CN106214262B - Surgical robot system and its self-adaptation control method - Google Patents
Surgical robot system and its self-adaptation control method Download PDFInfo
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- CN106214262B CN106214262B CN201610566337.8A CN201610566337A CN106214262B CN 106214262 B CN106214262 B CN 106214262B CN 201610566337 A CN201610566337 A CN 201610566337A CN 106214262 B CN106214262 B CN 106214262B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
Abstract
Disclose surgical robot system and its self-adaptation control method, main interface, which is included in, to be equipped in endoscope and operation tool in the surgical robot system of more than one control object, for controlling control object position, comprising: operation portion receives the user command of moving operation control object；Storage unit stores in the image information that is provided by endoscope more than one benchmark image and corresponding to the moving ratio factor of benchmark image；Scale factor operational part judges that the present image information provided by endoscope is amplified or reduces compared with benchmark image, adjusts the moving ratio factor in the mode proportional to the degree that zooms in or out, and reset；Operation signal generating unit will be converted to the moving ratio factor for corresponding to and resetting using the user command of operation portion, and generate the operation signal to control object.Operating time can be shortened and mitigate the feeling of fatigue of performer, and operation tool moving distance is intuitively confirmed according to the image information of display.
Description
It is on December 16th, 2011 that the application, which is application No. is the 201110423299.8, applying date, entitled " operation
The divisional application of the Chinese invention patent application of robot system and its self-adaptation control method ".
Technical field
The present invention relates to a kind of surgical robot system and its self-adaptation control methods.
Background technique
Operation medically, which refers to, to be cut, cut or is carried out to skin, mucous membrane or other tissues using medical instrument
Operate and cure the behavior of disease.In particular, cutting operation area skin and its internal etc. is treated, shaping or excision
Laparotomy ventrotomy etc., the problems such as due to bleeding, side effect, patient suffering, scar, use the operation of robot (robot) recently
It enjoys great popularity.
Surgical robot system generally comprises main robot and can be respectively from robot, main robot and from robot
It is independent to realize, it is also possible to integrated realization.
When performer operates possessed executor (such as handle) on main robot, with the robotic arm knot from robot
The operation tool (i.e. surgical instrument: instrument) for closing or being held by robotic arm is operated, to perform the operation.
In order to carry out the operation according to performer's manipulation device, surgical robot system executes under plurality of operation modes
Specified movement.Bit pattern, laparoscope position are reset to the main robot as the partial act mode in plurality of operation modes
Control model keeps mode declaration pattern specification as follows.
Main robot resets bit pattern, presses surgical robot system when possessed main robot reorientation button
Action mode, even if performer's mobile manipulator, according to executor operate operational order will not be transmitted to from robot
Action mode.For into main robot reset bit pattern main robot reorientation button can by it is described below from
Button is closed to realize.
Laparoscope position control mode is that laparoscope substitution is mounted on from robot when performer's mobile manipulator
Operation tool and the action mode operated.Performer pins the camera buttons (such as pedal) having in advance on main robot
In the case where mobile manipulator, so as to operate abdominal cavity in a manner of laparoscope etc. to move under laparoscope position control mode
Mirror.
Holding mode is to maintain the action mode of current action state, is to make main robot and from robot all in current shape
The action mode that state stops.By performer press preset button or face leave etc. from console (console) it is dynamic
Make, surgical robot system can enter holding mode.
In the following, the main robot reorientation for the surgical robot system being related to referring to the relevant drawings simple declaration prior art
The movement of mode and laparoscope position control mode.
Fig. 1 is to indicate the integrally-built top view of surgical robot system that the prior art is related to, and Fig. 2 is to indicate existing skill
The concept map for the surgical robot system main interface that art is related to, Fig. 3 a and Fig. 3 b are to indicate operating robot system in the prior art
The concept map of the mobile control process of surgical instrument possessed by uniting.
Referring to FIG. 1 and FIG. 2, surgical robot system include: from robot 2, it is directly real to the patient lain on operating table
It operates on；Main robot 1, performer are used for remote control from robot 2.It is integrally formed when main robot 1 and from robot 2
When, main interface 4 can correspond to the interface portion of one-piece type operating robot.
It include robotic arm 3 and laparoscope 5 from robot 2.The main interface 4 of main robot 1 includes display 6, handle 10, master
Robot relocates button and camera buttons.Main robot relocates button and camera buttons can be respectively by clutch button
The forms such as 14 or pedal 30 are realized.
Main robot 1 can be connected by cable network or wireless network with from robot 2 and pass operation signal etc.
Give other side.If two of two handles 10 possessed by needing to transport through in main interface 4 in identical and/or similar time
When a operation signal and/or operation signal for adjusting 5 position of laparoscope, each operation signal can be sent to independently of one another
From robot 2.
It is driven with can having multiple degrees of freedom from the robotic arm 3 of robot 2.Robotic arm 3 for example may include: operation tool,
It is inserted in the operative site of patient；Deflection driven portion, according to surgery location so that operation tool is rotated to the direction deflection (yaw)；
Pitching driving portion, to pitching (pitch) direction rotary operation tool orthogonal with the rotation driving in deflection driven portion；Transfer driving
Portion, to the mobile operation tool of length direction；Rotary driving part is used for rotary operation tool；Operation tool driving portion is located at operation
The end of tool, for incision or cutting operation lesion.
Two handles 10 possessed by main interface 4 are formed as, and can be held respectively by performer and be operated on both hands,
It is transmitted to according to the operation signal of performer's operation handle 10 from robot 2, to control robotic arm 3.
It is shown on the display 6 of main interface 4 by the image that laparoscope 5 inputs with picture image.Moreover, in display
Display can also be increased on 6 such as the electrocardiogram curve of patient.
The main robot reorientation button having in main interface 4 is that performer carries out to be used to carry out in surgical procedure
The operating area (for example, the region shot for operation tool and by laparoscope 5) of operation is moved to from first position
Behind the second position of different location, operational region is adjusted again (for example, current work area in order to operate the handle 10 of main interface 4
The center in domain restore the home position for being adjusted to handle 10) when, the control button that can utilize.
Performer input the state (for example, state of pushes pedals 30) of main robot reorientation button even if under to any
Direction operation handle 10, operation tool operational order caused by the operation or 5 operational order of laparoscope will not be supplied to slave
Device people 2, therefore handle 10 can be restored to original state for the ease of carrying out surgical action by performer.
That is, first having to carry out for moving abdomen when operating area is moved to the second position from first position by performer
The camera buttons of hysteroscope 5 input (that is, into laparoscope position control mode), and are moved laparoscope 5 by operation handle 10
It moves to required position, laparoscope 5 restores extremely in the handle 10 operated for mobile laparoscope 5 to either direction in order to prevent
It is mobile when origin-location, under the state (main robot resets bit pattern) for pinning main robot reorientation button to handle 10 into
Row operates and restores to origin-location, and terminate main robot reorientation button pins state, so as to adjust action again
Region, to carry out the operation of the handle 10 for operation tool in the operating area of change.
But laparoscope 5 passes through the degree mobile to respective direction of operation handle 10 under laparoscope position control mode,
It is defined in the size of preset operating area 310, so, as shown in Figure 3a is mobile from the region (a) by operating area 310
When to the region (b), very big inconvenience is brought to performer.
That is, as shown in Figure 3b, performer can only will make when the operating area 310 in the region (a) is moved to the region (b)
Industry region 310 is successively moved with (a), (p1), (p2), (p3) and sequence (b), and in each moving step, performer needs anti-
Carry out operation camera buttons again and move laparoscope 5, operation handle 10 make laparoscope 5 it is mobile, in order to handle 10 is restored to
Origin-location and the process for operating main robot reorientation button and end operation, when the path of mobile operating area 10 changes
When, 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 the shift position with 10 laparoscope 5 of operation handle.
Moreover, in the surgical robot system that the prior art is related to, the problem of move mode of operation tool is, with
The image information multiplying power inputted by laparoscope 5 independently remains unchanged.
The reason for this is that the moving ratio factor (MSF, the Motion Scale for defining the mobile spacing of operation tool
Factor it is fixed on certain value) can most preferably be moved in preset operating area 310, and does not consider to lead to completely
The image information for crossing the input of laparoscope 5 includes which part and which region.
Moreover, 5 mobile mechanism of laparoscope as unit of operating area eventually lead to operating time extension, there is also to
The doctor to perform the operation under high-pressure state brings the problem of major fatigue sense.
The background technique is that inventor grasps to export the present invention or learned during exporting the present invention
The technical information arrived is not necessarily the well-known technique disclosed in general public before the present patent application.
Summary of the invention
It is an object of that present invention to provide a kind of surgical robot system and its self-adaptation control methods, can be according to by abdominal cavity
The image information of mirror shooting is the movement for adaptively changing operation tool about the subject of which region and which range
Scale factor.
It is an object of that present invention to provide a kind of surgical robot system and its self-adaptation control methods, when can shorten operation
Between and mitigate the feeling of fatigue of performer during operation carries out, and operation work can intuitively be recognized according to the image information of display
The moving distance of tool.
It is an object of that present invention to provide a kind of surgical robot system and its self-adaptation control methods, can be to the maximum extent
Improve the operation ease of laparoscope and/or operation tool.
It is an object of that present invention to provide a kind of surgical robot system and its self-adaptation control methods, improve to operate abdomen
Hysteroscope and the camera buttons utilized, and increase individual position control/speed control knob, it is new dynamic so as to implement
Make.
