CN106214262A

CN106214262A - Surgical robot system and self-adaptation control method thereof

Info

Publication number: CN106214262A
Application number: CN201610566337.8A
Authority: CN
Inventors: 崔胜旭; 闵东明; 李珉奎
Original assignee: Eaton Corp
Current assignee: Eaton Corp
Priority date: 2010-12-17
Filing date: 2011-12-16
Publication date: 2016-12-14
Anticipated expiration: 2031-12-16
Also published as: CN102614019A; CN104473693B; KR20120068597A; CN106214262B; CN104473693A; CN102614019B

Abstract

Disclose surgical robot system and self-adaptation control method thereof, main interface is included in and is provided with in endoscope and operation tool in the surgical robot system of more than one control object, for controlling control object position, including: operating portion, receive the user command of mobile operation control object；Storage part, more than one benchmark image and the moving ratio factor corresponding to benchmark image in the image information that storage is provided by endoscope；Scale factor operational part, it is judged that the present image information provided by endoscope is to be exaggerated or reduce compared with benchmark image, regulates the moving ratio factor, and reset in the way of proportional to the degree that zooms in or out；Operation signal generating unit, is converted to the user command utilizing operating portion the moving ratio factor corresponding to resetting, and generates the operation signal to control object.Operating time can be shortened and alleviate the feeling of fatigue executing patient, and confirming operation tool displacement intuitively according to the image information of display.

Description

Surgical robot system and self-adaptation control method thereof

The application is Application No. 201110423299.8, filing date December in 2011 16 days, invention entitled " operation Robot system and self-adaptation control method thereof " the divisional application of Chinese invention patent application.

Technical field

The present invention relates to a kind of surgical robot system and self-adaptation control method thereof.

Background technology

Operation medically refers to use medical apparatus and instruments that skin, mucosa or other tissue are cut, cut or carried out Operate and cure the behavior of disease.Particularly, cutting operation area skin and its internal etc. is treated, shaping or excision Laparotomy ventrotomy etc., due to the problem such as hemorrhage, side effect, patient suffering, cicatrix, use the operation of robot (robot) recently Enjoy great popularity.

Surgical robot system generally comprises main robot and from robot, main robot and can be respective from robot Independent realization, it is also possible to be that one realizes.

When executing patient and operating manipulator (the such as handle) being had on main robot, tie with the robotic arm from robot The operation tool (i.e. operating theater instruments: instrument) closed or held by robotic arm is operated, thus performs the operation.

In order to carry out according to the operation executing patient's manipulation device, surgical robot system performs under plurality of operation modes The action specified.To as the main robot reorientation pattern of the partial act pattern in plurality of operation modes, peritoneoscope position Control model, keep mode declaration pattern specification as follows.

Main robot reorientation pattern is, presses surgical robot system during had main robot reorientation button Action pattern, even if executing patient's mobile manipulator, according to manipulator operation operational order be also not transferred to from robot Action pattern.For enter main robot reorientation pattern main robot reorientation button can by described below from Close button to realize.

The peritoneoscope replacement when executing patient's mobile manipulator of peritoneoscope position control mode is arranged on from robot Operation tool and the action pattern that operated.Execute patient and pin the camera buttons (such as pedal) possessed in advance on main robot In the case of mobile manipulator such that it is able under peritoneoscope position control mode, operate abdominal cavity moving the modes such as peritoneoscope Mirror.

Holding pattern is the action pattern maintaining current action state, is to make main robot and from robot all at current shape The action pattern that state stops.Press button set in advance or face leave etc. from control station (console) dynamic by executing patient Making, surgical robot system can enter holding pattern.

Below, the main robot reorientation of the surgical robot system related to reference to relevant drawings simple declaration prior art Pattern and the action of peritoneoscope position control mode.

Fig. 1 is to represent the integrally-built top view of surgical robot system that prior art relates to, and Fig. 2 is to represent existing skill The concept map at the main interface of surgical robot system that art relates to, Fig. 3 a and Fig. 3 b is to represent operating robot system of the prior art The concept map of the mobile control process of the operating theater instruments that system is had.

With reference to Fig. 1 and Fig. 2, surgical robot system includes: from robot 2, directly real to the patient lain on operating-table Operate on；Main robot 1, executes patient for remote control from robot 2.It is integrally formed when main robot 1 with from robot 2 Time, main interface 4 may correspond to the interface portion of one-piece type operating robot.

Robotic arm 3 and peritoneoscope 5 is included from robot 2.The main interface 4 of main robot 1 includes display 6, handle 10, master Robot reorientation button and camera buttons.Main robot reorientation button and camera buttons can be respectively by clutch button 14 or the form such as pedal 30 realize.

Main robot 1 can be connected by cable network or wireless network with from robot 2 and be passed by operation signal etc. Give the other side.If needing to transport through the two of two handles 10 being had on main interface 4 at identical and/or similar time Individual operation signal and/or during for regulating the operation signal of peritoneoscope 5 position, each operation signal can send to independently of one another From robot 2.

Drive with can having multiple degrees of freedom from the robotic arm 3 of robot 2.Robotic arm 3 such as may include that operation tool, It is inserted in the operative site of patient；Deflection driven portion, according to surgery location so that operation tool rotates to deflection (yaw) direction； Pitching drive division, drives orthogonal pitching (pitch) direction rotary operation instrument to rotating of deflection driven portion；Transfer drives Portion, moves operation tool to length direction；Rotary driving part, for rotary operation instrument；Operation tool drive division, is located at operation The end of instrument, for cutting or cutting operation focus.

Two handles 10 being had on main interface 4 are formed as, it is possible to held respectively operate on both hands by executing patient, Operation signal according to executing patient and operate handle 10 is sent to from robot 2, thus controls robotic arm 3.

The image inputted by peritoneoscope 5 is shown on the display 6 at main interface 4 with picture image.And, at display The electrocardiogram curve etc. showing such as patient can also be increased on 6.

The main robot reorientation button having on main interface 4 is, executes patient and carries out in operation process, will be used for carrying out The operating area (region such as, shot by peritoneoscope 5 for operation instrument) of operation is moved to from primary importance After the second position of diverse location, regulate (such as, current work district, operational region again to operate the handle 10 at main interface 4 The home position of handle 10 is recovered to be adjusted in the center in territory) time, it is possible to the control knob of utilization.

Execute patient input main robot reorientation button state (such as, the state of pushes pedals 30) even if under to arbitrary Direction operation handle 10, operation tool operational order or peritoneoscope 5 operational order that this operation causes also will not be supplied to from machine Device people 2, therefore executes patient and for the ease of carrying out surgical action, handle 10 can be returned to original state.

That is, when executing patient and from primary importance, operating area being moved to the second position, first have to carry out for moving abdomen The camera buttons input (that is, entering peritoneoscope position control mode) of chamber mirror 5, and by operation handle 10, peritoneoscope 5 is moved Move after desired location, in order to prevent peritoneoscope 5 for mobile peritoneoscope 5 to the handle 10 of either direction operation recover to Move during origin-location, under the state (main robot reorientation pattern) pinning main robot reorientation button, handle 10 is entered Row operates and recovers to origin-location, the state of pinning of End Host device people's reorientation button such that it is able to regulate action again Region, in order to carry out the operation of the handle 10 for operation instrument in the operating area of change.

But, the degree that peritoneoscope 5 is moved to respective direction by operation handle 10 under peritoneoscope position control mode, It is defined in the size of operating area 310 set in advance, so, operating area 310 is moved from (a) region as shown in Figure 3 a During to (b) region, bring very big inconvenience to executing patient.

That is, when will move the operating area 310 in (a) region to (b) region, as shown in Figure 3 b, execute patient can only will make Industry region 310 is moved successively with the order of (a), (p1), (p2), (p3) and (b), and in each mobile step, executing patient needs instead Carry out again operating camera buttons and mobile peritoneoscope 5, operation handle 10 make peritoneoscope 5 move, in order to be returned to by handle 10 Origin-location and operate main robot reorientation button and the process of end operation, when the path changing of mobile operating area 10 Time, the number of operations of camera buttons and main robot reorientation button is also possible to more.Here, the tables such as c-a, c-b of Fig. 3 b Show along with the shift position of operation handle 10 peritoneoscope 5.

And, in the surgical robot system that prior art relates to, the problem points of the move mode of operation tool is, with The image information multiplying power inputted by peritoneoscope 5 independently keeps constant.

Its reason is, for defining the moving ratio factor (MSF, the Motion Scale of operation tool moving interval Factor) it is fixed on certain value most preferably can move in operating area 310 set in advance, and does not considers to lead to completely Which part and which region is the image information crossing peritoneoscope 5 input include.

