of the end-device of the instrument.

In one embodiment, the input device includes a plurality of motors, and the controller controls the plurality of motors to rotate in an acceleration manner to move the input device such that a pose of the input device follows a pose of an end-device of the instrument.

The present application provides in a second aspect a medical device comprising:

an input device and a display device;

a first mechanical arm on which an instrument is detachably mounted, and a second mechanical arm on which an imaging device is detachably mounted;

A controller configured to:

suspending the input device from controlling the instrument in response to disconnecting a master-slave control command;

and when the second mechanical arm is actuated to change the pose of the end effector of the instrument relative to the imaging device, controlling the input device to move so that the pose of the input device relative to the display device follows the pose of the end effector of the instrument relative to the imaging device.

In one embodiment, the second robotic arm includes a parallelogram mechanism and a holding arm on which the imaging device is removably mounted, a long axis of the imaging device passing through a remote center of motion defined by the parallelogram mechanism;

when the parallelogram mechanism is actuated to rotate the long axis of the imaging device about the remote center of motion, the controller controls the input device to move such that the pose of the input device relative to the display device follows the pose of the tip apparatus relative to the imaging device.

In one embodiment, the second robotic arm further comprises an adjustment arm having a distal end connected to a proximal end of the parallelogram mechanism, the controller controlling the input device to move so that the attitude of the input device relative to the display device follows the attitude of the end-effector relative to the imaging device when the adjustment arm is actuated to change the attitude of the remote center of motion.

In one embodiment, the controller is further configured to resume control of the instrument by the input device in response to activating a master-slave control command, and after activating master-slave control, the controller no longer controls the attitude of the input device to align with the attitude of the end-device of the instrument.

In one embodiment, the input device includes a plurality of motors, and the controller controls the plurality of motors to rotate in an acceleration manner to move the input device such that a pose of the input device relative to the display device follows a pose of the tip apparatus relative to the imaging device.

The present application provides in a third aspect a medical device comprising:

an input device;

the first mechanical arm and the second mechanical arm are provided with a first instrument which is detachably arranged on the first mechanical arm and a second instrument which is detachably arranged on the second mechanical arm;

a controller configured to:

switching an input device from controlling a first instrument to controlling the second instrument in response to a switch tool instruction, and controlling the input device to move to align a pose of the input device with a pose of an end device of the second instrument.

Drawings

FIG. 1 is a top view of a computer-assisted medical device for surgery according to one embodiment of the present application;

FIG. 2 is a schematic illustration of an instrument according to one embodiment of the present application;

FIG. 3 is a schematic diagram of a master console of a medical device according to one embodiment of the present application;

FIG. 4 is a schematic view of a slave operating device of the medical device of one embodiment of the present application;

FIG. 5 is a schematic view of a slave operating device of a medical device according to another embodiment of the present application;

FIG. 6 is a flow chart of a method of adjusting master-slave attitude relationships according to one embodiment of the present application;

FIG. 7 is a schematic diagram of an input device of a medical device according to one embodiment of the present application;

fig. 8 is a schematic view of a robotic arm of a medical device according to one embodiment of the present application.

Detailed Description

In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and not limiting.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, or intervening elements may also be present. When an element is referred to as being "coupled"/"coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present and may also be present as an interaction of the two elements through the signal. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions as used herein are for the purpose of illustration and do not denote a unique embodiment, it being understood that these spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., an element or feature described as "below" or "beneath" other element or feature would be oriented "above" the other element or feature if the device were turned over in the figures. Thus, the example term "below" may include both an orientation above and below.

The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end that is distal to the surgeon during the procedure and "proximal" refers to the end that is proximal to the surgeon during the procedure.

The term "tool" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the tool comprising an end device, which may be a surgical tool such as an electrocautery, a jaw, a stapler, a shears, an imaging device (e.g. an endoscope or an ultrasonic probe), and the like, for performing a surgical procedure. Some tools used in embodiments of the present application further include providing the tip device with an articulating component (e.g., an articulation assembly) such that the position and orientation of the tip device can be manipulated to move with one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end device includes jaws that also include functional mechanical degrees of freedom, such as opening and closing. The tool may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the tool and one or more system elements.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "and/or" and/or "as used herein include any and all combinations of one or more of the associated listed items.