According to an embodiment of the present invention, a kind of main interface is provided, is included in and operation endoscope and operation is installed
In the surgical robot system of more than one control object in tool, and the position for controlling the control object, the master
Interface includes: operation portion, receives the user command for carrying out moving operation to control object；Storage unit, for storing by hand
The more than one benchmark image in image information and the moving ratio factor corresponding to benchmark image that art endoscope provides
(Motion Scale Factor)；Scale factor operational part, the present image letter that judgement is currently provided by operation endoscope
Breath is amplified or reduces compared with benchmark image, and with it to zoom in or out that degree is linear or non-linear ratio
Mode adjusts the moving ratio factor, and resets；Operation signal generating unit will be converted to using the user command of operation portion
Corresponding to the moving ratio factor reset, to generate the operation signal for control object.
Scale factor operational part, can be in order to judge that present image information is amplified or reduces compared with benchmark image
Uniform domain of the present image information in benchmark image, and setting regions are detected according to preset image analysis technology.
Scale factor operational part can use the lateral dimension for being set region, vertical dimension, catercorner length and width
In more than one conversion information and in benchmark image correspond to conversion information information between proportionate relationship come adjust move
Dynamic scale factor.
According to the moving distance of the control object of user command, can be adjusted by the moving ratio factor.
Operation with endoscope can be laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, duodenoscope,
More than one in mediastinoscope, cardioscope.
According to an embodiment of the present invention, a kind of main interface is provided, is included in and operation endoscope and operation is installed
In tool in the surgical robot system of more than one control object, and the position for controlling the control object, the master
Interface includes: operation portion, receives the user command for carrying out moving operation to control object；Storage unit, for storing one
The moving ratio factor of above shooting condition based on operation endoscope；Scale factor operational part receives related operation and uses
The information of endoscope shooting condition retrieves the corresponding moving ratio factor in storage unit, and be set as applicable moving ratio because
Son；Operation signal generating unit will be converted to using the user command of operation portion corresponding to the set moving ratio factor, thus
Generate the operation signal for control object.
Shooting condition can be the image taking zoom ratio of operation endoscope, camera site, away from operative site surface
Distance and the operative site being taken actual size in more than one.
Moving ratio factor when image taking zoom ratio is high magnification can be low power than image taking zoom ratio
Moving ratio factor when rate has relatively small value.
The moving ratio factor of the operation with endoscope insertion inside of human body when relatively deep, can be more opposite than operation endoscope
Moving ratio factor when being inserted into shallow has small value.
Detected value, the distance away from operative site surface are received from the sensor for detecting the distance away from operative site surface
Closer, the moving ratio factor can be set to smaller value.
The actual size for the operative site being taken is smaller, and the moving ratio factor can be set to smaller value.
According to the moving distance of the operation tool of user command, can be adjusted by the moving ratio factor.
When user command belongs to the order for moving operation operation endoscope, the operation moving distance of endoscope
It can be adjusted by the moving ratio factor.
According to the variation of shooting condition, the real-time operation moving ratio factor and storage unit can be stored in.
When the moving operation for control object, when operation portion is operated with relatively large operating quantity, with operation portion with phase
It is compared when to few operating quantity operation, scale factor operational part can set the bigger moving ratio factor.
When operation is to obtain the device of 3-D image with endoscope, the information in relation to shooting condition, which can be, passes through parsing
By performing the operation with the image information that endoscope is shot and calculated depth (depth) information.
Operation with endoscope can be laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, duodenoscope,
More than one in mediastinoscope, cardioscope.
Another embodiment according to the present invention, provides a kind of self-adaptation control method of control object, is in main interface
The self-adaptation control method of more than one control object in the operation endoscope and operation tool of upper execution, including walk as follows
Rapid: storage is by more than one benchmark image in the image information provided with endoscope of performing the operation 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
The step of being amplified or reduce compared with benchmark image；To zoom in or out that degree is linear or non-linear ratio with judgement
The step of mode of example adjusts the moving ratio factor and resets；It will be inputted to carry out moving operation to control object
User command be converted into corresponding to the moving ratio factor that resets, and generate the step of the operation signal for control object
Suddenly.
It, can be in order to judge that present image information is amplified or reduces compared with benchmark image in judgment step
Uniform domain of the present image information in benchmark image is detected according to preset image analysis technology, to set area
Domain.
In the step of adjusting and resetting, the lateral dimension for being set region, vertical dimension, diagonal can use
More than one conversion information and the ratio between the information for corresponding to conversion information in benchmark image in line length and width
Relationship adjusts the moving ratio factor.
According to the moving distance of the control object of user command, can be adjusted by the moving ratio factor.
Operation with endoscope can be laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, duodenoscope,
More than one in mediastinoscope, cardioscope.
Another embodiment according to the present invention, provides a kind of self-adaptation control method of operation tool, is in main interface
The self-adaptation control method of more than one control object in the operation endoscope and operation tool of upper execution, including walk as follows
It is rapid: the step of storing more than one moving ratio factor based on operation endoscope shooting condition；It receives in related operation use
The information of sight glass shooting condition retrieves the corresponding moving ratio factor in storage unit, and is set as the applicable moving ratio factor
The step of；The user command inputted to carry out moving operation to control object is converted to the mobile ratio for corresponding to and resetting
The example factor, and the step of generating the operation signal for control object.
Shooting condition can be the image taking zoom ratio of operation endoscope, camera site, away from operative site surface
Distance and the operative site that is taken actual size in more than one.
Moving ratio factor when image taking zoom ratio is high magnification can be low power than image taking zoom ratio
Moving ratio factor when rate has relatively small value.
The moving ratio factor of the operation with endoscope insertion inside of human body when relatively deep, can be more opposite than operation endoscope
Moving ratio factor when being inserted into shallow has small value.
Further include the steps that the information for receiving the distance away from operative site surface by sensor detection, away from operative site table
The distance in face is closer, and the moving ratio factor can be set as smaller value.
The actual size for the operative site being taken is smaller, and the moving ratio factor can be set as smaller value.
According to the moving distance of the control object of user command, can be adjusted by the moving ratio factor.
According to the variation of shooting condition, the real-time operation moving ratio factor and storage unit can be stored in.
In setting procedure, when the user command for moving operation control object is the operation relatively large in relation to operation portion
When amount, compared with when operation portion is operated with relatively little of operating quantity, the bigger moving ratio factor can be set.
Operation with endoscope be obtain 3-D image device when, the information in relation to shooting condition can be by parse by
Operation calculated depth (depth) information with the image information that endoscope is shot.
Operation with endoscope can be laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, duodenoscope,
More than one in mediastinoscope, cardioscope.
Another embodiment according to the present invention, provides a kind of main interface, is included in and is equipped with operation endoscope and hand
In art tool in the surgical robot system of more than one control object, and the position for controlling control object, the main boundary
Face includes: operation portion, receives the user command for being used for moving operation control object；Operation signal generating unit, according to tool/vision
Select (Instrument/Vision Selection) input unit selection information, with the operating quantity of operation portion correspondingly
Generate the operation signal for controlling the position of corresponding control object.
Operation signal generating unit judges whether to have selected position control mode, and only could in the case where being selected
Generate the operation signal for controlling the position.
According to the selection information of tool/vision selection input unit, control object can specify as operation endoscope and
More than one in operation tool.
Tool/vision selection input unit can be made of for specified control object more than one button.
When the selection information according to tool/vision selection input unit, control object be designated as operation endoscope and
When operation tool, operation signal is can be generated in operation signal generating unit, which makes operation endoscope and operation tool
It is mobile to the corresponding direction in operation direction with operation portion in the case where keeping side by side relationship.
When the selection information according to tool/vision selection input unit, control object be designated as operation endoscope and
When operation tool, clapped in clamping the operation tool of the state at any position, end in operative site and not performed the operation with endoscope
Operation tool, the clamp (jaw) taken the photograph are in the operation tool of closed state, manipulator is appointed as being kept fixed the operation of state
Tool and when pressing any stationary state button in the stationary state hold button that multiple operation portions respectively have with the behaviour
Make more than one in the operation tool that portion is correspondingly set, can independently be protected without mobile with the operation of operation portion
Hold its position.
It is controlled so as to the position amount of movement of the control object corresponding to operation portion operating quantity, the moving ratio factor can be passed through
(Motion Scale Factor) and determine.
Further include: storage unit, storage by perform the 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, judgement currently by perform the operation with endoscope provide it is current
Image information is amplified or reduces compared with benchmark image, and linear or non-linear to zoom in or out degree with it
The mode of ratio adjusts the moving ratio factor, to reset；Operation signal generating unit can be by the operating quantity of operation portion
It converts and makes it correspond to the moving ratio factor reset, and generate operation signal.
Scale factor operational part, can be in order to judge that present image information is amplified or reduces compared with benchmark image
Uniform domain of the present image information in benchmark image, and setting regions are detected according to preset image analysis technology.
Scale factor operational part can use the lateral dimension for being set region, vertical dimension, catercorner length and width
In more than one conversion information and in benchmark image correspond to conversion information information between proportionate relationship come adjust move
Dynamic scale factor.
Further include: storage unit stores more than one moving ratio factor based on operation endoscope shooting condition；Ratio
Factor operational part, receives the information that endoscope shooting condition is used in related operation, and the corresponding moving ratio of storage unit retrieval because
Son, and it is set as the applicable moving ratio factor；The operating quantity of operation portion can be converted into keeping its right by operation signal generating unit
Should be in the moving ratio factor of setting, and generate operation signal.
Shooting condition can be the image taking zoom ratio of operation endoscope, camera site, away from operative site surface
Distance and the operative site that is taken actual size in more than one.
Moving ratio factor when image taking zoom ratio is high magnification can be low power than image taking zoom ratio
Moving ratio factor when rate has relatively small value.
The moving ratio factor of the operation with endoscope insertion inside of human body when relatively deep, can be more opposite than operation endoscope
Moving ratio factor when being inserted into shallow has small value.