And, peritoneoscope 5 mobile mechanism in units of operating area ultimately result in operating time extend, there is also to The problem that the doctor carrying out performing the operation under high-pressure state brings major fatigue sense.

Described background technology is that inventor is grasped to derive the present invention or learned during deriving the present invention The technical information arrived, it is not necessary to be by known technology disclosed in general public before the present patent application.

Summary of the invention

Present invention aim at providing a kind of surgical robot system and self-adaptation control method thereof, it is possible to according to by abdominal cavity The image information of mirror shooting is the movement that the subject about which region and which scope changes operation tool adaptively Scale factor.

Present invention aim at providing a kind of surgical robot system and self-adaptation control method thereof, it is possible to when shortening operation Between and alleviate and during operation is carried out, execute the feeling of fatigue of patient, and operation work can be recognized intuitively according to the image information of display The displacement of tool.

Present invention aim at providing a kind of surgical robot system and self-adaptation control method thereof, it is possible to greatest extent Improve peritoneoscope and/or the operation ease of operation tool.

Present invention aim at providing a kind of surgical robot system and self-adaptation control method thereof, improve to operate abdomen Chamber mirror and the camera buttons that utilizes, and add single position control/speed control knob such that it is able to implement new dynamic Make.

According to an embodiment of the present invention, it is provided that a kind of main interface, it is included in operation endoscope and operation being installed In the surgical robot system of more than one control object in instrument, and for controlling the position of described control object, this is main Interface includes: operating portion, receives the user command for control object moves operation；Storage part, for storage by hands More than one benchmark image in the image information that art provides with endoscope and the moving ratio factor corresponding to benchmark image (Motion Scale Factor)；Scale factor operational part, it is judged that the current present image provided with endoscope by operation is believed Breath is to be exaggerated or reduce compared with benchmark image, and linear or non-linear ratio to zoom in or out degree with it Mode regulates the moving ratio factor, and resets；Operation signal generating unit, is converted to the user command utilizing operating portion Corresponding to the moving ratio factor reset, thus generate the operation signal for control object.

Scale factor operational part is in order to judge that present image information is to be exaggerated or reduce compared with benchmark image, permissible Present image information uniform domain in benchmark image, and setting regions is detected according to image analysis technology set in advance.

Scale factor operational part can utilize and be set the lateral dimension in region, vertical dimension, catercorner length and width In more than one conversion information and in benchmark image corresponding to conversion information information between proportionate relationship regulate shifting Dynamic scale factor.

The displacement of the control object according to user command, can be adjusted by the moving ratio factor.

Perform the operation with endoscope can be peritoneoscope, thoracoscope, arthroscope, asoscope, cystoscope, rectoscope, duodenoscope, More than one in mediastinoscope, cardioscope.

According to an embodiment of the present invention, it is provided that a kind of main interface, it is included in operation endoscope and operation being installed In instrument in the surgical robot system of more than one control object, and for controlling the position of described control object, this is main Interface includes: operating portion, receives the user command for control object moves operation；Storage part, for storage one The moving ratio factor of the above shooting condition using endoscope based on operation；Scale factor operational part, receives relevant operation and uses The information of endoscope's shooting condition, retrieves the corresponding moving ratio factor at storage part, and be set as the moving ratio that is suitable for because of Son；Operation signal generating unit, is converted to the user command utilizing operating portion corresponding to the set moving ratio factor, thus Generate the operation signal for control object.

Shooting condition can be operation with the image taking zoom ratio of endoscope, camera site, away from operative site surface Distance and the actual size of operative site that is taken in more than one.

Image taking zoom ratio is moving ratio factor during high magnification, can be low power than image taking zoom ratio Moving ratio factor during rate, has relatively small value.

Perform the operation with endoscope insert inside of human body relatively deep time the moving ratio factor, can than operation relative with endoscope Moving ratio factor when inserting shallow, has little value.

From the sensor reception detected value for detecting the distance away from operative site surface, away from the distance on operative site surface The nearest, the moving ratio factor can be set to the least value.

The actual size of the operative site being taken is the least, and the moving ratio factor can be set to the least value.

The displacement of the operation tool according to user command, can be adjusted by the moving ratio factor.

When user command belongs to for the order of mobile manipulator art endoscope, the operation displacement of endoscope Can be adjusted by the moving ratio factor.

According to the change of shooting condition, can the real-time operation moving ratio factor be stored in storage part.

When for the mobile operation of control object, when operating portion is operated with relatively large operational ton, with operating portion with phase Comparing when operating few operational ton, scale factor operational part can set the bigger moving ratio factor.

When operation is the device obtaining 3-D view with endoscope, the information about shooting condition can be by resolving The degree of depth (depth) information calculated by the image information of endoscope's shooting by operation.

According to another embodiment of the present invention, it is provided that the self-adaptation control method of a kind of control object, it is at main interface The operation of upper execution self-adaptation control method of more than one control object in endoscope and operation tool, including walking as follows Rapid: more than one benchmark image to be provided in the image information provided by operation endoscope and corresponding with benchmark image moves The step of scale factor (Motion Scale Factor)；The present image information provided by current procedure endoscope is provided It is to be exaggerated or the step reduced compared with benchmark image；With the linear or non-linear ratio of the degree that zooms in or out with judgement The mode of example regulates the moving ratio factor the step reset；To input to control object be moved operation User command be converted into the moving ratio factor corresponding to resetting, and generate step control object being operated to signal Suddenly.

In judging step, in order to judge that present image information is to be exaggerated or reduce compared with benchmark image, permissible According to image analysis technology set in advance detection present image information uniform domain in benchmark image, thus setting district Territory.

In the step regulated and reset, it is possible to use be set the lateral dimension in region, vertical dimension, diagonal angle In line length and width more than one conversion information and in benchmark image corresponding to conversion information information between ratio Relation regulates the moving ratio factor.

According to another embodiment of the present invention, it is provided that the self-adaptation control method of a kind of operation tool, it is at main interface The operation of upper execution self-adaptation control method of more than one control object in endoscope and operation tool, including walking as follows Rapid: to store the step of more than one moving ratio factor based on operation endoscope shooting condition；Receive relevant operation with interior The information of sight glass shooting condition, retrieves the corresponding moving ratio factor at storage part, and is set as the moving ratio factor being suitable for Step；The user command inputted in order to control object moves operation is converted to the mobile ratio corresponding to resetting The example factor, and generate step control object being operated to signal.

Shooting condition can be operation with the image taking zoom ratio of endoscope, camera site, away from operative site surface Distance and the operative site that is taken actual size in more than one.

Also include the step receiving the information of the distance away from operative site surface detected by sensor, away from operative site table The distance in face is the nearest, and the moving ratio factor can be set as the least value.

The actual size of the operative site being taken is the least, and the moving ratio factor can be set as the least value.

In setting procedure, when the user command for mobile operation control object is the operation relatively large about operating portion During amount, when being operated with relatively little of operational ton with operating portion compared with, the bigger moving ratio factor can be set.

Perform the operation when being the device obtaining 3-D view with endoscope, the information of relevant shooting condition can be by parsing by The degree of depth (depth) information that operation calculates by the image information of endoscope's shooting.

According to another embodiment of the present invention, it is provided that a kind of main interface, it is included in and operation endoscope and hands are installed In art instrument in the surgical robot system of more than one control object, and for controlling the position of control object, this main boundary Face includes: operating portion, receives the user command for mobile operation control object；Operation signal generating unit, according to instrument/vision Select the selection information of (Instrument/Vision Selection) input block, with the operational ton of operating portion accordingly Generate the operation signal being used for controlling the position of corresponding control object.

Operation signal generating unit judges whether have selected position control mode, and only ability in the case of selected Generate the operation signal for controlling described position.

Select the selection information of input block according to instrument/vision, control object can be appointed as operation endoscope and More than one in operation tool.

Instrument/vision selects input block for specified control object, can be made up of more than one button.

When selecting the selection information of input block according to instrument/vision, control object be designated as operation endoscope and During operation tool, operation signal generating unit can generate operation signal, and this operation signal makes operation endoscope and operation tool Move to direction corresponding with the direction of operating of operating portion under keeping side by side relationship.

When selecting the selection information of input block according to instrument/vision, control object be designated as operation endoscope and During operation tool, it is in and clamps in operative site the operation tool of the state at arbitrary position, end and do not clapped with endoscope by operation Operation tool, the clamp (jaw) taken the photograph are in the operation tool of closure state, uke is appointed as keeping the operation of stationary state Instrument and when pressing arbitrary stationary state button in the stationary state hold button that multiple operating portions each have with this behaviour More than one in the operation tool that the portion that makees sets accordingly, can not move with the operation of operating portion and protect Hold its position.