The computer-assisted medical device of one embodiment of the present application, as shown in fig. 1, includes a master console 10 and a slave operating device 20, the master console 10 being remotely communicatively connected to the slave operating device 20, the slave operating device 50 including a plurality of mechanical arms 21, a plurality of instruments and/or imaging devices being detachably mounted on the different mechanical arms 21, respectively. The surgeon S can remotely operate the control instruments and/or the imaging device on the main console 10, the main console 10 is configured to transmit control signals to the slave operating device 20 and display images acquired from the operating device 20 according to the operation of the surgeon S, the surgeon S can observe three-dimensional stereoscopic imaging in the patient 'S body provided by the imaging system through the main console 10, and the surgeon S can control the slave operating device 10 to perform related operations (e.g., perform surgery or acquire images in the patient' S body) with an immersive sense by observing the images in the three-dimensional body of the patient.

The main control console 10 is also connected to an electronic equipment cart C in remote communication, and the electronic equipment cart C is connected to the main control console 10 and the slave operation device 20, and the electronic equipment cart 30 may include electronic equipment such as an energy generation device and an image signal processing device. In the present embodiment, the master console 10 and the slave operating device 20 and the electronic device cart C perform remote communication by using a wired ethernet communication method, but the remote communication is not limited to wired ethernet communication, and may also be other wired methods, for example, including but not limited to serial ports, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, for example, including but not limited to WiFi, NB, zigbee, bluetooth, RFID, etc.

Computer-assisted medical devices also typically include imaging systems that enable an operator to view the surgical site from outside the patient's body. The vision system typically includes an imaging device (e.g., an endoscope) having video image capturing capabilities and one or more video display devices for displaying captured images. Generally, imaging devices include optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that are to acquire images within the patient's body. The one or more imaging sensors may be positioned at a distal end with an imaging device and signals generated by the one or more sensors may be transmitted along a cable or wirelessly for processing and display on a video display device.

One or more cannulas are connected to the distal end of the robotic arm 21, the cannulas being inserted over the body of a patient P lying on the operating table T. The assistant a attaches the tool 30 to the robot arm 21 or replaces/reloads the tool 30 from the robot arm 21 according to the operation condition, and inserts the tool 30 into the body of the patient P through a cannula after attaching the tool 30 to the robot arm 21. Surgeon S, assistant a, and anesthesiologist B constitute the basic surgical team.

Tool 30 may be a surgical instrument such as an electrocautery, a jaw, a stapler, an ultrasonic blade, etc. for performing a surgical procedure, or may be an imaging device (e.g., an endoscope) or other surgical tool for capturing images. In some embodiments, as shown in fig. 2, the tool 30 includes a drive box 31 for receiving power input from the robotic arm 21 and transmitting the power input to the end device 33, a long shaft 32, and an end device 33, wherein the end device 33 may be a surgical device such as a jaw, ultrasonic blade, or the like; but also imaging means such as image sensors.

As shown in fig. 3, the main console 100 of one embodiment of the present application includes a display device 101, a handrail 103, first and second input devices 102, 103, a viewing apparatus 104, and a plurality of pedals 105, and the two input devices 102, 103 are used to control different instruments or imaging devices, respectively. The display device 101 is used for displaying the image acquired by the imaging system, for example, the display device 101 is a three-dimensional imaging display device. The surgeon S observes the image displayed by the display device 101 through the observation means 104. The armrest 11 is used to rest the surgeon's arm and/or hand, and in some embodiments, the armrest may be omitted, or the viewing device 14 omitted, as may be desired, and the surgeon's hand directly viewed.

The surgeon S controls the tool movement of the slave operation device 20 by operating the first and second input devices 102, 103, and the control signal processing system of the master control console 10 processes the input signals of the input device 102 and issues control signals to the slave operation device 20, and the slave operation device 20 responds to the control signals of the master control console 100 and performs corresponding operations, i.e., master-slave control. In some embodiments, the control signal processing system may also be provided in the slave operation device 20, for example in a base of the slave operation device 20.

In some embodiments, as shown in fig. 4, the slave manipulator 200 includes a plurality of robotic arms 210, 220, 230, 240 and a controller 250, the plurality of robotic arms 210, 220, 230, 240 may be of the same configuration or of different configurations, the plurality of tools 310, 320, 330, 340 are mounted on the plurality of robotic arms 210, 220, 230, 240, specifically, a first instrument 310 of the plurality of tools is detachably mounted on a first robotic arm 210 of the plurality of robotic arms, a second instrument 320 is detachably mounted on a third robotic arm 230, a third instrument 330 is detachably mounted on a fourth robotic arm 240, and an imaging device 340 of the plurality of tools is detachably mounted on the second robotic arm 220. In other embodiments, the instrument and image device may be interchanged with the mounted robotic arm, e.g., the third instrument 330 and imaging device 320 may be interchanged with the mounted robotic arm, with the imaging device 340 mounted on the third robotic arm 230 and the second instrument 320 mounted on the second robotic arm 220 after interchange.