Detected value, the distance away from operative site surface are received from the sensor for detecting the distance away from operative site surface
Closer, the moving ratio factor can be set to smaller value.
The actual size for the operative site being taken is smaller, and the moving ratio factor can be set to smaller value.
According to the variation of shooting condition, the real-time operation moving ratio factor can and be stored in storage unit.
When the operation portion for moving operation operation tool is operated with relatively large operating quantity, with operation portion with opposite
Few operating quantity is compared when operating, and scale factor operational part can set the bigger moving ratio factor.
Operation is when obtaining the device of 3-D image with endoscope, and the information in relation to shooting condition can be by parsing quilt
Operation calculated depth (depth) information with the image information that endoscope is shot.
Operation with endoscope can be laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, duodenoscope,
More than one in mediastinoscope, cardioscope.
Another embodiment according to the present invention provides a kind of position control method in relation to control object, is in master
The position control method of more than one control object in the operation endoscope and operation tool executed on interface, including walk as follows
It is rapid: the step of receiving the user command for being used for moving operation control object using operation portion；According to tool/vision selection
The selection information of (Instrument/Vision Selection) input unit, correspondingly generates use with the operating quantity of operation portion
In the step of controlling the operation signal of corresponding control object position.
According to the selection information of tool/vision selection input unit, control object can specify as operation endoscope and
More than one in operation tool.
When the selection information according to tool/vision selection input unit, control object be designated as operation endoscope and
When operation tool, operation signal is generated in generation step, which can make operation endoscope and operation tool exist
Keep mobile to the corresponding direction in operation direction with operation portion under side by side relationship.
When the selection information according to tool/vision selection input unit, control object be designated as operation endoscope and
When operation tool, in clamping the operation tool of the state at any position in operative site, its end not by operation endoscope
Operation tool, the clamp (jaw) of shooting are in the operation tool of closed state, are designated as being kept fixed the hand of state by performer
When pressing any stationary state button in art tool and the stationary state hold button respectively having in multiple operation portions with
More than one in the operation tool that the operation portion is accordingly set can independently be kept without mobile with the operation of operation portion
Its position.
It is controlled so as to the position amount of movement of the control object corresponding to operation portion operating quantity, the moving ratio factor can be passed through
(Motion Scale Factor) and determine.
There is provided a kind of position control method of control object, which is characterized in that generation step includes: to judge by current procedure
The present image information provided with endoscope and any benchmark image phase in the image information provided by operation endoscope
Than the step of being amplified or reducing；When being exaggerated or minimized, to zoom in or out with it, degree is linear or non-linear ratio
The mode of example adjusts the moving ratio factor, and the step of resetting；Generate the operating quantity corresponding operation signal with conversion
The step of, the operating quantity of the conversion meets the moving ratio factor reset.
In the step of judgement is amplified or is reduced, it can be detected according to preset image analysis technology current
Uniform domain of the image information in benchmark image, thus setting regions.
It may include: the step of receiving the information in relation to operation endoscope shooting condition in generation step；From preparatory
It is stored in extract in the more than one moving ratio factor based on shooting condition in storage unit and corresponds to received information
The step of moving ratio factor；The operating quantity conversion of operation portion is made it correspond into the moving ratio factor extracted, thus raw
The step of at operation signal.
Shooting condition can be the image taking zoom ratio of operation endoscope, camera site, away from operative site surface
Distance and by perform the operation with endoscope shoot operative site actual size in more than one.
Moving ratio factor when image taking zoom ratio is high magnification can be low power than image taking zoom ratio
Moving ratio factor when rate has relatively small value.
The moving ratio factor of the operation with endoscope insertion inside of human body when relatively deep, can be more opposite than operation endoscope
Moving ratio factor when being inserted into shallow has small value.
Further include the steps that receiving detected value from the sensor for detecting the distance away from operative site surface, away from Surgery
The distance on position surface is closer, and the moving ratio factor can be set to smaller value.
The actual size for the operative site being taken is smaller, and the moving ratio factor can be set to smaller value.
According to the variation of shooting condition, the real-time operation moving ratio factor and storage unit can be stored in.
When the position in order to control control object, when operation portion is operated with relatively large operating quantity, with operation portion with opposite
Few operating quantity is compared when operating, and can set the bigger moving ratio factor.
Operation is when obtaining the device of 3-D image with endoscope, and the information in relation to shooting condition can be by parsing quilt
Operation calculated depth (depth) information with the image information that endoscope is shot.
Another embodiment according to the present invention, provides a kind of main interface, is included in and is equipped with operation endoscope and hand
In art tool in the surgical robot system of more than one control object, and the movement speed for controlling control object, it should
Main interface includes: operation portion, receives the user command for being used for moving operation control object；Operation signal generating unit, according to tool/
Vision selects the selection information of (Instrument/Vision Selection) input unit, opposite with the operating quantity of operation portion
Generate the operation signal of the movement speed for controlling corresponding control object with answering.
Operation signal generating unit judges whether to have selected speed control mode, and only could in the case where being selected
Generate the operation signal for controlling the movement speed.
The operating quantity of operation portion is bigger, and the movement speed of control object can be configured to bigger value.
According to the selection information of tool/vision selection input unit, control object can specify as operation endoscope and
More than one in operation tool.
Tool/vision selection input unit can be made of for specified control object more than one button.
When the selection information according to tool/vision selection input unit, control object be designated as operation endoscope and
When operation tool, operation signal is can be generated in operation signal generating unit, which can make operation endoscope and operation
Tool is mobile to the corresponding direction in operation direction with operation portion in the case where keeping side by side relationship.
When the selection information according to tool/vision selection input unit, control object be designated as operation endoscope and
When operation tool, in clamping the operation tool at any position, end in operative site by the hand shot with endoscope of not performed the operation
Art tool, clamp (jaw) be in the operation tool of closed state, be designated as being kept fixed the operation tool of state by performer,
And when pressing any stationary state button in the stationary state hold button respectively having in multiple operation portions with the operation
More than one in the operation tool that portion is accordingly set independently can keep its position without mobile with the operation of operation portion
It sets.
It is controlled so as to the movement speed of the control object corresponding to operation portion operating quantity, the moving ratio factor can be passed through
(Motion Scale Factor) and determine.
Further include: storage unit, storage by perform the 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, judgement are currently worked as by performing the operation with what endoscope provided
Preceding image information is amplified or reduces compared with benchmark image, and linear or non-thread to zoom in or out degree with it
The mode of sex ratio adjusts the moving ratio factor, to reset；Operation signal generating unit can be by the operation of operation portion
Amount is converted and makes it correspond to the moving ratio factor reset, and generates operation signal.
Scale factor operational part, can be in order to judge that present image information is amplified or reduces compared with benchmark image
Uniform domain of the present image information in benchmark image is detected according to preset image analysis technology, to set area
Domain.
Scale factor operational part can use lateral dimension, vertical dimension, catercorner length and the width in the region being set
More than one conversion information and the proportionate relationship between the information for corresponding to conversion information in benchmark image are adjusted in degree
The moving ratio factor.
Further include: storage unit stores the more than one moving ratio factor according to operation endoscope shooting condition；Than
Example factor operational part receives the information for using endoscope shooting condition in relation to performing the operation, and retrieves corresponding moving ratio in storage unit
The factor, to be set as the applicable moving ratio factor；Operation signal generating unit can be right by the conversion of the operating quantity of operation portion
Should be in the moving ratio factor of setting, and generate operation signal.
Shooting condition can be the image taking zoom ratio of operation endoscope, camera site, away from operative site surface
Distance and the operative site that is taken actual size in more than one.
Moving ratio factor when image taking zoom ratio is high magnification can be low power than image taking zoom ratio
Moving ratio factor when rate has relatively small value.
The moving ratio factor of the operation with endoscope insertion inside of human body when relatively deep, can be more opposite than operation endoscope
Moving ratio factor when being inserted into shallow has small value.
From for detecting the distance between operative site surface sensor receive detected value, away from operative site surface away from
From closer, the moving ratio factor is set to smaller value.
The actual size for the operative site being taken is smaller, and the moving ratio factor can be set to smaller value.
According to the variation of shooting condition, the real-time operation moving ratio factor and storage unit can be stored in.
When the operation portion for moving operation operation tool is operated with relatively large operating quantity, with operation portion with opposite
Few operating quantity is compared when operating, and scale factor operational part can set the bigger moving ratio factor.
Operation is when obtaining the device of 3-D image with endoscope, and the information in relation to shooting condition can be by parsing quilt
Operation calculated depth (depth) information with the image information that endoscope is shot.
Operation with endoscope can be laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, duodenoscope,
More than one in mediastinoscope, cardioscope.
Another embodiment according to the present invention, provides a kind of movement speed control method of control object, is being equipped with
It executes, includes the following steps: in the surgical robot system of more than one control object in operation endoscope and operation tool
The step of receiving the user command for being used for moving operation control object using operation portion；According to tool/vision selection
The selection information of (Instrument/Vision Selection) input unit, correspondingly generates with the operating quantity of operation portion
For controlling the operation signal of the movement speed of corresponding control object.
In generation step, the operating quantity of operation portion is bigger, and the movement speed of control object can be designated as bigger
Value.
According to the selection information of tool/vision selection input unit, control object can specify as operation endoscope and
More than one in operation tool.
When the selection information according to tool/vision selection input unit, control object be designated as operation endoscope and
When operation tool, operation signal can be generated in generation step, which makes operation endoscope and operation tool exist
Keep mobile to the corresponding direction in operation direction with operation portion under side by side relationship.