It is controlled so as to the position amount of movement of control object corresponding to operating portion operational ton, the moving ratio factor can be passed through (Motion Scale Factor) and determine.

Also include: storage part, store by operation with endoscope provide image information in more than one benchmark image and The moving ratio factor corresponding with benchmark image；Scale factor operational part, it is judged that currently by operation with endoscope provide current Image information is to be exaggerated or reduce compared with benchmark image, and linear or non-linear to zoom in or out degree with it The mode of ratio regulates the moving ratio factor, thus resets；Operation signal generating unit can be by the operational ton of operating portion Change and make it correspond to the moving ratio factor reset, and generate operation signal.

Also include: storage part, store more than one moving ratio factor based on operation endoscope shooting condition；Ratio Factor operational part, receives the information of relevant operation endoscope shooting condition, and the storage part corresponding moving ratio of retrieval because of Son, and it is set as the moving ratio factor being suitable for；The operational ton of operating portion can be converted into and make it right by operation signal generating unit In the moving ratio factor set, and operation signal should be generated.

According to the change of shooting condition, the real-time operation moving ratio factor and can be stored in storage part.

When being operated with relatively large operational ton for the operating portion of mobile manipulator art instrument, with operating portion with relative Few operational ton is compared when operating, and scale factor operational part can set the bigger moving ratio factor.

When performing the operation with the device that endoscope is acquisition 3-D view, the information about shooting condition can be by resolving quilt The degree of depth (depth) information that operation calculates by the image information of endoscope's shooting.

According to another embodiment of the present invention, it is provided that a kind of position control method about control object, it is to leading The position control method of more than one control object in the operation endoscope performed on interface and operation tool, including walking as follows Rapid: to utilize the step that operating portion receives the user command for mobile operation control object；Select according to instrument/vision The selection information of (Instrument/Vision Selection) input block, correspondingly generates use with the operational ton of operating portion Step in the operation signal controlling corresponding control object position.

When selecting the selection information of input block according to instrument/vision, control object be designated as operation endoscope and During operation tool, generating operation signal in generation step, this operation signal can make operation endoscope and operation tool exist Keep moving to direction corresponding with the direction of operating of operating portion under side by side relationship.

When selecting the selection information of input block according to instrument/vision, control object be designated as operation endoscope and During operation tool, it is in and clamps the operation tool of the state at arbitrary position in operative site, its end not by operation endoscope Shooting operation tool, clamp (jaw) be in closure state operation tool, by execute patient be designated as keep stationary state hands When art instrument and the stationary state hold button that each has in multiple operating portions press arbitrary stationary state button with More than one in the operation tool of this operating portion respective settings, can not move with the operation of operating portion and keep Its position.

There is provided the position control method of a kind of control object, it is characterised in that generation step includes: judge by current procedure The present image information provided with endoscope and the arbitrary benchmark image phase passed through in the image information that operation endoscope provides Ratio is to be exaggerated or the step reduced；When being exaggerated or minimized, to zoom in or out the linear or non-linear ratio of degree with it The mode of example regulates the moving ratio factor, and the step reset；The operational ton of generation and conversion is corresponding operates signal Step, the operational ton of this conversion meets the moving ratio factor reset.

Judging it is to be exaggerated or in the step reduced, can be current according to image analysis technology set in advance detection Image information uniform domain in benchmark image, thus setting regions.

In generation step, may include that the step receiving the information about operation endoscope shooting condition；From in advance Based on shooting condition the more than one moving ratio factor being stored in storage part extracts the information corresponding to receiving The step of the moving ratio factor；The operational ton of operating portion is changed and makes it correspond to the moving ratio factor of extraction, thus raw Become the step of operation signal.

Shooting condition can be operation with the image taking zoom ratio of endoscope, camera site, away from operative site surface Distance and by operation with endoscope shooting operative site actual size in more than one.

Also include from the step receiving detected value for detecting the sensor of the distance away from operative site surface, away from Surgery The distance on surface, position is the nearest, and the moving ratio factor can be set to the least value.

When the position in order to control control object, when operating portion operates with relatively large operational ton, with operating portion with relative Few operational ton is compared when operating, and can set the bigger moving ratio factor.

According to another embodiment of the present invention, it is provided that a kind of main interface, it is included in and operation endoscope and hands are installed In art instrument in the surgical robot system of more than one control object, and for controlling the translational speed of control object, should Main interface includes: operating portion, receives the user command for mobile operation control object；Operation signal generating unit, according to instrument/ Vision selects the selection information of (Instrument/Vision Selection) input block, relative with the operational ton of operating portion The operation signal being used for controlling the translational speed of corresponding control object should be generated in ground.

Operation signal generating unit judges whether have selected speed control mode, and only ability in the case of selected Generate the operation signal for controlling described translational speed.

The operational ton of operating portion is the biggest, and the translational speed of control object can be configured to the biggest value.

When selecting the selection information of input block according to instrument/vision, control object be designated as operation endoscope and During operation tool, operation signal generating unit can generate operation signal, and this operation signal can make operation endoscope and operation Instrument moves to direction corresponding with the direction of operating of operating portion under keeping side by side relationship.

When selecting the selection information of input block according to instrument/vision, control object be designated as operation endoscope and During operation tool, it is in and clamps the hands that in operative site, the operation tool at arbitrary position, end are not shot by operation endoscope Art instrument, clamp (jaw) be in closure state operation tool, by execute patient be designated as keep stationary state operation tool, And when the stationary state hold button each having in multiple operating portions presses arbitrary stationary state button with this operation More than one in the operation tool of portion's respective settings, can not move with the operation of operating portion and keep its position Put.

It is controlled so as to the translational speed of control object corresponding to operating portion operational ton, the moving ratio factor can be passed through (Motion Scale Factor) and determine.

Also include: storage part, store by operation with endoscope provide image information in more than one benchmark image and The moving ratio factor corresponding with benchmark image；Scale factor operational part, it is judged that currently by operation working as with endoscope's offer Front image information is to be exaggerated or reduce compared with benchmark image, and degree is linear or non-thread to zoom in or out with it The mode of sex ratio regulates the moving ratio factor, thus resets；Operation signal generating unit can be by the operation of operating portion Amount is changed and is made it correspond to the moving ratio factor reset, and generates operation signal.

Scale factor operational part is in order to judge that present image information is to be exaggerated or reduce compared with benchmark image, permissible According to image analysis technology set in advance detection present image information uniform domain in benchmark image, thus setting district Territory.

Scale factor operational part can utilize the lateral dimension in the region being set, vertical dimension, catercorner length and width In degree, the proportionate relationship between more than one conversion information and the information corresponding to conversion information in benchmark image regulates The moving ratio factor.

Also include: storage part, store the more than one moving ratio factor according to operation endoscope shooting condition；Ratio Example factor operational part, receives the information about operation endoscope shooting condition, and retrieves corresponding moving ratio at storage part The factor, thus it is set as the moving ratio factor being suitable for；Operation signal generating unit can be right by the operational ton conversion of operating portion In the moving ratio factor set, and operation signal should be generated.

Receive detected value from the sensor for detection with the spacing on operative site surface, away from operative site surface away from Close to more, the moving ratio factor is set to the least value.

According to another embodiment of the present invention, it is provided that the movement speed control method of a kind of control object, it is being provided with Operation performs with in the surgical robot system of more than one control object in endoscope and operation tool, comprises the steps: Operating portion is utilized to receive the step of the user command for mobile operation control object；Select according to instrument/vision The selection information of (Instrument/Vision Selection) input block, generates accordingly with the operational ton of operating portion For controlling the operation signal of the translational speed of corresponding control object.

In generation step, the operational ton of operating portion is the biggest, and the translational speed of control object can be designated as the biggest Value.

When selecting the selection information of input block according to instrument/vision, control object be designated as operation endoscope and During operation tool, can generate operation signal in generation step, this operation signal makes operation endoscope and operation tool exist Keep moving to direction corresponding with the direction of operating of operating portion under side by side relationship.

When selecting the selection information of input block according to instrument/vision, control object be designated as operation endoscope and During operation tool, it is in and clamps in operative site the operation tool of the state at arbitrary position, end and do not clapped with endoscope by operation The operation tool taken the photograph, clamp (jaw) are in the operation tool of closure state, by the operation executing patient and be designated as keeping stationary state When instrument and the stationary state hold button that each has in multiple operating portions press arbitrary stationary state button with should More than one in the operation tool of operating portion respective settings, can not move with the operation of operating portion and keep Its position.