The controller 250 is configured to control the articulation of the drive robots 210, 220, 230, 240, as well as the movement of the instruments 310, 320, 330 and the imaging device 340 in response to control signals from the master console 100 or from the operating device 20. The controller 250 may be disposed in the base of the slave manipulator 200, and in some embodiments, the controller 250 may also be disposed on each robotic arm, it being understood that the controller 250 may also be disposed in the master console 100. In some embodiments, the controller 250 is the same control device as the control signal processing system described above, or the controller 250 and the control signal processing system described above are different control devices provided in the slave operation device 20 and the master control station 10, respectively.

In some embodiments, as shown in fig. 5, the slave manipulator device 40 includes a robotic arm 41, and a plurality of tools 30 are mounted on the robotic arm 41, with the distal ends of the plurality of tools 40 being passed into the patient from an incision.

In some embodiments, during master-slave control, the pose of the distal end of the first and second instruments 310, 320 always changes following the change in pose of the associated first and second input devices 102, 103, such that the pose of the input device 102 is always consistent, the pose of the handle reference coordinate system Gm of the proximal end of the input device relative to the reference coordinate system Dm of the display device 101. In some cases, the surgeon S generates a disconnect master-slave control command to the controller 250 via the first input device 102 and/or the second input device 103, e.g., the surgeon S sends the disconnect master-slave control command to the controller 250 by operating a function key of the first input device 102, in response to which the controller 250 pauses the first input device 102 for control of the instrument 310 such that master-slave control is interrupted. The disconnection of the master-slave control command does not necessarily require the surgeon S to issue via the input device 102, but may also be initiated by the assistant a from the operating device 20, and may of course be a master-slave control interrupt caused by other events, such as, for example, events: it is detected that the surgeon leaves the master control station 100.

After the master-slave control is interrupted, the pose of the first and second input devices 102, 103 changes, and/or the pose of the instrument, the end-device of the imaging device changes, resulting in the pose of the first and second input devices 102, 103 and their associated instruments no longer being aligned. One way to adjust the attitude relationship of the input device to the instrument is that after master-slave control is activated, i.e., the master console 10 resumes control of the slave manipulator 20, the attitude of the instrument or the end unit of the imaging device is no longer changed, and the controller controls the movement of the first input device 102 so that the attitude of the first input device 102 is aligned with the attitude of the end unit of the instrument it controls.

In some embodiments, as shown in fig. 6, since the adjustment of the posture relation between the first input device 102 and the apparatus and the adjustment of the posture relation between the second input device 103 and the apparatus are similar, the present embodiment and the embodiments mentioned below, as not specifically described, illustrate the posture relation between the adjustment input device 102 and the apparatus by adjusting the posture relation between the first input device 102 and the apparatus, which is only for the purpose of describing the implementation more clearly and concisely, and is not intended to limit the present application, and the adjustment of the posture relation between the second input device 103 and the apparatus may refer to an example of adjusting the posture relation between the first input device 102 and the apparatus. In process 1101 in method 1100, controller 250 pauses control of first instrument 310 or image device 320 associated therewith by first input device 102 in response to disconnecting the master-slave control command.

In process 1102, after the alignment state of the first input device 102 with the first instrument 310 is initialized, the controller 250 determines whether the first input device 102 is aligned with the first instrument 310, and when the first input device 102 is aligned with the first instrument 310, then the controller 250 performs a process 1103 in which the controller 250 controls the first input device 102 to move such that the pose of the first input device 102 follows the pose of the end apparatus of the first instrument 310, i.e., the pose of the first input device 102 follows the pose change of the end apparatus of the first instrument 310, such that the pose follow motion is real-time or synchronized such that the pose of the first input device 102 is consistent in real-time with the pose of the end apparatus of the instrument 310.