When the selection information according to tool/vision selection input unit, control object be designated as operation endoscope and
When operation tool, clapped in clamping the operation tool of the state at any position, end in operative site and not performed the operation with endoscope
Operation tool, the clamp (jaw) taken the photograph are in the operation tool of closed state, are designated as being kept fixed the operation of state by performer
When pressing any stationary state button in tool and the stationary state hold button respectively having in multiple operation portions and it is somebody's turn to do
More than one in the operation tool that operation portion is accordingly set can independently be kept without mobile with the operation of operation portion
Its position.
It is controlled so as to the movement speed of the control object corresponding to operation portion operating quantity, the moving ratio factor can be passed through
(Motion Scale Factor) and determine.
There is provided a kind of position control method of control object, which is characterized in that generation step includes: to judge by current procedure
The present image information provided with endoscope is compared with any benchmark image in the image information provided by operation endoscope
The step of being amplified or reducing；When being exaggerated or minimized, to zoom in or out with it, degree is linear or non-linear ratio
Mode adjust the moving ratio factor, thus the step of resetting；Generate the operating quantity corresponding operation signal with conversion
The step of, the operating quantity of the conversion meets the moving ratio factor reset.
In the step of judgement is amplified or is reduced, it can be detected according to preset image analysis technology current
Uniform domain of the image information in benchmark image, thus setting regions.
Generation step may include: the step of receiving the information in relation to operation endoscope shooting condition；From being stored in advance
In the more than one moving ratio factor based on shooting condition in storage unit extract correspond to received information shifting
The step of dynamic scale factor；The operating quantity conversion of operation portion is made it correspond into the moving ratio factor extracted, to generate
The step of operation signal.
Shooting condition can be the image taking zoom ratio of operation endoscope, camera site, away from operative site surface
Distance and by perform the operation with endoscope shoot operative site actual size in more than one.
Moving ratio factor when image taking zoom ratio is high magnification can be low power than image taking zoom ratio
Moving ratio factor when rate has relatively small value.
The moving ratio factor of the operation with endoscope insertion inside of human body when relatively deep, can be more opposite than operation endoscope
Moving ratio factor when being inserted into shallow has smaller value.
Further include the steps that receiving detected value from the sensor for detecting the distance away from operative site surface, away from Surgery
The distance on position surface is closer, and the moving ratio factor can be set to smaller value.
The actual size for the operative site being taken is smaller, and the moving ratio factor can be set to smaller value.
According to the variation of shooting condition, the real-time operation moving ratio factor and storage unit can be stored in.
When the position control for control object, when operation portion is operated with relatively large operating quantity, with operation portion with opposite
Few operating quantity is compared when operating, and can set the bigger moving ratio factor.
Operation is when obtaining the device of 3-D image with endoscope, and the information in relation to shooting condition can be by parsing quilt
Operation calculated depth (depth) information with the image information that endoscope is shot.
Apart from the above, other embodiment, feature, advantage can pass through following attached drawing, scope of the claims and hair
Bright detailed description can definitely.
According to an embodiment of the invention, can be according to the image information shot by laparoscope which related region and which
Subject in a range adaptively changes the moving ratio factor of operation tool.
Moreover, operating time can be shortened and mitigate the feeling of fatigue of performer during operation carries out, and according to display
Image information can intuitively recognize the moving distance of operation tool.
Moreover, the operation ease of laparoscope and/or operation tool can be maximized.
Moreover, improve for operating the camera buttons of laparoscope, and increase individual position control/speed control by
Button, so as to implement new movement.
Detailed description of the invention
Fig. 1 is the integrally-built top view for the surgical robot system for indicating that the prior art is related to.
Fig. 2 is the concept map of the main interface for the surgical robot system for indicating that the prior art is related to.
Fig. 3 a and Fig. 3 b are to indicate that the movement of instrument possessed by surgical robot system that the prior art is related to controlled
The concept map of journey.
Fig. 4 a is the module map that the surgical robot system structure that one embodiment of the invention is related to is outlined.
Fig. 4 b and Fig. 4 c are applicable fixation (fixed) the moving ratio factors for indicating one embodiment of the invention and being related to
The schematic diagram of the concept of (Motion Scale Factor).
Fig. 4 d and Fig. 4 e be indicate applicable adaptive (adaptive) moving ratio that one embodiment of the invention is related to because
The schematic diagram of sub- concept.
Fig. 5 a and Fig. 5 b are the automatic adjusument concepts for the moving ratio factor for indicating that one embodiment of the invention is related to
Schematic diagram.
Fig. 6 is the precedence diagram of the adaptive regulation method for the moving ratio factor for indicating that one embodiment of the invention is related to.
Fig. 7 is the position control mode determining method for the surgical robot system for indicating that one embodiment of the invention is related to
Precedence diagram.
Fig. 8 is the speed control mode determining method for the surgical robot system for indicating that another embodiment of the present invention is related to
Precedence diagram.
Specific embodiment
The present invention can carry out various improvement and can have various embodiments, will carry out specifically to specific embodiment
It is bright and be shown in the accompanying drawings.However, 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 well-known technique related to the present invention
Detailed description when obscuring purport of the invention, the detailed description will be omitted.
The terms such as " first ", " second " can be used to describe various constituent elements, but the constituent element is not
It is limited by the term.The term is only used for distinguishing a constituent element with another constituent element.
The term used in this application is only used for description specific embodiment, is not intended to limit the present invention.Singular table
Show including complex representation, as long as understanding can be distinguished clearly.Such as term of " comprising " or " having " is intended in this application
The feature recorded in the description, serial number, step, operation, constituent element, component or combinations thereof are deposited in expression, and therefore, it should
Understand, however not excluded that there are or increase one or more different feature, number, step, operation, constituent element, component or its group
A possibility that conjunction.
In the following, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the explanation referring to attached drawing, identical or corresponding structure
Identical appended drawing reference is imparted at element, and omits the repeated explanation to it.
Fig. 4 a is the module map that the surgical robot system structure that one embodiment of the invention is related to is outlined, Fig. 4 b and
Fig. 4 c is to indicate that one embodiment of the invention was related to has been applicable in fixation (fixed) the moving ratio factor (Motion Scale
Factor) the schematic diagram of concept, Fig. 4 d and Fig. 4 e are that being applicable in of indicating that one embodiment of the invention is related to is adaptive
(adaptive) schematic diagram of moving ratio factor concept, Fig. 5 a and Fig. 5 b are the movements for indicating one embodiment of the invention and being related to
The schematic diagram of the automatic adjusument concept of scale factor.
Referring to Fig. 4 a, surgical robot system may 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 operation portion 430, operation signal generating unit
450, scale factor operational part 440 and control unit 460.Although it is not shown, main robot 1 can also have storage unit.From machine
People 2 includes robotic arm 3 and laparoscope 5.
Image input unit 410 is received by wired or wireless communication network by having on the laparoscope 5 from robot 2
The image of video camera input.
Picture display part 420 is exported in the form of visual information to be drawn with by the way that the received image of image input unit 410 is corresponding
Face image.Picture display part 420 can be realized in the form of display 6 etc., for received image to be passed through picture display part 420
It can be executed by control unit 460 or image processing part are (not shown) with the image processing program of picture image output.
Arm operation portion 430 is position and the function of robotic arm 3 and/or laparoscope 5 that performer can operate from robot 2
Unit.Arm operation portion 430 is as shown in Figure 2 can be formed with handle shape, but is not limited to the shape, can be to realize
The various shapes deformation implementation of identical purpose.Moreover, for example can also partially be formed with handle shape, and other parts are with clutch
The different shapes such as button are formed.For example, performer grabs in the state of arm operation portion 430 to either direction motion arm operation portion
When 430, operation tool can be made mobile to the direction.Arm operation portion 430 for example can also carry out tilt operation in three-dimensional space,
According to the embodiment of arm operation portion 430 its mode of operation can there are many.That is, in the present specification, for mobile manipulator
Art tool and/or laparoscope 5 etc., with one end is fixed and inputs operation life and being bent the other end to either direction
It is illustrated for the arm operation portion 430 of the structure of order, but the arm operation portion 430 for receiving performer's operational order can be with
With various structures, and according to using structure input operational order by the way of can also there are many.
As described above, can have more than one function button, each function button in the main interface 4 of main robot 1
It can be realized, or be shown by picture display part 420 and by applying art with the mechanism form button/switch with physical entity
Person touches and the button/switch of the software form of movement is realized.
The function button having in main interface 4 may include that such as main robot reorientation button, tool/vision selection are pressed
More than one in button and position control/speed control mode button.
Main robot reorientation (Master Reposition:MR) button is, in order to make performer be based on utilizing master machine
The operational order that people 1 operates, which is not transferred to from robot 2, moves surgical robot system in the case where main robot resets bit pattern
The button of work.Performer can use main robot reorientation button and arm operation portion 430 be restored to origin-location, so as to
Reset the starting point described below for being used to control location/velocity under position control/speed control mode.
Tool/vision selection (Instrument/Vision Selection:IVS) button, which is that performer executes, utilizes master
When the operation that the arm operation portion 430 of robot 1 waits, according to operating result, operate more than one in laparoscope 5 and operation tool
Button.It is the purposes and function improved and extended using the camera buttons on surgical robot system in the prior art
Can, performer can move the work of operation tool using the specified operation according to arm operation portion 430 of tool/vision select button
Tool control model moves the visual spatial attention mode of laparoscope 5 according to the operation of arm operation portion 430 and according to arm operation portion 430
Operation and move more than one action mode in the comprehensively control mode of operation tool and laparoscope 5.