There is provided the position control method of a kind of control object, it is characterised in that generation step includes: judge by current procedure The present image information provided with endoscope is compared with arbitrary benchmark image in the image information passing through the offer of operation endoscope It is to be exaggerated or the step reduced；When being exaggerated or minimized, to zoom in or out with it, degree is linear or non-linear ratio Mode regulate the moving ratio factor, thus the step reset；The operational ton of generation and conversion is corresponding operates signal Step, the operational ton of this conversion meets the moving ratio factor reset.

Generation step may include that the step receiving the information about operation endoscope shooting condition；From prestoring Based on shooting condition the more than one moving ratio factor in storage part extracts the shifting corresponding to the information received The step of dynamic scale factor；The operational ton of operating portion is changed and makes it correspond to the moving ratio factor of extraction, thus generate The step of operation signal.

Perform the operation with endoscope insert inside of human body relatively deep time the moving ratio factor, can than operation relative with endoscope Moving ratio factor when inserting shallow, has less value.

When for the position control of control object, when operating portion operates with relatively large operational ton, with operating portion with relative Few operational ton is compared when operating, and can set the bigger moving ratio factor.

Apart from the above, other embodiment, feature, advantage can be passed through figure below, right and send out Bright detailed description can definitely.

According to embodiments of the invention, can according to the image information shot by peritoneoscope for which region relevant and which Subject in the range of individual, changes the moving ratio factor of operation tool adaptively.

And, it is possible to shorten operating time and alleviate the feeling of fatigue executing patient during operation is carried out, and according to display Image information can recognize the displacement of operation tool intuitively.

And, it is possible to maximize peritoneoscope and/or the operation ease of operation tool.

And, improve and be used for operating laparoscopically camera buttons, and add single position control/speed controlling by Button such that it is able to implement new action.

Accompanying drawing explanation

Fig. 1 is the integrally-built top view of the surgical robot system representing that prior art relates to.

Fig. 2 is the concept map at the main interface of the surgical robot system representing that prior art relates to.

Fig. 3 a and Fig. 3 b is that the movement of the apparatus representing that the surgical robot system that prior art relates to had controlled The concept map of journey.

Fig. 4 a is the module map that outline represents the surgical robot system structure that one embodiment of the invention relates to.

Fig. 4 b and Fig. 4 c is to represent applicable fixing (fixed) moving ratio factor that one embodiment of the invention relates to The schematic diagram of the concept of (Motion Scale Factor).

Fig. 4 d and Fig. 4 e be represent applicable self adaptation (adaptive) moving ratio that one embodiment of the invention relates to because of The schematic diagram of sub-concept.

Fig. 5 a and Fig. 5 b is the Automatic adjusument concept of the moving ratio factor representing that one embodiment of the invention relates to Schematic diagram.

Fig. 6 is the precedence diagram of the adaptive regulation method of the moving ratio factor representing that one embodiment of the invention relates to.

Fig. 7 is the position control mode determining method of the surgical robot system representing that one embodiment of the invention relates to Precedence diagram.

Fig. 8 is the speed control mode determining method of the surgical robot system representing that another embodiment of the present invention relates to Precedence diagram.

Detailed description of the invention

The present invention can carry out various improvement and can have various embodiments, will carry out specific embodiment specifically Bright and shown in the drawings.But, specific embodiment is not intended to limit the present invention, it should be appreciated that the present invention includes belonging to this The thought of invention and all improvement, equivalent and the alternative of technical scope.When judging known technology related to the present invention Detailed description when making the purport of the present invention obscure, by this detailed description of omission.

Can use such as the term such as " first ", " second " to describe various element, but described element is not Limited by described term.Described term is only used for making a distinction an element with another element.

The term used in this application is only used for describing specific embodiment, is not intended to limit the present invention.Odd number table Show and include complex representation, as long as understanding can clearly be distinguished.The most such as " include " or the term of " having " is intended to Represent and there is feature, sequence number, step, operation, element, assembly or a combination thereof described in description, and therefore, it should Understand, however not excluded that exist or increase one or more different feature, numbering, step, operation, element, assembly or its group The probability closed.

Below, embodiments of the present invention will be described in detail with reference to the accompanying drawings, in explanation referring to the drawings, and identical or corresponding structure Become key element to impart identical reference, and omit the repeat specification to it.

Fig. 4 a is the module map that outline represents the surgical robot system structure that one embodiment of the invention relates to, Fig. 4 b and Fig. 4 c is to represent that what one embodiment of the invention related to has been suitable for fixing (fixed) moving ratio factor (Motion Scale Factor) schematic diagram of concept, Fig. 4 d and Fig. 4 e are to represent that what one embodiment of the invention related to has been suitable for self adaptation (adaptive) schematic diagram of moving ratio factor concept, Fig. 5 a and Fig. 5 b are to represent the movement that one embodiment of the invention relates to The schematic diagram of the Automatic adjusument concept of scale factor.

With reference to Fig. 4 a, surgical robot system can include main robot 1 and from robot 2, main robot 1 and from machine People 2 can individually implement or one is implemented.

Main robot 1 includes image input unit 410, picture display part 420, arm operating portion 430, operation signal generating unit 450, scale factor operational part 440 and control portion 460.Although it is not shown, main robot 1 can also have storage part.From machine People 2 includes robotic arm 3 and peritoneoscope 5.

Image input unit 410 is received by having on the peritoneoscope 5 of robot 2 by wired or wireless communication network The image of video camera input.

Picture display part 420 is drawn so that the output of visual information form is corresponding with the image received by image input unit 410 Face image.Picture display part 420 can realize with forms such as display 6, passes through picture display part 420 for the image that will receive Can be performed by control portion 460 or image processing part (not shown) with the image processing program of picture image output.

Arm operating portion 430 is to execute patient to be operable to the robotic arm 3 from robot 2 and/or the position of peritoneoscope 5 and function Unit.Arm operating portion 430 can be formed with handle shape as shown in Figure 2, but it is not limited to this shape, can be to realize The various shape deformation implementation of identical purpose.And, such as part can also be formed with handle shape, and other parts are with clutch The difformities such as button are formed.Such as, execute under the state that patient grabs arm operating portion 430 to either direction motion arm operating portion When 430, it is possible to make operation tool move to the direction.Arm operating portion 430 such as can also carry out tilt operation at three dimensions, Its mode of operation of embodiment according to arm operating portion 430 can have multiple.I.e., in this manual, for mobile manipulator Art instrument and/or peritoneoscope 5 etc., fixed with one end and by by the other end to either direction bend and input operation is ordered It is illustrated as a example by the arm operating portion 430 of the structure of order, but permissible for receiving the arm operating portion 430 executing patient's operational order There is various structures, and can also have multiple according to the mode of the structure input operation order used.

As it has been described above, can have more than one functional keys, each functional keys on the main interface 4 of main robot 1 Can realize to have the mechanism form button/switch of physical entity, or be shown and by executing art by picture display part 420 Person touches and the button/switch of the software form of action realizes.

The functional keys having on main interface 4 can include that such as main robot reorientation button, instrument/vision selects to press More than one in button and position control/speed control mode button.

Main robot reorientation (Master Reposition:MR) button is, in order to make to execute patient based on utilizing master machine The operational order of people 1 operation is not transferred to make surgical robot system dynamic under main robot reorientation pattern from robot 2 The button made.Executing patient can utilize main robot reorientation button that arm operating portion 430 is returned to origin-location such that it is able to Reset described below under position control/speed control mode for controlling the starting point of location/velocity.

Instrument/vision selects (Instrument/Vision Selection:IVS) button to be to execute patient and perform to utilize master During the operation of arm operating portion 430 grade of robot 1, according to operating result, more than one in operation peritoneoscope 5 and operation tool Button.It is for improving and extend purposes and the merit of the camera buttons on the surgical robot system used in the prior art Can, execute patient and instrument/vision select button can be utilized to specify the operation according to arm operating portion 430 to move the work of operation tool Have control model, move the visual spatial attention pattern of peritoneoscope 5 according to the operation of arm operating portion 430 and according to arm operating portion 430 Operation and mobile operation tool and peritoneoscope 5 Comprehensive Control pattern in more than one action pattern.

As it has been described above, in order to utilize IVS button to select any action pattern in multiple action patterns, such as IVS Button can be made up of two buttons of visual spatial attention button and Comprehensive Control button.Now, the state of either button is not pressed Under, can drive under instrument control model, under the state only pressing visual spatial attention button, can drive under visual spatial attention pattern Dynamic, under the state only pressing Comprehensive Control button, can drive under Comprehensive Control pattern.Now, two buttons are all pinned Under state, can drive under holding pattern as above.