In some embodiments, the alignment status of the first input device 102 with the first instrument 310 includes the controller 250 marking the alignment status of the first input device 102 with the first instrument 310, e.g., the controller 250 marking the aligned status as true and the misaligned status as false in software. Initializing the alignment state of the first input device 102 with the first instrument 310 includes the controller 250 zeroing or clearing the alignment state of the first input device 102 with the first instrument 310 or resetting to a default or initial value. In some embodiments, before the controller 250 controls movement of the first input device 102, the controller 250 determines whether the first input device 102 is in alignment with the first instrument 310 by determining whether the first input device 102 is in alignment with the first instrument 310 when the pose of the first input device 310 and/or the first instrument 310 changes, if the first input device 102 is in alignment with the first instrument 310 when the pose of the first input device 310 and/or the first instrument 310 changes, then determining that the first input device 102 is in alignment with the first instrument 310, otherwise determining that the two are not in alignment. When the input device 102 is not aligned with the end apparatus of the first instrument 310, then the controller 250 performs a process 1104 in which the controller 250 controls the movement of the first input device 102 such that the pose of the first input device 102 is aligned with the pose of the end apparatus of the first instrument 310, which is not in real time or is asynchronous, such as when the end apparatus of the first instrument 310 is not moving, the first input device 102 resumes alignment, although the poses of the first input device 102 and the first instrument 310 are not aligned in real time, but the poses of the two are eventually aligned. For example, after determining that the first instrument 310 is first mounted to the robotic arm 210, the controller 250 performs the process 1104. Likewise, the same method as described above is performed for the posture relation adjustment of the second input device 103 and its associated second instrument 320. Thus, the posture of the first input device 102 is aligned with the posture of the end device of the first apparatus 310 before the master-slave control is activated, and the posture of the second input device 103 is aligned with the posture of the second apparatus 320, so that the alignment of the postures of the first and second input devices 102 with the postures of the end devices of the first and second apparatuses 310 and 320 is not required after the master-slave control is activated, thereby improving the efficiency of operating the computer-assisted medical device by the doctor. In addition, during the process 1103, since the pose of the first input device 102 follows the pose of the end device of the first instrument 310 in real time during the interruption of the master-slave control, the poses of both remain aligned in real time, and thus the doctor can intervene to activate the master-slave control at any point in time during the interruption of the master-slave control, which further improves the efficiency of the doctor's operation of the computer-assisted medical device.

In some embodiments, as shown in fig. 6, in the process 1105 of activating master-slave control, the control signal processing system of the master control console 100 initiates a master-slave control request to the controller 250, in the process 1106, the controller 250 determines whether the posture of the first input device 102 is aligned with the posture of the end device of the first instrument 310, and if it is determined that the posture of the first input device 102 is not aligned with the posture of the end device of the first instrument 310, the controller does not respond to the master-slave control request, and activates master-slave control failure; if it is determined that the attitude of the first input device 102 is aligned with the attitude of the end equipment of the first instrument 310, the master-slave control is successfully activated in response to the master-slave control request, and the first input device 102 resumes control of the first instrument 310, thus further ensuring the safety of the master-slave operation.

In some embodiments, as shown in fig. 7, the first input device 102 includes a handle 1021, a wrist joint assembly 1030, and an elbow joint assembly 1040, the handle 1021 being for the surgeon to hold, and movement of the wrist joint assembly 1030 being used to change the pose of the first input device 102, such as the pose of the handle 1021. The elbow joint assembly 1040 is used to change the position of the first input device 102, such as the position of the handle 1021.

The wrist assembly 1030 includes a plurality of wrist joints 1301, 1032, 1033, 1034, each of the wrist joints 1301, 1032, 1033, 1034 being rotatably connected to each other by an L-shaped link, wherein the wrist joint 1031 rotates about its axis X1, the wrist joint 1032 rotates about its axis X2, the wrist joint 1033 rotates about its axis X3, the wrist joint 1034 rotates about its axis X4, and each of the wrist joints 1301, 1032, 1033, 1034 rotates about its respective axis to change the attitude of the input device 102. In some embodiments, the gestures of the input device 102 include gestures of the intersection of axis X1, axis X2, axis X3, and axis X4.

The elbow joint assembly 1040 includes a plurality of elbow joints 1041, 1042, 1043, with the elbow joint 1041 rotating about its axis X5, the elbow joint 1042 rotating about its axis X6, the elbow joint 1043 rotating about its axis X7, and each elbow joint 1041, 1042, 1043 rotating about a respective axis to change the position of the input device 102.