As described above, in order to select any action mode in multiple action modes, such as IVS using IVS button
Button can be made of two buttons of visual spatial attention button and comprehensively control button.At this point, not pressing the state of either button
Under, it can drive under tool control model, in the state of only pressing visual spatial attention button, can be driven under visual spatial attention mode
It is dynamic, in the state of only pressing comprehensively control button, it can be driven under comprehensively control mode.At this point, what two buttons were all pinned
Under state, it can be driven under holding mode as described above.
Certainly, IVS button can also be realized by a button.Such as IVS button can be realized by rotation process
Any action mode is selected in plurality of operation modes.As other examples, IVS button can also be formed to the structure pressed,
In the state that the button is not pinned, it can be driven under tool control model, it, can be in vision in the state that holding is pinned
It is driven under control model, when double-click can also start comprehensively control mode, then by one time when terminates comprehensively control mode.
According to the mode of operation of the IVS button of performer, that is, action mode can pass through picture display part for information about
420 displays.
In this way, the way of realization and push-botton operation form of the button for given surgical robot system action mode can be with
By a variety of, which 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 performer for specifying
It is the movement or under speed control mode under position control mode using the equal operation of the arm operation portion 430 of main robot 1
The button of movement.Here, position control mode is to move operation tool or laparoscope position according to motion arm operation portion 430 etc.
The action mode of (for example, operation of operation tool etc.), speed control mode are to change hand according to motion arm operation portion 430 etc.
The action mode of art tool or the speed (can also include direction) of laparoscope movement.
By selecting PVM button, surgical robot system acts under position control mode or speed control mode, with
It is arranged centered on the object operated under each action mode, such as the following table 1.
Table 1
| Control object |
Position control mode
| (PVM button: selection position control) |
Speed control mode
The position control mode of operation tool
| - IVS button: select tools control |
The movement speed control model of operation tool
| - IVS button: select tools control |
| Control laparoscope |
The position control mode of laparoscope
| - IVS button: selection visual spatial attention |
The movement speed control model of laparoscope
| - IVS button: selection visual spatial attention |
| Comprehensively control |
The position control mode of operation tool and laparoscope
| - IVS button: selection comprehensively control |
The movement speed control model of operation tool and laparoscope
| -- IVS button: selection comprehensively control |
Continue with the automatic adjusument for first illustrating surgical robot system and the moving ratio factor referring to Fig. 4 a to Fig. 5 b
Concept, refers again to Fig. 7 later and position control mode and speed control mode is described in detail in Fig. 8 respectively.
Performer operates operation portion to move the position of robotic arm 3 and/or laparoscope 5 or be operated
When 430, operation signal generating unit 450 is generated and the action mode of surgical robot system and the mode of operation of arm operation portion 430
Corresponding operation signal is simultaneously sent to from robot 2.At this point, operation signal generating unit 450 can pass through the control of control unit 460
Generate action mode (for example, position control mode, speed control mode etc.) corresponding operation signal with performer's selection.Such as
Upper described, the operation signal of generation can be transmitted by wired or wireless communication network, be received.
Moreover, as described below, when the more new settings moving ratio of scale factor operational part 440 is because of the period of the day from 11 p.m. to 1 a.m, operation signal is raw
Operation signal with this corresponding can be generated at portion 450 and send to from robot 2.
The identification of scale factor operational part 440 is much sizes and/or which related region by the image that laparoscope 5 is shot
Subject, and the moving ratio factor (MSF:Motion Scale Factor) is adjusted, so that laparoscope 5 and/or operation tool quilt
It operates into corresponding with 430 operating quantity of arm operation portion of performer.For example, between the movement and arm operation portion 430 of operation tool
Operative relationship can be defined as " amount of movement=k × MSF of operation tool × arm operation portion operating quantity ".Here, k is ratio
Constant.This operative relationship can also be applied on the operating quantity of arm operation portion 430 and the amount of movement of laparoscope 5.
The MSF adjusted by scale factor operational part 440, performer can select any value specified from fixed value,
It can be adaptively adjusted according to operative status applicable.
As shown in Fig. 4 b and 4c, in the mode for presetting and fixing (that is, general mode, fine pattern, hyperfine mould
Formula) in selection one when, preassigned MSF can be applicable according to by selection mode.For example, in the normal mode, as master
Robot and when being designated as 1:1 from the MSF of robot ratio, when using arm 430 moving operation 1 of operation portion, from robot
(that is, operation tool and/or laparoscope) is also by moving operation an equal amount of 1.It is in the fine mode, main when referring to illustrated example
When robot moves 3, from robot by moving operation 1, under hyperfine mode, when main robot moves 5, moved from robot
Dynamic operation 1.
MSF by the way of fixed value in, as described above, MSF can also be preset by each mode, but performer
It can be any from selection in multiple selective values (for example, 1:1,3:1,5:1,7:1,10:1 etc.) of picture display part 420 is shown in
Value is appointed as MSF.
In this way, MSF need not be according to main robot or from the situation of robot (for example, the operating quantity of arm operation portion, laparoscope
Insertion degree, the distance away from affected part etc.) and change, but fixed be applicable in (referring to Fig. 4 c).
Moreover, as described above, MSF can be according to operative status (for example, main robot and/or from the current shape of robot
Condition etc.) it is adaptively adjusted and is applicable in (adaptive MSF: adaptive M SF).
The situation for being adaptively adjusted and being applicable in as MSF, can be special according to the image exported by picture display part 420
Property (for example, the image actual size seen on picture) is adaptively adjusted.For example, making laparoscope 5 far from affected part (that is, hand
Art position) position or by multiplying power reduce (zoom out) when, relatively not fine enough the area Dan compare Kuan is shown on picture display part 420
The image in domain, MSF can be adaptively adjusted as with relatively large value at this time.On the contrary, making laparoscope 5 close to affected part (that is, operation
Position) position or by multiplying power amplify (zoom in) when, the figure of opposite fine but relatively narrow region is shown on picture display part 420
Picture, MSF can be adaptively adjusted as with relatively small value at this time.
As for other situations, as shown in figure 4d, determine that the method for MSF is also applicable as the situation according to locating for from robot
SASC (Slave-dependent Adaptive Scaling Control: based on from the adaptive ratio of robot control) side
Formula, MSF can use the function representation from robotary at this time.For example, following various methods can be applicable in, pass through image analysis
It grasps picture to be amplified or reduce and change MSF according to it, or MSF is changed by 5 insertion degree of laparoscope, or in abdomen
Distance detection sensor is arranged to measure the distance between affected part (depth) and according to its change MSF in 5 end of hysteroscope, or
The distance (depth) away from affected part is measured in the case where three-dimensional laparoscope 5 by image procossing and MSF or root are changed according to it
MSF (referring 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 each case is described in detail in Fig. 5 b.
As described above, MSF need not be according to main robot or from the situation of robot (for example, the operating quantity of arm operation portion, abdomen
The insertion degree of hysteroscope, with the distance between affected part etc.) and fix, can be adaptively adjusted.
Similarly, as shown in fig 4e, as the method for the decision of the situation according to locating for main robot MSF also applicable MASC
(Master-dependent Adaptive Scaling Control: the adaptive ratio control of Intrusion Detection based on host device people) mode,
MSF can use the function representation of main robot state at this time.
For example, MSF has relatively small value (that is, from machine when arm operation portion 430 is slightly moved from mobile starting position
People critically slowly moves), but when mobile far from mobile starting position, MSF can be adjusted to relatively large (that is, making slave
Quickly big distance is mobile by device people).At this point, mobile starting position can be then reset when pressing above-mentioned main robot reorientation button,
And when being operated from the mobile starting position reset, as described above, MSF can be conditioned according to amount of movement.
At this point, MSF can be with linear change, it can also be with nonlinear change.Moreover, MSF can be used and in real time calculate
Value, also can be used pre-stored value.
In the following, referring to Fig. 5 a and 5b simple declaration by scale factor operational part 440 be adaptively adjusted moving ratio because
The mode of son.The appended drawing reference 510 of Fig. 5 a and Fig. 5 b indicate the current shooting region shot by current laparoscope 5, attached drawing mark
Note 520 indicates the benchmark shooting area that can be shot by laparoscope 5.Pass through the practical ruler for the shooting area that laparoscope 5 is shot
It is very little can according to the factors such as laparoscope 5 and how far, the amplification/diminution degree of affected part have it is a variety of, multiplying power can also be passed through
The modes such as adjusting, keep current shooting region consistent with benchmark shooting area.
If the shooting multiplying power of laparoscope 5 is set as high magnification or laparoscope 5 close to operative site, such as the 510 of Fig. 5 a
And shown in Fig. 5 b, the current shooting region 510 shot by laparoscope 5 is clapped under predetermined location and multiplying power than the laparoscope 5
The benchmark shooting area 520 for taking the photograph operative site is small.
But if, when the shooting multiplying power of laparoscope 5 is set as low range or laparoscope 5 far from operative site, by abdominal cavity
The current shooting region 510 that mirror 5 is shot is possible to consistent in or greater than benchmark shooting area 520.
As shown in Fig. 5 a and Fig. 5 b, current shooting region 510 than benchmark shooting area 520 hours, performer generally compared with
Narrow region carries out delicate surgery, so needing critically to adjust the moving ratio of the operation tool operated according to arm operation portion 430.
On the contrary, when 510 consistent in or greater than benchmark shooting area 520 of current shooting region, the general whole observation operative site of performer or
It needs surgical operation region being moved to other positions, so needing the larger operation work for adjusting and operating according to arm operation portion 430
The moving ratio of tool, performer could intuitively operation tools.
In this way, the subject size shot according to laparoscope 5 and its corresponding figure shown by picture display part 420
As the information content, there are many ways to moving ratio factor (MSF) is adaptively adjusted.