Certainly, IVS button can also be realized by a button.Such as IVS button can be realized by rotation process Plurality of operation modes selects any action pattern.As other example, IVS button can also be formed as the structure that can press, When this button is not pinned, can drive under instrument control model, keep under the state pinned, can be in vision Drive under control model, Comprehensive Control pattern can also be started during double-click, then terminate Comprehensive Control pattern during by one time.

Mode of operation according to the IVS button executing patient, i.e. action pattern can pass through picture display part for information about 420 displays.

So, the way of realization of button and push-botton operation form for given surgical robot system action pattern are permissible By multiple, this concept can also be equally applicable for position control described below/speed control mode button.

Position control/speed control mode (Position/Velocity Mode:PVM) button is to execute patient for specifying Utilizing the operation of arm operating portion 430 grade of main robot 1 is action or under speed control mode under position control mode The button of action.Here, position control mode is to move operation tool or peritoneoscope position according to motion arm operating portion 430 etc. The action pattern of (such as, the operation of operation tool etc.), speed control mode is to change hands according to motion arm operating portion 430 etc. The action pattern of the speed (direction can also be included) that art instrument or peritoneoscope move.

By select PVM button, surgical robot system action under position control mode or speed control mode, with Arrange, such as table 1 below centered by the object of operation under each action pattern.

Table 1

Control object

Position control mode

(PVM button: select position control)

Speed control mode

The position control mode of-operation tool

-IVS button: select instrument to control

The translational speed control model of-operation tool

-IVS button: select instrument to control
	Control peritoneoscope

-laparoscopically position control mode

-IVS button: select visual spatial attention

-laparoscopically translational speed control model

-IVS button: select visual spatial attention
	Comprehensive Control

-operation tool and laparoscopically position control mode

-IVS button: select Comprehensive Control

-operation tool and laparoscopically translational speed control model

--IVS button: select Comprehensive Control

Continue with, with reference to Fig. 4 a to Fig. 5 b, surgical robot system and the Automatic adjusument of the moving ratio factor are first described Concept, refers again to Fig. 7 and Fig. 8 afterwards and describes position control mode and speed control mode respectively in detail.

Execute patient and operate operating portion to move robotic arm 3 and/or the position of peritoneoscope 5 or be operated When 430, operation signal generating unit 450 generates the action pattern with surgical robot system and the mode of operation of arm operating portion 430 Corresponding operation signal also sends to from robot 2.Now, operation signal generating unit 450 can be by the control in control portion 460 The action pattern (such as, position control mode, speed control mode etc.) generated and execute patient's selection operates signal accordingly.As Upper described, the operation signal of generation can be by wired or wireless communication network transmission, reception.

And, as described below, when scale factor operational part 440 more new settings moving ratio is because of the period of the day from 11 p.m. to 1 a.m, and operation signal is raw One-tenth portion 450 can generate operation signal corresponding with this and send to from robot 2.

Scale factor operational part 440 identifies that the image shot by peritoneoscope 5 is many large scales and/or which region relevant Subject, and regulate the moving ratio factor (MSF:Motion Scale Factor), so that peritoneoscope 5 and/or operation tool quilt Arm operating portion 430 operational ton operated into and execute patient is corresponding.Such as, between movement and the arm operating portion 430 of operation tool Operative relationship can be defined as " operational ton of the amount of movement=k × MSF of operation tool × arm operating portion ".Here, k is ratio Constant.This operative relationship can also be useful on the operational ton of arm operating portion 430 and the amount of movement of peritoneoscope 5.

The MSF of passing ratio factor operational part 440 regulation, executing patient can select any value to specify, also from fixed value Can be adaptively adjusted applicable according to operative status.

As shown in Fig. 4 b and 4c, presetting and fixing pattern (that is, general mode, fine pattern, hyperfine mould Formula) in select one time, can according to selected pattern, be suitable for preassigned MSF.Such as, in the normal mode, as master When robot and the MSF from robot ratio are designated as 1:1, when utilizing arm operating portion 430 to move operation 1, from robot (that is, operation tool and/or peritoneoscope) is also by mobile operation an equal amount of 1.During with reference to illustrated example, in the fine mode, main When robot moves 3, moved operation 1 from robot, under hyperfine pattern, when main robot moves 5, moved from robot Dynamic operation 1.

MSF uses in the mode of fixed value, as mentioned above, it is also possible to preset MSF by each pattern, but execute patient also Can select arbitrary in multiple selective values (such as, 1:1,3:1,5:1,7:1,10:1 etc.) of picture display part 420 from display Value is appointed as MSF.

So, MSF need not be according to main robot or from situation (such as, the operational ton of arm operating portion, the peritoneoscope of robot Insertion degree, distance etc. away from affected part) and change, but fixing be suitable for (with reference to Fig. 4 c).

And, as it has been described above, MSF can be according to operative status (such as, main robot and/or from the current shape of robot Condition etc.) it is adaptively adjusted and is suitable for (adaptive MSF: adaptive M SF).

Situation about being adaptively adjusted as MSF and be suitable for, can be special according to the image exported by picture display part 420 Property (the image actual size such as, seen on picture) is adaptively adjusted.Such as, make peritoneoscope 5 away from affected part (that is, hands Art position) position or time multiplying power is reduced (zoom out), picture display part 420 shows the finest Dan compare Kuan district The image in territory, now MSF can be adaptively adjusted as having relatively large value.On the contrary, make peritoneoscope 5 close to affected part (that is, operation Position) position or by multiplying power amplify (zoom in) time, picture display part 420 shows opposite fine but the figure in narrower region Picture, now MSF can be adaptively adjusted as having relatively small value.

As for other situation, as shown in figure 4d, as according to determining that from situation residing for robot the method for MSF is the most applicable SASC (Slave-dependent Adaptive Scaling Control: control based on from the self adaptation ratio of robot) side Formula, now MSF can be with from the function representation of robotary.For example, it is possible to be suitable for following various methods, pass through image analysis Grasping picture is to be exaggerated or reduce and change MSF according to it, or inserts degree by peritoneoscope 5 and change MSF, or at abdomen Chamber mirror 5 end arranges the distance (depth) measuring between affected part apart from detection sensor and according to its change MSF, or Measure the distance (depth) away from affected part by image procossing in the case of three-dimensional laparoscope 5 and change MSF, or root according to it MSF (with reference to Fig. 5 a and 5b) etc. is changed according to the actual size in the region shown by picture display part 420.Referring to Fig. 5 a And Fig. 5 b describes every kind of situation in detail.

As it has been described above, MSF need not be according to main robot or from situation (such as, the operational ton of arm operating portion, the abdomen of robot Distance etc. between insertion degree and the affected part of chamber mirror) and fix, can be adaptively adjusted.

Similarly, as shown in fig 4e, as the most applicable MASC of method determining MSF according to situation residing for main robot (the self adaptation ratio of Master-dependent Adaptive Scaling Control: Intrusion Detection based on host device people controls) mode, Now MSF can be with the function representation of main robot state.

Such as, when arm operating portion 430 somewhat moves from mobile starting position, MSF has relatively small value (that is, from machine People the most slowly moves), but during away from mobile starting position mobile, it is possible to MSF is adjusted to relatively large (that is, making from machine Device people is the biggest, and distance is mobile).Now, when pressing above-mentioned main robot reorientation button, then can reset mobile starting position, And when the mobile starting position operation reset, as it has been described above, MSF can be conditioned according to amount of movement.

Now, MSF can be with linear change, it is also possible to nonlinear change.And, MSF can use calculating in real time Value, it is possible to use the value prestored.

Below, with reference to Fig. 5 a and 5b simple declaration passing ratio factor operational part 440 be adaptively adjusted moving ratio because of The mode of son.The reference 510 of Fig. 5 a and Fig. 5 b represents the current shooting region by the shooting of current peritoneoscope 5, accompanying drawing mark The benchmark shooting area that note 520 expression can be shot by peritoneoscope 5.By the actual chi of the shooting area that peritoneoscope 5 shoots Very little can have multiple according to the how far of peritoneoscope 5 and affected part, amplification/reduce the factors such as degree, it is also possible to passes through multiplying power The modes such as regulation, make current shooting region consistent with benchmark shooting area.

If, the shooting multiplying power of peritoneoscope 5 be set as high magnification or peritoneoscope 5 when operative site, such as the 510 of Fig. 5 a And shown in Fig. 5 b, peritoneoscope 5 the current shooting region 510 shot, clap under predetermined location and multiplying power than this peritoneoscope 5 The benchmark shooting area 520 taking the photograph operative site is little.

If but, when the shooting multiplying power of peritoneoscope 5 is set as low range or peritoneoscope 5 away from operative site, by abdominal cavity The current shooting region 510 the most consistent in or greater than benchmark shooting area 520 of mirror 5 shooting.