The wrist assembly 1030 and the elbow assembly 1040 include a plurality of motors for driving movement of the wrist assembly 1030 and the elbow assembly 1040. In some embodiments, controller 250 controls wrist joint assembly 1030 by controlling one or more motors of wrist joint assembly 1030 to move such that the pose of first input device 102 and/or second input device 103 follows the pose of the instrument tip; alternatively, the pose of the first input device 102 and/or the second input device 103 is aligned with the pose of the instrument tip.

In some embodiments, when the first input device 102 is aligned with the first instrument 310, the controller 250 controls the motors of the wrist joint 1030 of the first input device 102 to move in an acceleration manner so that the pose of the first input device 102 quickly follows the pose of the instrument tip; when the first input device 102 is not aligned with the first instrument 310, the controller 250 controls the motor of the wrist assembly 1030 to move in a uniform manner, thereby causing the wrist assembly 1030 to move at a uniform rate, i.e., the handle 1021 to move at a uniform rate, so as not to cause a jump in the handle 1021 during alignment.

In some embodiments, the first input device 102 follows the pose of its associated first instrument 310 in an acceleration motion and the second input device 103 aligns with its associated second instrument 320 pose in a uniform motion.

In some embodiments, during the course of master-slave control being interrupted, a change in the attitude of the first input device 102 may be caused as the elbow joint assembly 1040 of the first input device 102 moves. For example, when the first input device 102 reaches the operation limit, the surgeon S actively moves the elbow joint assembly 1040 by operating the handle 1021 to readjust the position of the first input device 102, or movement of the elbow joint assembly 1040 caused by external force contact. The pose of the first input device 102 refers to the pose of the handle 1021 of the first input device 102 relative to the pose of the display device 101, the controller 250 controlling the wrist joint assembly 1030 to move in response to movement of the elbow joint assembly 1040 of the first input device 102 such that the pose of the input device 102 follows the pose of the end effector of the first instrument 310 associated therewith in real time, such that the pose of the first input device 102 remains aligned with the pose of the end effector of the first instrument 310 in real time during movement of the elbow joint assembly 1040. In some embodiments, the controller 250 may respond to the movement of the elbow joint assembly 1040 by detecting a signal sent by an encoder of a motor of the elbow joint assembly 1040.

In some embodiments, in response to movement of elbow joint assembly 1040, controller 250 controls the motors of wrist joint assembly 1030 to move in an acceleration manner, thereby causing wrist joint assembly 1030 to move in an acceleration manner such that the pose of first input device 102 follows the pose of the instrument tip.

In some embodiments, in response to a change in the pose of the first input device 102, the controller 250 controls the wrist joint assembly 1030 to move such that the pose of the first input device 102 follows the pose of the instrument tip.

In some embodiments, as shown in fig. 8, the mechanical arm 210 of the slave manipulator includes an adjustment arm 2100, a parallelogram mechanism 2110, and a holding arm 2124, where the adjustment arm 2100 includes a rotary joint 2101, a horizontal rectilinear motion joint 2102, and a vertical rectilinear motion joint 2103, and the rotary joint 2101, the horizontal rectilinear motion joint 2102, and the vertical rectilinear motion joint 2103 are connected by a link. The proximal end of parallelogram mechanism proximal 2110 is coupled to the distal end of adjustment arm 2100. Parallelogram mechanism 2100 includes a plurality of rotational joints 2111, 2112, 2113, 2114, rotational joint 2111 is coupled to rotational joint 2112 via parallelogram mechanism mount 2121, rotational joint 2112 is coupled to rotational joint 2113 via first link 2122, rotational joint 2113 is coupled to rotational joint 2114 via second link 2123, and second link 2123 is coupled to arm holder 2124 via rotational joint 2114. Cannula 2131 is attached to a distal end of arm 2124 and instrument pod 3101 (e.g., a transmission pod) of first instrument 310 is removably mounted to a driver 2125 on arm 2124 and receives power input from driver 2125. The distal end of the long axis of the first instrument 310 passes through the cannula 2131 and the end device 3103 is located at the end of the long axis of 3103.

The first link 2122, the second link 2123, the rotational joint 2112, and the rotational joint 2113 of the parallelogram mechanism 2110 mechanically define a parallelogram with the remote center of motion R at one vertex of the parallelogram through which the rotational axis of the rotational joint 2111 passes and the long axis 3103 passing through the remote center of motion R such that the long axis 3102 of the first instrument 310 always moves about the remote center of motion R regardless of the rotation of the various rotational joints of the parallelogram mechanism 2110.