It is as follows to illustrate the several method being adaptively adjusted in the method for the moving ratio factor.Certainly, adaptively
The method for adjusting the moving ratio factor is not limited to item illustrated below, and is noted that protection of the invention
Range is also not limited to example described below.
As an example, scale factor operational part 440 can use the base for being stored in storage unit as shown in Fig. 5 a and Fig. 5 b
Quasi- image adjusts shifting with and the size of the benchmark shooting area 520 and proportional mode of the difference of size in current shooting region 510
Dynamic scale factor.
That is, as shown in Figure 5 a, it is assumed that shoot the image information being shown on the desplay apparatus by benchmark shooting area 520
When being the information in relation to the affected part that actual size length is 12cm, window size at this time can be defined as to 1, and moving ratio
The factor is also defined as 1.In this case, when performer is to either direction motion arm operation portion 430, operation tool is clapped from benchmark
Take the photograph the direction movement that the central point in region 520 is operated to arm operation portion 430.
But as shown in Fig. 5 a and Fig. 5 b, since laparoscope 5 close to operative site or passes through amplification (zoom-in) operation
And shoot the trouble for being equivalent to that the actual size length in the current shooting region 510 of partial region of benchmark shooting area 520 is 4cm
When portion, window size at this time can be parsed into 0.33 (that is, 4cm/12cm), and reduce the moving ratio factor (for example,
0.33) it is readjusted.At this point, integrally being shown (that is, at overall operation position on the display area of picture display part 420
Middle part is amplified and clearly displays) current shooting region 510, but the moving ratio factor reduces, and thus allows for more
Critically control.
At this point, current shooting region 510 has much sizes compared with benchmark shooting area 520, image solution can use
Analysis technology (for example, detect same area in two images and carry out the image analysis technology of region setting) is identified, example
It such as is stored in storage unit using the image information shot in benchmark shooting area 520 as benchmark image, is adjusted later according to multiplying power
And/or the image information in the current shooting region 510 along 5 length direction of laparoscope (axial direction of axis) when mobile is in benchmark image
Which region and much sizes belonged to.
In above-mentioned example, it is assumed that it is illustrated using vertical extension as the case where benchmark for adjusting the moving ratio factor,
But the adjusting benchmark of the moving ratio factor can have a variety of such as catercorner length, lateral length, width.
As another example, scale factor operational part 440 can use the image taking multiplying power of laparoscope 5, position it is mobile, away from
The distance on operative site surface etc. adjusts the moving ratio factor.
That is, when the image taking multiplying power of laparoscope 5 being set as high magnification in order to shoot narrower range, scale factor fortune
Calculation portion 440 reduces the moving ratio factor, so as to carry out accurate operation to operation tool, and in order to shoot wider range and incite somebody to action
When the image taking multiplying power of laparoscope is set as low range, mobile ratio can be adjusted by way of improving the moving ratio factor
The example factor.The moving ratio factor corresponding to each multiplier value that can be set on laparoscope 5 can calculate in advance through test statistics
And it is stored in advance in storage unit.
Moreover, scale factor operational part 440 can also according to laparoscope 5 from base position (for example, being inserted into patient with operation
The initial position of abdomen) adjust scale factor to the degree of length direction (for example, insertion or draw human body) relative movement.Have
The information for closing 5 position of laparoscope can be calculated directly by main robot 1 or be received from from robot 2, and base position for example may be used
The position or any specified by performer initially operated with the postbrachium operation portion 430 being appointed as in 5 insertion body of laparoscope.
If laparoscope 5 is further inserted into inside of human body (that is, close to operative site side), can reduce moving ratio because
Son, so as to the accurate operation of operation tool be carried out, if laparoscope 5 is mobile (that is, far from hand to human external lead direction
Art position) when, it can be improved the moving ratio factor.It is corresponding from base position to length direction moving distance with laparoscope 5
The moving ratio factor can calculate in advance through test statistics and be stored in advance in storage unit.
It is provided extremely moreover, scale factor operational part 440 also can use the distance detection sensor having on laparoscope 5
The distance value on operative site surface adjusts the moving ratio factor.If laparoscope 5 away from operative site surface when being closer,
The moving ratio factor can be reduced, so as to the accurate operation of operation tool be carried out, if laparoscope 5 is away from operative site surface
Distance farther out when, the moving ratio factor can be improved.The corresponding mobile ratio of distance between laparoscope 5 and operative site surface
The example factor, can calculate in advance through test statistics and be stored in advance in storage unit.
Moreover, the image shown by picture display part 420 is the figure provided by the laparoscope 5 of acquiring three-dimensional images device
When picture, depth (depth) can be calculated by image procossing, and also can use the value operation moving ratio factor.
Referring again to Fig. 4 a, control unit 460 controls the movement of each component so as to execute above-mentioned function.Control unit
460 can also execute the image inputted by image input unit 410 being converted into the picture figure shown by picture display part 420
The function of picture.Moreover, control unit 460 can also execute following processing, when performer carries out main robot reorientation button input
When, in the case where not moving the position of laparoscope 5 and operation tool, carry out the reset operation of handle 10.
In the following, illustrating an embodiment of the adaptive regulation method of the moving ratio factor (MSF) referring to relevant drawings, later
Illustrate position control mode and speed control mode respectively referring to relevant drawings.
Even if not being illustrated individually in declarative procedure, the above explained concept in relation to the moving ratio factor is applicable in.
This is briefly described, under fixed MSF position control mode, when main robot is (for example, arm operation portion
Deng) mobile 1cm when from robot also move 1cm (for example, general mode), or can from robot as the mobile 3cm of main robot
To move 1cm (for example, fine pattern).
In contrast to this, under adaptive M SF position control mode, according to the amplification of currently seen picture, diminution degree,
The degree etc. that the distance between insertion degree, endoscope tip and affected part of endoscope or main robot are moved from starting point,
MSF linearly or non-linearly changes, and thus determines the movement from robot.
Similarly, under fixed MSF speed control mode, can with main robot or from robot situation independently into
Row control, that is, as main robot 1cm mobile from starting point from the mobile 1cm/sec of robot, when main robot is moved from starting point
From the mobile 5cm/sec of robot when dynamic 5cm.
In contrast to this, under adaptive M SF speed control mode, even if main robot similarly moves 1cm from starting point,
It situations such as when closer when situation that picture is amplified, endoscope insertion are deeper or with the distance between affected part, can from robot
To move 0.5cm/sec, when the situation, endoscope insertion that picture is reduced are shallower or with the distance between affected part farther out etc.
Situation can move 1.5cm/sec from robot.That is, MSF is linearly or nonlinearly according to main robot or from robot situation
Ground variation, finally, the variable quantity of velocity variations according to main robot movement can adaptively change according to MSF.
Fig. 6 is the precedence diagram of the adaptive regulation method for the moving ratio factor for indicating that one embodiment of the invention is related to.
Referring to Fig. 6, in step 610, main robot 1 using by laparoscope 5 is shot and is provided image information as use
It is stored in the benchmark image that the moving ratio factor is adaptively adjusted.
In step 620, main robot 1 judges whether that having input benchmark image resets request.
If when having input benchmark image and resetting request, step 630 is carried out, to reset the base in relation to operative site
Quasi- image.
Request is reset according to the non-input reference image of the judgement of step 620 or reference map has been reset according to step 630
When picture, step 640 is carried out.
In step 640, main robot 1 judges whether to have input by performer's motion arm operation portion 430 for abdomen
The zoom-out request for the shooting area that hysteroscope 5 is shot.The zoom-out request of shooting area close to affected part or passes through for such as laparoscope 5
The instructions such as enhanced processing shoot narrower region, to be more clear by the display of picture display part 420 but the image in relatively narrow region
(that is, enlarged drawing).
If do not input shooting area zoom-out request, step 660 is carried out.
But if main robot 1 carries out step 650, to reset movement when having input shooting area zoom-out request
Scale factor.
That is, be the image for amplifying the specific region in entire operative site by the image that laparoscope 5 is shot, so in order to
The accurate operation of operation tool is carried out, the moving ratio factor becomes smaller.At this point, main robot 1 can use image analysis technology (example
Such as, same area is detected in two images and carry out the image analysis technology of region setting) identification, it is reduced according to shooting area
The image information in the 5 current shooting region 510 of laparoscope of request belongs in the benchmark image set in step 610 or step 630
Which region and much sizes, to judge the moving ratio factor which kind of rank be adjusted to.
In step 660, main robot 1 judges whether to have input by performer's motion arm operation portion 430 for abdomen
Hysteroscope 5 shoots the amplification request of the shooting area of image.The amplification request of shooting area for such as laparoscope 5 far from affected part or
It the instructions such as handles by diminution and shoots broader area, to be shown and unintelligible but wider region by picture display part 420
Image (that is, downscaled images).
If not inputting shooting area amplification when requesting, step 620 is carried out again.
But if step 670, master machine are carried out when having input shooting area amplification request according to the judgement of step 660
People 1 resets the moving ratio in the current shooting region 510 being amplified for shooting area on the basis of the benchmark image of setting
The factor.
The adaptive regulation method of the moving ratio factor using benchmark image is illustrated referring to Fig. 6 so far, but is
The moving ratio factor is adaptively adjusted, it is of course possible to individually or increase image taking times using laparoscope 5 as described above
Rate, position movement, distance away from operative site surface etc..
Fig. 7 is the position control mode determining method for the surgical robot system for indicating that one embodiment of the invention is related to
Precedence diagram.
As described above, performer can use position control/speed control mode (PVM) that main robot 1 has, specify
Surgical robot system drives under position control mode or drives under speed control mode.Moreover, performer can use
Tool/vision selects (IVS) button, determines that object operate by motion arm operation portion 430 is operation tool or laparoscope,
Or operation tool and laparoscope.