As shown in Fig. 5 a and Fig. 5 b, when current shooting region 510 is less than benchmark shooting area 520, execute patient typically relatively Narrow region carries out delicate surgery, so needing critically to regulate the moving ratio of the operation tool according to arm operating portion 430 operation. On the contrary, during the consistent in or greater than benchmark shooting area 520 of current shooting region 510, execute patient's general whole observation operative site or Need surgical operation region is moved to other position, so needing the operation work that bigger regulation operates according to arm operating portion 430 The moving ratio of tool, executing patient could operation instrument intuitively.

So, the subject size shot according to peritoneoscope 5 and its corresponding figure shown by picture display part 420 As information content, the method being adaptively adjusted the moving ratio factor (MSF) has multiple.

Illustrate the several method in the method being adaptively adjusted the moving ratio factor as follows.Certainly, adaptively The method of the regulation moving ratio factor is not limited to item illustrated below, and it is noted that the protection of the present invention Scope is also not limited to the example of following description.

As an example, scale factor operational part 440, as shown in Fig. 5 a and Fig. 5 b, it is possible to use be stored in the base of storage part Quasi-image, regulates shifting in the way of proportional to the difference of the size of benchmark shooting area 520 and the size in current shooting region 510 Dynamic scale factor.

I.e., as shown in Figure 5 a, it is assumed that shot by benchmark shooting area 520 and show image information on the display apparatus When being the information of affected part about a length of 12cm of actual size, window size now can be defined as 1, and moving ratio The factor is also defined as 1.In this case, executing patient when either direction motion arm operating portion 430, operation tool is clapped from benchmark Take the photograph the direction that the central point in region 520 operated to arm operating portion 430 to move.

But, as shown in Fig. 5 a and Fig. 5 b, owing to peritoneoscope 5 is near operative site or by amplifying (zoom-in) operation And shoot the trouble of a length of 4cm of actual size in the current shooting region 510 of the subregion being equivalent to benchmark shooting area 520 During portion, window size now can be resolved to 0.33 (that is, 4cm/12cm), and reduce the moving ratio factor (such as, 0.33) readjust.Now, on the viewing area of picture display part 420, entirety shows (that is, at overall operation position Middle part is exaggerated and clearly displays) current shooting region 510, but the moving ratio factor reduces such that it is able to carries out more Critically control.

Now, current shooting region 510 has many large scales compared with benchmark shooting area 520, it is possible to use image solution Analysis technology (such as, detect same area in two images and carry out the image analysis technology of region setting) is identified, example As the image information shot at benchmark shooting area 520 is stored in storage part as benchmark image, regulate according to multiplying power afterwards And/or along the image information in peritoneoscope 5 length direction (axle axial) current shooting region 510 time mobile in benchmark image Belong to which region and many large scales.

In above-mentioned example, it is assumed that be illustrated using vertical extension as the situation of the benchmark of the regulation moving ratio factor, But the regulation benchmark of the moving ratio factor can have such as catercorner length, lateral length, width etc. multiple.

As another example, scale factor operational part 440 can utilize the image taking multiplying power of peritoneoscope 5, position to move, away from The distance etc. on operative site surface regulates the moving ratio factor.

That is, when the image taking multiplying power of peritoneoscope 5 being set as high magnification in order to shoot narrower range, scale factor is transported Calculation portion 440 reduces the moving ratio factor such that it is able to operation tool carries out accurate operation, and incites somebody to action to shoot relative broad range When laparoscopically image taking multiplying power is set as low range, mobile ratio can be regulated by the way of improving the moving ratio factor The example factor.The moving ratio factor corresponding to each multiplier value that can set on peritoneoscope 5, can calculate in advance through test statistics And it is stored in advance in storage part.

And, scale factor operational part 440 (such as, can also be inserted into patient with operation according to peritoneoscope 5 from reference position The initial position of abdominal part) to the degree of length direction (such as, insert or draw human body) relative movement to regulate scale factor.Have The information closing peritoneoscope 5 position directly can be calculated by main robot 1 or receive from from robot 2, such as may be used in reference position Insert position that internal postbrachium operating portion 430 initially operated or by executing the arbitrary appointment of patient being appointed as peritoneoscope 5.

If peritoneoscope 5 is further inserted into inside of human body (that is, close to operative site side), can reduce moving ratio because of Son, so as to carry out the accurate operation of operation tool, if peritoneoscope 5 moves (that is, away from hands to human external lead direction Art position) time, can improve the moving ratio factor.Corresponding to length direction displacement from reference position with peritoneoscope 5 The moving ratio factor, can calculate in advance through test statistics and be stored in advance in storage part.

And, scale factor operational part 440 can also utilize the distance detection sensor having on peritoneoscope 5 to provide extremely The distance value on operative site surface regulates the moving ratio factor.If peritoneoscope 5 is when operative site surface close together, The moving ratio factor can be reduced, so as to carry out the accurate operation of operation tool, if peritoneoscope 5 is away from operative site surface Distant time, the moving ratio factor can be improved.The mobile ratio corresponding with the spacing on operative site surface with peritoneoscope 5 The example factor, can calculate in advance through test statistics and be stored in advance in storage part.

And, the image shown by picture display part 420 is the figure provided by the peritoneoscope 5 of acquiring three-dimensional images device During picture, the degree of depth (depth) can be calculated by image procossing, and this value computing moving ratio factor can also be utilized.

Referring again to Fig. 4 a, control portion 460 controls the action of each element so as to perform above-mentioned functions.Control portion 460 can also perform the image inputted by image input unit 410 is converted into the picture figure shown by picture display part 420 The function of picture.And, control portion 460 can also perform to process as follows, carries out the input of main robot reorientation button when executing patient Time, in the case of not moving the position of peritoneoscope 5 and operation tool, carry out the reset operation of handle 10.

Below, with reference to an embodiment of the adaptive regulation method of the relevant drawings explanation moving ratio factor (MSF), afterwards It is described separately position control mode and speed control mode with reference to relevant drawings.

Even if the most individually illustrating in declarative procedure, the concept of the relevant moving ratio factor of described above is the most applicable.

This is briefly described, under fixed MSF position control mode, when main robot (such as, arm operating portion Deng) mobile 1cm time also move 1cm (such as, general mode) from robot, or can from robot when main robot moves 3cm To move 1cm (such as, fine pattern).

In contrast to this, under adaptive M SF position control mode, according to the amplification of seen picture, reduce degree, The degree etc. that distance between insertion degree, endoscope tip and the affected part of endoscope or main robot move from starting point, MSF linearly or non-linearly changes, and thus determines the movement from robot.

Similarly, under fixed MSF speed control mode, independently can enter with main robot or from robot situation Row controls, i.e. move 1cm/sec when main robot moves 1cm from starting point from robot, when main robot moves from starting point 5cm/sec is moved from robot during dynamic 5cm.

In contrast to this, under adaptive M SF speed control mode, even if main robot similarly moves 1cm from starting point, When picture be exaggerated situation, endoscope insert deeper time or and affected part between close together time etc. situation, can from robot To move 0.5cm/sec, when the reduced situation of picture, endoscope insert shallower or and affected part between distant time etc. Situation, can move 1.5cm/sec from robot.That is, according to main robot or from robot situation, MSF is linearly or nonlinearly Ground change, finally, moves and the variable quantity of velocity variations according to main robot, can change adaptively according to MSF.

With reference to Fig. 6, in step 610, main robot 1 using the image information that shot by peritoneoscope 5 and provide as with Store in the benchmark image being adaptively adjusted the moving ratio factor.

In step 620, main robot 1 judges whether that have input benchmark image resets request.

If have input benchmark image when resetting request, carrying out step 630, thus resetting the base about operative site Quasi-image.

Judgement non-input reference image according to step 620 resets request or has reset reference map according to step 630 During picture, carry out step 640.

In step 640, main robot 1 judges whether to have input for abdomen by executing patient's motion arm operating portion 430 The zoom-out request of the shooting area of chamber mirror 5 shooting.The zoom-out request of shooting area or is passed through close to affected part for such as peritoneoscope 5 The instruction such as processing and amplifying shoots narrower region, thus is become apparent from but the image in narrower region by picture display part 420 display (that is, enlarged drawing picture).

If do not input shooting area zoom-out request, carry out step 660.

But, if having input shooting area zoom-out request, main robot 1 carries out step 650, thus resets movement Scale factor.

That is, the image shot by peritoneoscope 5 is the image amplifying the specific region in whole operative site, so in order to Carrying out the accurate operation of operation tool, the moving ratio factor diminishes.Now, main robot 1 can utilize image analysis technology (example As, in two image, detect same area and carry out the image analysis technology of region setting) identify, reduce according to shooting area The image information in the peritoneoscope 5 current shooting region 510 of request belongs in the benchmark image set in step 610 or step 630 Which region and many large scales, thus judge which kind of rank is the moving ratio factor be adjusted to.