In some embodiments, after master-slave control is discontinued, movement of the parallelogram mechanism 2110, such as rotation of one or more of the rotational joints 2111,2112,2113,2114 of the parallelogram mechanism, causes movement of the long axis 3103 of the instrument 310 about the remote center of motion R, at which time the attitude of the end device 3103 may also change. For example, when assistant A directly drags parallelogram mechanism 2110 to move, this causes a change in the attitude of end device 3103. In response to movement of parallelogram mechanism 2110, controller 250 controls movement of wrist joint assembly 1030 of first input device 102 associated with first instrument 310 such that the pose of first input device 102 follows the pose of end apparatus 3103 of first instrument 310, which follow is in real time.

In some embodiments, in response to movement of parallelogram mechanism 2110, controller 250 controls the motors of wrist joint assembly 1030 to move in an acceleration manner such that the pose of first input device 102 quickly follows the pose of end device 3103 of first instrument 310.

In some embodiments, the imaging device 340 is removably mounted to a driver on the second robotic arm 220, the first instrument 310 is removably mounted to the first robotic arm 210, the first and second robotic arms 210, 220 have the same configuration, and after master-slave control is interrupted, movement of the parallelogram mechanism 2110 of the second robotic arm 220 causes a change in attitude of an end-device (e.g., an image sensor) distal to the imaging device 340 such that the attitude of the end-device 3103 of the first instrument 310 relative to the end-device of the imaging device 340 also changes, at which time, in response to movement of the parallelogram mechanism 2110 of the second robotic arm 220, the controller 250 controls movement of the wrist joint assembly 1030 of the first input device 102 associated with the first instrument 310 such that the attitude of the first input device 102 relative to the display device 101 follows the attitude of the end-device 3103 of the first instrument 310 relative to the imaging device 330. In some embodiments, in response to a change in the pose of the end apparatus 3103 of the first instrument 310 relative to the end apparatus of the image device 340, the controller 250 controls the wrist joint assembly 1030 of the first input device 102 associated with the first instrument 310 to move such that the pose of the first input device 102 relative to the display device 101 follows the pose of the end apparatus 3103 of the first instrument 310 relative to the image device 330.

In some embodiments, movement of the adjustment arm 2100 causes movement of the entire parallelogram mechanism 2110 and the holding arm 2124 such that the position and attitude of both the remote center of motion R and the end device 3103 of the instrument 310 change, e.g., one or more of the rotational joint 2101, the horizontal linear motion joint 2102, and the vertical linear motion joint 2103 of the adjustment arm 2100 move, e.g., assistant a drags the adjustment arm 2100 to adjust the position of the remote center of motion R. After the master-slave control is interrupted, in response to movement of the adjustment arm 2100, the controller 250 controls the wrist joint assembly 1030 of the input device 102 to move such that the pose of the first input device 102 follows the pose of the end device 3103 of the first instrument 310, which is real-time.

In some embodiments, the imaging device 340 is removably mounted on a drive of the second robotic arm 220, the first instrument 310 removably mounted on the first robotic arm 210, the second robotic arm 220 having the same configuration as the first robotic arm 210. After the master-slave control is interrupted, the movement of the adjustment arm 2100 of the second robotic arm 220 causes the pose of the distal end of the imaging device 340, and thus the pose of the end device 3103 of the first instrument 310, to change relative to the pose of the end device of the imaging device 330 (e.g., the image sensor), at which point, in response to the movement of the adjustment arm 2100 of the second robotic arm 220, the controller 250 controls the wrist joint assembly 1030 of the first input device 102 associated with the first instrument 310 to move, thereby causing the pose of the first input device 102 relative to the display device 101 to follow the pose of the end device 3130 of the first instrument 310 relative to the imaging device 330.