Moreover, as described above, PVM button and IVS button can appointed multiple buttons be constituted respectively by its function, or
Person is also possible to that a button of drive mode can be selected with a variety of modes of operation.Certainly, in addition to this PVM button and IVS
There are many implementations of button.
The position control mode for the surgical robot system that the present embodiment is related to may include, for controlling operation tool position
The operation tool position control mode set, the laparoscope position control mode for controlling 5 position of laparoscope and for comprehensive control
The integrated location control model of operation tool and laparoscope processed position.In the following, illustrating the position of surgical robot system referring to Fig. 7
Control model determining method.
Referring to Fig. 7, in step 705, arm operation portion 430 is operated by performer.
In step 720, control unit 460 judges whether position control/speed control mode (PVM) button is selected to make
Surgical robot system acts under position control mode.Position control/speed control mode (PVM) button is for specified benefit
It is acted under position control mode with the equal operation of the arm operation portion 430 of main robot 1 and is still acted under speed control mode
Button.
The judging result of step 710, if PVM button is selected to surgical robot system work under speed control mode
When making, the step 810 of Fig. 8 is executed.
But if PVM button is selected for the position of more than one position in control operation tool and laparoscope 5
When setting control model, step 720 is carried out.
In step 720, control unit 460 judges whether tool/vision selection (IVS) button is selected to make surgical machine
People's system acts under tool control model.Tool/vision selection (IVS) button is that performer's execution utilizes main robot 1
When the operation of arm operation portion 430 etc., more than one button in laparoscope 5 and operation tool is operated according to operating result.
The judging result of step 720 carries out step if IVS button is selected to the movement of tool control model
730, and operation signal generating unit 450 generates operation signal and sends to from robot 2, the operation signal is for making in step
It is suitable for the position control of operation tool in 705 based on the operational order that arm operation portion 430 operates.At this point, the operation letter generated
It number can be generated and being applicable in fixation described above or the adaptive moving ratio factor.
In step 730, according to the operation signal being transmitted to from robot 2, in the operation tool having from robot 2
Operation with arm operation portion 430 is correspondingly controlled by mobile.
But if the judging result of step 720 is, IVS button it is unselected at tool control model movement when, into
Row step 740.
In step 740, control unit 460 judges whether tool/vision selection (IVS) button is selected to make surgical machine
People's system acts under visual spatial attention mode.
The judging result of step 740 carries out step if IVS button is selected to visual spatial attention Modal action
750, and operation signal generating unit 450 generates operation signal and sends to from robot 2, the operation signal is for making in step
It is suitable for the position control of laparoscope 5 in 705 based on the operational order that arm operation portion 430 operates.At this point, the operation signal generated
It can be generated and being applicable in fixation described above or the adaptive moving ratio factor.
In step 750, according to the operation signal sent to from robot 2, in the laparoscope 5 having from robot 2
Operation with arm operation portion 430 is correspondingly controlled by mobile.
But if the judging result of step 740 is, IVS button it is unselected at visual spatial attention Modal action when, into
Row step 760.
In step 760, control unit 460 judges whether tool/vision selection (IVS) button is selected to make surgical machine
People's system acts under comprehensively control mode.
If the judging result of step 760 is, when IVS button is selected to comprehensively control Modal action, step is carried out
770, and operation signal generating unit 450 generates operation signal and sends to from robot, the operation signal is according to arm operation portion 430
Operation and the position control that both executes operation tool and laparoscope 5.
Here, operation signal keeps the operation direction of operation tool and the arm operation portion 430 in the same direction of laparoscope 5 one mobile, but protect
It is moved in the case where holding mutual side by side relationship (for example, keeping mutual relative position etc.).That is, according to the shifting of laparoscope 5
It is dynamic, even if the physical location of shooting area changes, but on the display picture that performer is confirmed by picture display part 420, with
On the basis of shooting area central point, the relative configuration position of operation tool is remained unchanged.Performer can for example be led by selection
Robot relocates button, or action mode is converted into the operation of other modes etc., terminates the connection of laparoscope 5 and operation tool
Dynamic movement.
The action state of citing simple declaration integrated location control model is as follows.
PVM button is chosen to position control mode by the purpose of performer is in order to change shooting area 510, by IVS button
When being chosen to comprehensively control mode, operation signal generating unit 450 generates operation signal and sends to from robot 2, to make abdomen
The operation direction of hysteroscope 5 and the arm operation portion 430 in the same direction of operation tool one is mobile.
At this point, laparoscope 5 and operation tool keep side by side relationship movement each other, but any operation tool clamps thing (example
Such as, the state at any position in operative site is clamped, in the state of Fig. 5 a and 5b), for the safety of patient with operation, the hand
Art tool can not link mobile and standby in the position with laparoscope 5.
Moreover, end is not showing the operation shown in picture when referring to the image information shown by display unit 420
Tool (that is, operation tool end is located at except the coverage shot by laparoscope 5) can not also link with laparoscope 5 to be moved
It is dynamic, and it is standby in the position.
Moreover, the clamp (jaw) of operation tool is in the closure state, for the safety of patient, which can also
To be controlled so as to not move.
In addition to this, control method that any operation tool does not move can also there are many.Such as performer can be made straight
It connects specified operation tool not move, or specific button can also be set on left and right arms operation portion 430 (for example, main robot
Reorientation button can be located separately on arm operation portion 430), by pressing the button, so that the arm operation portion 430 to be touched the button is administered
Operation tool do not move.
But if the judging result of step 760, IVS button it is unselected at comprehensively control Modal action when, carry out
Step 780, and operation signal generating unit 450 is generated and operation signal and is sent to from robot, the operation signal is for making to perform the operation
Tool and/or laparoscope 5 operate under appointed action mode.Such as bit pattern is reset in holding mode or main robot
Under, it generates operation signal and sends to from robot, independently make operation tool and/or abdominal cavity so as to the operation with host
Mirror 5 keeps finally controlling position.
Fig. 8 is the speed control mode determining method for the surgical robot system for indicating that another embodiment of the present invention is related to
Precedence diagram.
It is pressed as described above, performer can use position control/speed control mode (PVM) possessed by main robot 1
The action mode of surgical robot system is designated as position control mode or speed control mode by button.Moreover, performer can be with
(IVS) button is selected using tool/vision, the object operated by motion arm operation portion 430 is determined as operation tool
And more than one in laparoscope.
The speed control mode for the surgical robot system that the present embodiment is related to may include: for controlling operation tool
The operation tool speed control mode of movement speed, the laparoscope speed control mode for controlling 5 movement speed of laparoscope and
For controlling the comprehensive speed control model of the movement speed of both operation tool and laparoscope.In the following, illustrating to perform the operation referring to Fig. 8
The speed control mode determining method of robot system.
Before as described above with respect to fig. 7, in step 720, control unit 460 judges position control/speed control mode (PVM)
Whether button is selected to act surgical robot system under position control mode, if PVM button is selected to make hand
When art robot system acts under speed control mode, the step 810 of Fig. 8 is carried out.
Referring to Fig. 8, in step 810, control unit 460 judges whether tool/vision selection (IVS) button is selected to make
Surgical robot system acts under tool control model.
If the judging result of step 810 is, when IVS button is selected to the movement of tool control model, step is carried out
820, and operation signal generating unit 450 generates operation signal and sends to from robot 2, the operation signal is for making in step
It is suitable for the speed control of operation tool in 705 (referring to Fig. 7) based on the operational order that arm operation portion 430 operates.According to step
The operation signal from robot 2 is transmitted in 820, in the operation of the operation tool and arm operation portion 430 that have from robot 2
Correspondingly controlled by mobile.
At this point, the operation signal generated can be given birth to and being applicable in fixation described above or the adaptive moving ratio factor
At.
Moreover, operation signal can be generated to change operation work from the mobile degree of starting point according to arm operation portion 430
The movement speed of tool.That is, arm operation portion 430 is slightly moved to specific direction (that is, retaining arm operation portion 430 after slightly moving
Mode of operation) when, operation tool is controlled so as to can to continue to the direction slow movement, and arm operation portion 430 is to the direction
It is mobile it is larger (that is, it is big it is mobile after retaining arm operation portion 430 mode of operation) when, operation tool is controlled so as to continue fast
Speed is mobile.For example, when the formation as shown in Figure 2 of arm operation portion 430, when can operate 5 degree to either direction with arm operation portion 430
The movement speed of operation tool compare, the movement speed of operation tool when arm operation portion 430 operates 30 degree to the direction is more
Fastly.
The movement speed that operation tool can be preset is accelerated as the operating quantity of arm operation portion 430 becomes larger, Er Qieyou
The translational speed information for closing operation tool corresponding with the operating quantity of arm operation portion 430 can be stored in advance in institute in main interface 4
The storage unit having.
Certainly, when arm operation portion 430 is restored to starting point, the movement of the operation tool is stopped.As reference, in place
It sets under control model, when arm operation portion 430 resets to starting point, operation tool is also reset to original position, but in speed control mould
Under formula, when arm operation portion 430 resets to starting point, speed becomes zero (that is, stopping movement).
But if the judging result of step 810, IVS button it is unselected at tool control model movement when, carry out
Step 830.
In step 830, control unit 460 judges whether tool/vision selection (IVS) button is selected to make surgical machine
People's system acts under visual spatial attention mode.
If the judging result of step 830 is, when IVS button is selected to visual spatial attention Modal action, step is carried out
840, operation signal generating unit 450 generates operation signal and sends to from robot 2, which makes based on arm operation portion
The operational order of 430 operations is suitable for the control of 5 movement speed of laparoscope.At this point, the operation signal generated can be by being applicable in
Fixation described above or the adaptive moving ratio factor and generate.In step 840, according to the behaviour being transmitted to from robot 2
Make signal, is correspondingly controlled by mobile in the operation of the laparoscope 5 and arm operation portion 430 that have from robot 2.