In step 660, main robot 1 judges whether to have input for abdomen by executing patient's motion arm operating portion 430 Chamber mirror 5 shoots the amplification request of the shooting area of image.The amplification request of shooting area for such as peritoneoscope 5 away from affected part or By reducing the instruction shooting broader area such as process, thus shown by picture display part 420 and unintelligible but wide region Image (that is, downscaled images).

If not inputting shooting area to amplify when requesting, again carry out step 620.

But, if having input shooting area amplification request according to the judgement of step 660, carry out step 670, master machine People 1, on the basis of the benchmark image set, resets the moving ratio in the current shooting region 510 being exaggerated for shooting area The factor.

Illustrate to utilize the adaptive regulation method of the moving ratio factor of benchmark image with reference to Fig. 6 so far, but be It is adaptively adjusted the moving ratio factor, it is of course possible to individually or increase the image taking times utilizing peritoneoscope 5 described above Rate, position move, distance etc. away from operative site surface.

As it has been described above, execute position control/speed control mode (PVM) that patient can utilize main robot 1 to have, it is intended that Surgical robot system drives under position control mode or drives under speed control mode.And, executing patient can utilize Instrument/vision selects (IVS) button, determines that the object operated by motion arm operating portion 430 is operation tool or peritoneoscope, Or operation tool and peritoneoscope.

And, as it has been described above, PVM button and IVS button can be made up of the most appointed multiple buttons of its function, or Person can also be the button that can select drive pattern with multiple mode of operation.Certainly, in addition PVM button and IVS The implementation of button has multiple.

The position control mode of the surgical robot system that the present embodiment relates to can include, is used for controlling operation tool position The operation tool position control mode put, for controlling the peritoneoscope position control mode of peritoneoscope 5 position and for comprehensive control The integrated location control model of operation tool processed and peritoneoscope position.Below, the position of surgical robot system is described with reference to Fig. 7 Control model determining method.

With reference to Fig. 7, in step 705, arm operating portion 430 is operated by executing patient.

In step 720, control portion 460 judges whether position control/speed control mode (PVM) button is selected to make Surgical robot system action under position control mode.Position control/speed control mode (PVM) button is for specifying profit With operation action still action under speed control mode under position control mode of arm operating portion 430 grade of main robot 1 Button.

The judged result of step 710, if PVM button is selected to surgical robot system work under speed control mode When making, perform the step 810 of Fig. 8.

But, if PVM button is selected for controlling the position of more than one position in operation tool and peritoneoscope 5 When putting control model, carry out step 720.

In step 720, control portion 460 judges that instrument/vision selects whether (IVS) button is selected to make surgical machine The action under instrument control model of people's system.Instrument/vision selects (IVS) button to execute patient's execution and utilizes main robot 1 During the operation of arm operating portion 430 grade, according to more than one button in operating result operation peritoneoscope 5 and operation tool.

The judged result of step 720, if IVS button is selected to instrument control model action, carries out step 730, and operate signal generating unit 450 and generate operation signal and send to from robot 2, this operation signal is used for making in step In 705, operational order based on arm operating portion 430 operation is applicable to the position control of operation tool.Now, the operation letter of generation Number can generate by being suitable for the described above fixing or self adaptation moving ratio factor.

In step 730, according to the operation signal being sent to from robot 2, at the operation tool having in robot 2 Operation with arm operating portion 430 is correspondingly by mobile control.

But, if the judged result of step 720 is, when the not selected one-tenth of IVS button is with instrument control model action, enter Row step 740.

In step 740, control portion 460 judges that instrument/vision selects whether (IVS) button is selected to make surgical machine The action under visual spatial attention pattern of people's system.

The judged result of step 740, if IVS button is selected to visual spatial attention Modal action, carries out step 750, and operate signal generating unit 450 and generate operation signal and send to from robot 2, this operation signal is used for making in step In 705, operational order based on arm operating portion 430 operation is applicable to the position control of peritoneoscope 5.Now, the operation signal of generation Can generate by being suitable for the described above fixing or self adaptation moving ratio factor.

In step 750, according to the operation signal sent to from robot 2, at the peritoneoscope 5 having in robot 2 Operation with arm operating portion 430 is correspondingly by mobile control.

But, if the judged result of step 740 is, when the not selected one-tenth of IVS button is with visual spatial attention Modal action, enter Row step 760.

In step 760, control portion 460 judges that instrument/vision selects whether (IVS) button is selected to make surgical machine The action under Comprehensive Control pattern of people's system.

If the judged result of step 760 is, when IVS button is selected to Comprehensive Control Modal action, carry out step 770, and operate signal generating unit 450 and generate operation signal and send to from robot, this operation signal is according to arm operating portion 430 Operation and perform the position control of both operation tool and peritoneoscope 5.

Here, operation signal makes the direction of operating of operation tool and peritoneoscope 5 one arm operating portion 430 in the same direction move, but protect Move in the case of holding mutual side by side relationship (such as, keep mutual relative to position etc.).That is, according to the shifting of peritoneoscope 5 Dynamic, though the physical location change of shooting area, but executing on the display picture that patient is confirmed by picture display part 420, with On the basis of shooting area central point, the relative configuration position of operation tool keeps constant.Executing patient such as can be main by selecting Robot reorientation button, or action pattern is converted into the operation of other pattern etc., terminate peritoneoscope 5 and the connection of operation tool Dynamic mobile.

The operating state of citing simple declaration integrated location control model is as follows.

Execute patient to change the purposes such as shooting area 510, PVM button is chosen to position control mode, by IVS button When being chosen to Comprehensive Control pattern, operation signal generating unit 450 generates operation signal and sends to from robot 2, so that abdomen The direction of operating of chamber mirror 5 and operation tool one arm operating portion 430 in the same direction moves.

Now, peritoneoscope 5 and operation tool keep side by side relationship to move each other, but arbitrary operation tool clamps thing (example As, clamp the state at arbitrary position in operative site, with reference to Fig. 5 a and 5b) state under, for the safety of patient with operation, this hands Art instrument can not be mobile with peritoneoscope 5 linkage and standby in this position.

And, during with reference to the image information shown by display part 420, the not operation of display in display picture of its end Instrument (that is, operation tool end is positioned at outside the coverage shot by peritoneoscope 5) can not also move with peritoneoscope 5 linkage Dynamic, and standby in this position.

And, when the clamp (jaw) of operation tool is in closure state, for the safety of patient, this operation tool also may be used To be controlled so as to not move.

In addition, control the method that arbitrary operation tool do not moves and can also have multiple.Such as can make to execute patient straight Connect the operation tool specified not move, or specific button (such as, main robot can also be set on left and right arms operating portion 430 Reorientation button can lay respectively on arm operating portion 430), by pressing the button, so that the arm operating portion 430 touched the button is administered Operation tool do not move.

But, if the judged result of step 760, when the not selected one-tenth of IVS button is with Comprehensive Control Modal action, carry out Step 780, and operate signal generating unit 450 and generate operation signal and send to from robot, this operation signal is used for making operation Instrument and/or peritoneoscope 5 operate under appointed action pattern.Such as keeping pattern or main robot reorientation pattern Under, generate operation signal and send to from robot such that it is able to the operation with main frame independently makes operation tool and/or abdominal cavity Mirror 5 keeps finally controlling position.

Press as it has been described above, execute position control/speed control mode (PVM) that patient can utilize main robot 1 to be had Button, is designated as position control mode or speed control mode by the action pattern of surgical robot system.And, execute patient permissible Utilize instrument/vision to select (IVS) button, the object operated by motion arm operating portion 430 is determined as operation tool And more than one in peritoneoscope.

The speed control mode of the surgical robot system that the present embodiment relates to may include that for controlling operation tool The operation tool speed control mode of translational speed, for control peritoneoscope 5 translational speed peritoneoscope speed control mode and For controlling the comprehensive speed control model of the translational speed of operation tool and peritoneoscope.Below, with reference to Fig. 8, operation is described The speed control mode determining method of robot system.

The most as described above with respect to fig. 7, in step 720, control portion 460 judges position control/speed control mode (PVM) Whether button is selected to make surgical robot system action under position control mode, if PVM button is selected to make hands Art robot system during action, carries out the step 810 of Fig. 8 under speed control mode.

With reference to Fig. 8, in step 810, control portion 460 judges that instrument/vision selects whether (IVS) button is selected to make Surgical robot system action under instrument control model.