In some embodiments, after the surgeon S manipulates the pedal 105, a toggle tool command is issued, and the controller 250 toggles the instrument associated with the first input device 102 in response to the toggle tool command, for example, if the first input device 102 is currently associated with the first surgical instrument 310, i.e., the first input device 102 controls movement of the first instrument 310, and after the controller 250 responds to the toggle tool command, the controller 250 toggles the first input device 102 to the second instrument 330, and the toggled first input device 102 controls movement of the second instrument 330. In response to a toggle tool instruction to toggle the first input device 102 to the second instrument 330, the controller 250 moves the wrist joint assembly 1030 of the first input device 102 to align the pose of the first input device 102 with the pose of the second instrument 330 to which it is re-associated. After the first input device 102 is switched to be associated with the second instrument 330 and master-slave control is activated, the first input device 102 controls the movement of the second instrument 330, and since the posture of the first input device 102 is aligned with the posture of the second instrument 330 before master-slave control is activated, the posture of the input device 102 and the posture of the second instrument 330 do not need to be aligned after master-slave control is activated, thereby improving the efficiency of medical device operation. In some embodiments, the switch tool command is issued by the surgeon S operating the side kick plate.

In some embodiments, in response to a toggle tool command, controller 250 moves the motors of wrist joint assembly 1030 of first input device 102 at a uniform motion to align the pose of first input device 102 with the pose of the instrument with which it is re-associated.

In some embodiments, the first instrument 310 is removably mounted to the first robotic arm 210 and the imaging device 340 is removably mounted to the second robotic arm 220, and in some cases, such as when an adjustment of the surgical field is desired, the imaging device 340 is required to be swapped from the second robotic arm 220 to the third robotic arm 230, which may be by swapping the imaging device 340 mounted on the second robotic arm 220 with the second instrument 330 mounted on the third robotic arm 230, or by swapping the imaging device 340 mounted on the second robotic arm 220 with the third robotic arm 230, while the second robotic arm 220 is empty and no tools are mounted.

After the imaging device 340 is reloaded from the second robotic arm 220 to the third robotic arm 230, the pose of the end device 3103 of the first instrument 310 on the first robotic arm 210 is switched from the coordinate system of the imaging device 340 referenced to the second robotic arm 220 to the coordinate system of the imaging device 330 referenced to the third robotic arm 230, and the pose relationship of the end device 3103 of the instrument 310 on the first robotic arm 210 relative to the reference coordinate system is changed.

At this time, in response to the imaging device 340 being reloaded from the second robotic arm 220 onto the third robotic arm 230, the controller 250 controls the wrist joint assembly 1030 of the first input device 102 to move such that the pose of the first input device 102 relative to the display device 101 is aligned with the pose of the end effector 3103 of the first instrument 310 relative to the imaging device 340 located on the reloaded third robotic arm 230. In some embodiments, in response to the imaging device 340 being reloaded from the second robotic arm 220 onto the third robotic arm 230, the controller 250 controls the wrist assembly 1030 of the first input device 102 to move at a constant velocity such that the pose of the first input device 102 relative to the display device 101 is aligned with the pose of the end effector 3103 of the first instrument 310 relative to the imaging device 340 being reloaded onto the third robotic arm 230. In some embodiments, the controller 250 controls the movement of the wrist joint assembly 1030 after the pose of the imaging device 340 is locked such that the pose of the first input device 102 relative to the display device 101 is aligned with the pose of the end apparatus 3103 of the first instrument 310 relative to the imaging device 340 mounted on the third robotic arm 230.

After the posture of the first input device 102 is aligned with the posture of the first instrument 310, the surgeon observes the surgical environment from the image acquired from the imaging device 340 on the third mechanical arm 230 after activating the master-slave control, and after activating the master-slave control, the posture alignment of the first input device 102 with the first instrument 310 does not need to be performed again, thereby improving the efficiency of the surgery.

In some embodiments, if it is desired to replace imaging device 340, for example, imaging device 340 may be problematic during a surgical procedure. After reloading the imaging apparatus 340, as the pose of the imaging apparatus 330 changes before and after replacement, the pose of the end device of the instrument located on the other robotic arm changes relative to the pose of the replacement imaging apparatus 330, at which time, taking the first robotic arm 210 and the instrument 310 thereon as an example, in response to reloading the imaging apparatus 330, the controller 250 controls the wrist joint assembly 1030 of the first input device 102 to move such that the pose of the first input device 102 is aligned with the pose of the end device of the first instrument 310. In some embodiments, controller 250 controls the movement of wrist joint assembly 1030 to perform the alignment action after the pose of imaging device 340 is locked after imaging device 340 is replaced. In some embodiments, responsive to reloading of imaging device 340, it may be responsive to the system recognizing that imaging device 330 is mounted to a robotic arm.