The movement speed control mode of laparoscope 5 and the movement speed control mode of operation tool described above are identical,
Therefore omit its description.
But if the judging result of step 830 is, IVS button it is unselected at visual spatial attention Modal action when, into
Row step 850.
In step 850, control unit 460 judges whether tool/vision selection (IVS) button is selected to make surgical machine
People's system acts under comprehensively control mode.
If the judging result of step 850, when IVS button is selected to comprehensively control Modal action, step is carried out
860, and operation signal generating unit 450 generates operation signal and sends to from robot 2, the operation signal is according to arm operation portion
430 operation executes the control of the movement speed to both operation tool and laparoscope 5.
Here, the direction that operation signal operates operation tool and the arm operation portion 430 in the same direction of laparoscope 5 one is mobile, at that
It is corresponding to the operating quantity of arm operation portion 430 in the case where this holding side by side relationship (for example, keeping mutual relative position etc.)
Speed it is mobile.That is, even if the physical location of shooting area changes, but performer passes through picture according to the movement of laparoscope 5
The relative configuration position for the operation tool on the basis of shooting area central point on display picture that face display unit 420 confirms is protected
It holds constant.
Moreover, there may also be control mould in integrated location above when operation tool moves under speed control mode
The confined situation of the movement of the operation tool illustrated in the working condition of formula.For example, an operation tool in office is in folder
Firmly thing is (for example, clamp the state at any position in operative site, referring to the state of Fig. 5 a and 5b) or the end of operation tool
The clamp (jaw) of the state or operation tool that are not shown in display picture is in the case where being closed or performer to protect
When the stationary state hold button holding stationary state and having on specified operation tool or arm operation portion 430 is pressed and its
Corresponding operation tool etc., the mobile of these operation tools may be limited.
But if the judging result of step 850 is, IVS button it is unselected at comprehensively control Modal action when, into
Row step 870, and operation signal generating unit 450 generates operation signal and sends to from robot, which makes work of performing the operation
Tool and/or laparoscope 5 operate under specified action mode.For example, in the case where holding mode or main robot reset bit pattern, energy
It enough generates operation signal and sends to from robot, so that the operation with host independently protects operation tool and/or laparoscope 5
Hold final control position.
The adaptive regulation method of the moving ratio factor and self-adaptation control method according to arm operating characteristic, can also
It is executed with the automatic sequence by the sequence in temporal sequence such as interior software program in digital processing unit.Constitute above-mentioned journey
The code and code segment of sequence can be easy to infer by the computer personnel of weaving into the field.Described program is stored in computer can
It reads on medium (computer readable media), and is readable by a computer execution, to realize the method.The meter
Calculation machine readable medium includes magnetic recording medium, optical recording media and carrier medium.
It is illustrated above in relation to the preferred embodiment of the present invention, for person of an ordinary skill in the technical field
For, it is understood that, in the range of the thought of the invention recorded in without departing from claims and field, the present invention can
To carry out various deformation and change.
Claims (14)
1. a kind of position control method of control object, be to the operation endoscope and operation tool executed in main interface this
The position control method of the above control object of one of the two, includes the following steps:
The step of receiving the user command for control object described in moving operation using operation portion；And
According to tool/vision selection input unit selection information, correspondingly generate with the operating quantity of the operation portion for controlling
The step of making the operation signal of corresponding control object position,
According to the tool/vision selection input unit selection information, control object is designated as the operation endoscope
And more than one in the operation tool,
It is controlled so as to the position amount of movement of the control object corresponding to the operation portion operating quantity, passes through the moving ratio factor
It determines,
The generation step includes:
Judge the present image information currently provided by the operation with endoscope and by operation endoscope offer
Any benchmark image in image information is compared to the step of being amplified or reducing；
When being exaggerated or minimized, the mobile ratio is adjusted to zoom in or out in a manner of degree is linear or non-linear ratio with it
The example factor, and the step of resetting；And
The step of generating the operating quantity corresponding operation signal with conversion, the operating quantity of the conversion meet the movement reset
Scale factor.
2. the position control method of control object according to claim 1, which is characterized in that
When according to the tool/vision selection input unit selection information, control object is designated as the operation and peeps in
When mirror and the operation tool,
Operation signal is generated in the generation step, which makes the operation endoscope and the operation tool exist
Keep mobile to the corresponding direction in operation direction with the operation portion under side by side relationship.
3. the position control method of control object according to claim 1, which is characterized in that
When according to the tool/vision selection input unit selection information, control object is designated as the operation and peeps in
When mirror and the operation tool,
It is not shot by the operation with endoscope in the operation tool of the state at any position in operative site, its end is clamped
Operation tool, clamp be in the operation tool of closed state, the operation tool that is designated as being kept fixed state by performer, with
And when pressing any stationary state button in the stationary state hold button respectively having in multiple operation portions with the operation
More than one in the operation tool that portion is accordingly set, the operation with the operation portion independently keep its position without mobile
It sets.
4. the position control method of control object according to claim 1, which is characterized in that
In the step of judgement is amplified or is reduced, the present image is detected according to preset image analysis technology
Uniform domain of the information in the benchmark image, and setting regions.
5. the position control method of control object according to claim 1, which is characterized in that the generation step includes:
Receive the step of using the information of endoscope shooting condition in relation to the operation；
It is extracted from the more than one moving ratio factor based on shooting condition being stored in advance in storage unit and corresponds to institute
The step of stating the moving ratio factor of received information；And
The moving ratio factor that the operating quantity conversion of the operation portion is made it correspond to the extraction, to generate the behaviour
The step of making signal.
6. the position control method of control object according to claim 5, which is characterized in that
The shooting condition is the image taking zoom ratio of the operation endoscope, camera site, away from operative site surface
Distance and the operative site actual size that is shot by operation endoscope in more than one.
7. the position control method of control object according to claim 6, which is characterized in that
Described image shoots moving ratio factor when zoom ratio is high magnification, is low power than described image shooting zoom ratio
Moving ratio factor when rate has relatively small value.
8. the position control method of control object according to claim 6, which is characterized in that
The moving ratio factor of the operation with endoscope insertion inside of human body when relatively deep, it is more opposite than the operation endoscope
Moving ratio factor when being inserted into shallow has smaller value.
9. the position control method of control object according to claim 6, which is characterized in that further include:
The step of receiving detected value from the sensor for detecting the distance away from the operative site surface；
Distance away from the operative site surface is closer, and the moving ratio factor is set to smaller value.
10. the position control method of control object according to claim 6, which is characterized in that
The actual size for the operative site being taken is smaller, and the moving ratio factor is set to smaller value.
11. the position control method of control object according to claim 5, which is characterized in that
According to the variation of the shooting condition, the real-time operation moving ratio factor is simultaneously stored in the storage unit.
12. the position control method of control object according to claim 1, which is characterized in that
When the position in order to control the control object, when the operation portion is operated with relatively large operating quantity, with the operation
Portion compares when being operated with relatively little of operating quantity, sets the bigger moving ratio factor.
13. the position control method of control object according to claim 5, which is characterized in that
When the operation is to obtain the device of 3-D image with endoscope, the information in relation to the shooting condition is to pass through parsing
By the operation with the image information that endoscope is shot calculated depth information.
14. a kind of main interface is included in and is equipped with the above control pair of one of both operation endoscope and operation tool
In the surgical robot system of elephant, and the movement speed for controlling the control object, the main interface include:
Operation portion receives the user command for control object described in moving operation；And
Operation signal generating unit, the operating quantity phase according to tool/vision selection input unit selection information, with the operation portion
It is correspondingly generated the operation signal of the movement speed for controlling corresponding control object,
According to the tool/vision selection input unit selection information, control object is designated as the operation endoscope
And more than one in described operation tool the two,
It is controlled so as to the position amount of movement of the control object corresponding to the operation portion operating quantity, passes through the moving ratio factor
It determines,
Described in the operation signal generating unit judges the present image information currently provided by the operation with endoscope and passes through
Any benchmark image in image information that operation endoscope provides is exaggerated or minimized compared to being amplified or reducing
When, the moving ratio factor is adjusted in a manner of degree is linear or non-linear ratio to zoom in or out with it, and carry out again
Setting, generates the operating quantity corresponding operation signal with conversion, and the operating quantity of the conversion meets the moving ratio reset
The factor.
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| Application Number | Priority Date | Filing Date | Title |
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| KR1020100130289A KR20120068597A (en) | 2010-12-17 | 2010-12-17 | Surgical robot system and adaptive control method thereof |
| KR10-2010-0130289 | 2010-12-17 | ||
| CN201110423299.8A CN102614019B (en) | 2010-12-17 | 2011-12-16 | Surgical robot system and adaptive control method thereof |
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| CN201110423299.8A Division CN102614019B (en) | 2010-12-17 | 2011-12-16 | Surgical robot system and adaptive control method thereof |
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| CN106214262B true CN106214262B (en) | 2019-02-01 |
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| CN201110423299.8A Active CN102614019B (en) | 2010-12-17 | 2011-12-16 | Surgical robot system and adaptive control method thereof |
| CN201410602504.0A Active CN104473693B (en) | 2010-12-17 | 2011-12-16 | Surgical robot system and its self-adaptation control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104473693A (en) | 2015-04-01 |
| KR20120068597A (en) | 2012-06-27 |
| CN104473693B (en) | 2017-07-04 |
| CN102614019A (en) | 2012-08-01 |
| CN102614019B (en) | 2014-12-10 |
| CN106214262A (en) | 2016-12-14 |
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