If the judged result of step 810 is, when IVS button is selected to instrument control model action, carry out step 820, and operate signal generating unit 450 and generate operation signal and send to from robot 2, this operation signal is used for making in step In 705 (with reference to Fig. 7), operational order based on arm operating portion 430 operation is applicable to the speed controlling of operation tool.According to step The operation signal from robot 2 it is sent to, in the operation of the operation tool having in robot 2 Yu arm operating portion 430 in 820 Correspondingly by mobile control.

Now, the operation signal of generation can be given birth to by being suitable for the described above fixing or self adaptation moving ratio factor Become.

And, operation signal can be generated as, and changes operation work according to arm operating portion 430 from the mobile degree of starting point The translational speed of tool.That is, arm operating portion 430 somewhat moves to specific direction and (keeps arm operating portion 430 after i.e., somewhat mobile Mode of operation) time, operation tool is controlled so as to the most slowly to move to the direction, and arm operating portion 430 is to the direction When moving relatively big (keeping the mode of operation of arm operating portion 430 after mobile i.e., greatly), operation tool is controlled so as to can continue soon Speed is mobile.Such as, during arm operating portion 430 formation as shown in Figure 2, can be with arm operating portion 430 when either direction operates 5 degree The translational speed of operation tool compare, the translational speed of the arm operating portion 430 operation tool when the direction operates 30 degree is more Hurry up.

Can preset the translational speed of operation tool along with the operation quantitative change of arm operating portion 430 big and accelerate, Er Qieyou The translational speed information closing operation tool corresponding with the operational ton of arm operating portion 430 can be stored in advance in institute on main interface 4 The storage part having.

Certainly, when arm operating portion 430 returns to starting point, the movement of described operation tool is stopped.As reference, in place Putting under control model, when arm operating portion 430 resets to starting point, operation tool is also reset to original position, but at speed controlling mould Under formula, when arm operating portion 430 resets to starting point, speed vanishing (that is, stops moving).

But, if the judged result of step 810, when the not selected one-tenth of IVS button is with instrument control model action, carry out Step 830.

In step 830, control portion 460 judges that instrument/vision selects whether (IVS) button is selected to make surgical machine The action under visual spatial attention pattern of people's system.

If the judged result of step 830 is, when IVS button is selected to visual spatial attention Modal action, carry out step 840, operation signal generating unit 450 generates operation signal and sends to from robot 2, and this operation signal makes based on arm operating portion The operational order of 430 operations is applicable to the control of peritoneoscope 5 translational speed.Now, the operation signal of generation can be by being suitable for The described above fixing or self adaptation moving ratio factor and generate.In step 840, according to the behaviour being sent to from robot 2 Make signal, at the peritoneoscope 5 having in robot 2 with the operation of arm operating portion 430 correspondingly by mobile control.

The translational speed control mode of peritoneoscope 5 is identical with the translational speed control mode of operation tool described above, Therefore omission its description.

But, if the judged result of step 830 is, when the not selected one-tenth of IVS button is with visual spatial attention Modal action, enter Row step 850.

In step 850, control portion 460 judges that instrument/vision selects whether (IVS) button is selected to make surgical machine The action under Comprehensive Control pattern of people's system.

If the judged result of step 850, when IVS button is selected to Comprehensive Control Modal action, carry out step 860, and operate signal generating unit 450 and generate operation signal and send to from robot 2, this operation signal is according to arm operating portion The operation of 430 performs the control of the translational speed to both operation tool and peritoneoscope 5.

Here, the direction that operation signal makes operation tool and peritoneoscope 5 one arm operating portion 430 in the same direction operate is moved, at that This is corresponding to the operational ton of arm operating portion 430 in the case of keeping side by side relationship (such as, keep mutual relative position etc.) Speed move.That is, according to the movement of peritoneoscope 5, even if the physical location of shooting area changes, but execute patient and pass through picture The relative configuration position of the operation tool on the basis of shooting area central point on display picture that face display part 420 confirms is protected Hold constant.

And, when operation tool moves under speed control mode, it is also possible to exist, superincumbent integrated location controls mould The confined situation of movement of the operation tool illustrated in the duty of formula.Such as, an operation tool in office is in folder Live the state of thing (such as, clamping the state at arbitrary position in operative site, with reference to Fig. 5 a and 5b), or the end of operation tool It is not shown in the state in display picture, or the clamp (jaw) of operation tool is in the situation of Guan Bi, or execute patient to protect When the stationary state hold button having on the operation tool holding stationary state and specify, or arm operating portion 430 is pressed and its Corresponding operation tools etc., the mobile of these operation tools may be limited.

But, if the judged result of step 850 is, when the not selected one-tenth of IVS button is with Comprehensive Control Modal action, enter Row step 870, and operate signal generating unit 450 and generate operation signal and send to from robot, this operation signal makes operation work Tool and/or peritoneoscope 5 operate under the action pattern specified.Such as, under keeping pattern or main robot reorientation pattern, energy Enough generation operates signal and sends to from robot, in order to the operation with main frame independently makes operation tool and/or peritoneoscope 5 protect Hold and finally control position.

The adaptive regulation method of the described moving ratio factor and the self-adaptation control method according to arm operating characteristic, it is possible to Perform with the automatic sequence of the order in temporal sequence such as the software program that is contained in passing through in digital processing unit.Constitute above-mentioned journey The code of sequence and code segment, can be weaved into personnel by the computer in this field and easily infer.Described program is stored in computer can Read on medium (computer readable media), and be readable by a computer execution, thus realize described method.Described meter Calculation machine computer-readable recording medium includes magnetic recording medium, optical recording media and carrier medium.

It is illustrated above in relation to the preferred embodiments of the present invention, for person of an ordinary skill in the technical field For, it is understood that, in the range of without departing from the thought of the present invention described in claims and field, the present invention can To carry out various deformation and change.

Claims

1. a position control method for control object, is in the operation endoscope performed on main interface and operation tool The position control method of more than one control object, comprises the steps:

Operating portion is utilized to receive the step for the mobile user command operating described control object；And

Select the selection information of input block according to instrument/vision, correspondingly generate for controlling with the operational ton of described operating portion Make the step of the operation signal of corresponding control object position.

The position control method of control object the most according to claim 1, it is characterised in that

Select the selection information of input block according to described instrument/vision, control object is designated as described operation endoscope And more than one in described operation tool.

The position control method of control object the most according to claim 2, it is characterised in that

When the selection information according to described instrument/vision selection input block, control object is peeped in being designated as described operation When mirror and described operation tool,

Generating operation signal in described generation step, this operation signal makes described operation endoscope and described operation tool exist Keep moving to direction corresponding with the direction of operating of described operating portion under side by side relationship.

It is in and clamps the operation tool of the state at arbitrary position in operative site, its end and do not shot by described operation endoscope Operation tool, clamp be in closure state operation tool, by execute patient be designated as keep stationary state operation tool, with And when the stationary state hold button each having in multiple operating portions presses arbitrary stationary state button with this operation More than one in the operation tool of portion's respective settings, the operation with described operating portion does not moves and keeps its position Put.

It is controlled so as to the position amount of movement of described control object corresponding to described operating portion operational ton, by the moving ratio factor Determine.

The position control method of control object the most according to claim 5, it is characterised in that described generation step includes:

The present image information provided by described current procedure endoscope is provided and provided by described operation endoscope Arbitrary benchmark image in image information is compared and is exaggerated or the step reduced；

When being exaggerated or minimized, to zoom in or out with it, degree is linear or regulates described mobile ratio in the way of non-linear ratio The example factor, and the step reset；And

The corresponding step operating signal of operational ton generated and change, the operational ton of this conversion meet described in the movement that resets Scale factor.

The position control method of control object the most according to claim 6, it is characterised in that

Judging it is to be exaggerated or in the step reduced, detecting described present image according to image analysis technology set in advance Information uniform domain in described benchmark image, and setting regions.

The position control method of control object the most according to claim 1, it is characterised in that described generation step includes:

Receive the step of the information using endoscope's shooting condition about described operation；

Extract corresponding to institute from based on shooting condition the more than one moving ratio factor being stored in advance in storage part State the step of the moving ratio factor of the information of reception；And

The operational ton of described operating portion is changed and makes it correspond to the moving ratio factor of described extraction, thus generate described behaviour Make the step of signal.

The position control method of control object the most according to claim 8, it is characterised in that

Described shooting condition be described operation with the image taking zoom ratio of endoscope, camera site, away from operative site surface Distance and the operative site actual size that shot with endoscope by described operation in more than one.

The position control method of control object the most according to claim 9, it is characterised in that

Described image taking zoom ratio is moving ratio factor during high magnification, is low power than described image taking zoom ratio Moving ratio factor during rate, has relatively small value.