In some embodiments, if an instrument needs to be changed during a procedure, for example, a different instrument needs to be used during a procedure, the bipolar electrosurgical instrument is switched to a monopolar electrosurgical instrument. After reloading the instrument onto the robotic arm, the tip pose of the reloaded instrument is different from the pose of the previous instrument, at which point, in response to the reloading of the instrument, the controller 250 controls the wrist joint assembly 1030 of the input device 102 to move to align the pose of the input device 102 with the pose of the reloaded instrument. In some embodiments, controller 250 controls the movement of wrist joint assembly 1030 to perform alignment after the pose of the instrument is locked.

After the pose of the input device 102 is aligned with the pose of the instrument 310, the surgeon does not need to again align the pose of the input device 102 with the pose of the instrument 310 after activating the master-slave control, improving the efficiency of the procedure.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (11)

1. A medical device, comprising:

an input device;

the mechanical arm is detachably mounted with the instrument;

A controller configured to:

control of the instrument by the input device is suspended in response to a turn-off master-slave controller command, and movement of the input device is controlled to cause the attitude of the input device to follow the attitude of the end device when the robotic arm is actuated to cause the attitude of the end device of the instrument to change.

2. The medical device of claim 1, wherein the robotic arm includes a parallelogram mechanism and a holding arm, the instrument being removably mounted on the holding arm, a long axis of the instrument passing through a remote center of motion defined by the parallelogram mechanism;

when the parallelogram mechanism is actuated to rotate the long axis of the instrument about the remote center of motion, the controller controls movement of the input device such that the pose of the input device follows the pose of the end-device of the instrument.

3. The medical device of claim 2, wherein the robotic arm further comprises an adjustment arm having a distal end coupled to a proximal end of the parallelogram mechanism, the controller controlling movement of the input device to cause the pose of the input device to follow the pose of the end-effector when the adjustment arm is actuated to change the pose of the remote center of motion.

4. The medical device of claim 1, wherein the controller is further configured to resume control of the instrument by the input device in response to activating a master-slave control command, and wherein after activating master-slave control, the controller no longer controls the pose of the input device to align with the pose of the end-device of the instrument.

5. The medical device of claim 4, wherein the input device comprises a plurality of motors, the controller controlling the plurality of motors to rotate in an acceleration manner to move the input device such that a pose of the input device follows a pose of an end-effector of the instrument.

6. A medical device, comprising:

an input device and a display device;

a first mechanical arm on which an instrument is detachably mounted, and a second mechanical arm on which an imaging device is detachably mounted;

a controller configured to:

suspending the input device from controlling the instrument in response to disconnecting a master-slave control command;

and when the second mechanical arm is actuated to change the pose of the end effector of the instrument relative to the imaging device, controlling the input device to move so that the pose of the input device relative to the display device follows the pose of the end effector of the instrument relative to the imaging device.

7. The medical device of claim 6, wherein the second robotic arm comprises a parallelogram mechanism and a holding arm, the imaging device being removably mounted on the holding arm, a long axis of the imaging device passing through a remote center of motion defined by the parallelogram mechanism;

when the parallelogram mechanism is actuated to rotate the long axis of the imaging device about the remote center of motion, the controller controls the input device to move such that the pose of the input device relative to the display device follows the pose of the tip apparatus relative to the imaging device.

8. The medical device of claim 6, wherein the second robotic arm further comprises an adjustment arm having a distal end coupled to a proximal end of the parallelogram mechanism, the controller controlling the input device to move to cause the input device to follow the pose of the tip apparatus relative to the imaging device when the adjustment arm is actuated to change the pose of the remote center of motion.

9. The medical device of claim 6, wherein the controller is further configured to resume control of the instrument by the input device in response to activating a master-slave control command, and wherein after activating master-slave control, the controller no longer controls the pose of the input device to align with the pose of the end-device of the instrument.

10. The medical device of claim 6, wherein the input device comprises a plurality of motors, the controller controlling the plurality of motors to rotate in an acceleration manner to move the input device to cause a pose of the input device relative to a display device to follow a pose of the tip apparatus relative to an imaging device.

11. A medical device, comprising:

an input device;

the first mechanical arm and the second mechanical arm are provided with a first instrument which is detachably arranged on the first mechanical arm and a second instrument which is detachably arranged on the second mechanical arm;

a controller configured to:

switching an input device from controlling a first instrument to controlling the second instrument in response to a switch tool instruction, and controlling the input device to move to align a pose of the input device with a pose of an end device of the second instrument.