CN109288591A - Surgical robot system - Google Patents
Surgical robot system Download PDFInfo
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- CN109288591A CN109288591A CN201811497442.6A CN201811497442A CN109288591A CN 109288591 A CN109288591 A CN 109288591A CN 201811497442 A CN201811497442 A CN 201811497442A CN 109288591 A CN109288591 A CN 109288591A
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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
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The present invention provides a kind of surgical robot systems, comprising: first mechanical arm, second mechanical arm, pose acquiring unit, image processing unit and display unit；Surgical instrument is mounted in first mechanical arm；Endoscope is mounted in second mechanical arm；Pose acquiring unit is for obtaining surgical instrument in the pose of position and endoscope under display unit coordinate system under display unit coordinate system；Image processing unit obtains the image comprising surgical instrument and endoscope visual field relative positional relationship information for the pose and endoscope visual field according to surgical instrument in the position and endoscope under display unit coordinate system under display unit coordinate system；Display unit shows that image processing unit is formed by image, thus when needing to adjust surgical instrument, it can be adjusted according to the image comprising surgical instrument and endoscope visual field relative positional relationship information shown on display unit, so as to the visual field of very convenient, accurate adjustment surgical instrument to endoscope.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of surgical robot system.
Background technique
In robotic surgery, it is often necessary to which nurse helps operating doctor to replace surgical instrument, or in surgical instrument
Not doctor within sweep of the eye when help doctor to be adjusted to surgical instrument within sweep of the eye.But since human abdominal cavity is impermeable
Bright, nurse can not observe directly the relationship of surgical instrument and endoscope (laparoscope) through abdominal wall, be in a kind of blindness
The condition attempted or experience is relied on to attempt, it is especially even more serious when laparoscope is non-zero-degree mirror, and surgical instrument at this time
It is possible to hurt human internal organ, causes surgical risks, especially nearby implement operation in fragile internal organs such as heart liver etc.
When, it is easier to it pokes internal organs and causes accident surgery.
Patent application CN107016685A proposes a kind of surgical scene augmented reality projective techniques of real-time matching, thinking
It is that quick three-dimensional reconstructing is carried out to medical image image to obtain virtual three-dimensional model, it will be described virtual by enhancing display model
Model with operation real scene carry out real-time tracking with it is Chong Die, pass through the micro projection 3-dimensional image be overlapped in real time with surgical scene
Model enables to surgeon to obtain more direct patient's internal information, realizes and reduces operation to the guiding function of operation
It accidentally injures and improves success rate of operation.But this scheme has no to help for the adjustment of surgical instrument.
Patent application CN104274247A provides a kind of medical surgery air navigation aid, comprising: first step, for doctor
It learns image and carries out three-dimensional reconstruction to obtain dummy model；And second step, being used for will be described virtual by augmented reality
Model is merged with patient body position, to realize the navigation function to medical surgery under Fusion Strain.The patent application
Medical surgery air navigation aid allows a surgeon to obtain more accurate and intuitive patient body information, is shown using enhancing
Technology merges dummy model with patient body position, ensure that the intuitive of patient body, but not can solve equally and be convenient for
The problem of surgical instrument adjusts.
102341046 B of patent of invention CN disclose a kind of surgical robot system using augmented reality and its
Control method: the operation main interface of robot is mounted on the main robot for controlling the slave robot including robotic arm,
Comprising: picture display part, for show with by the corresponding endoscopic images of the picture signal that is provided with endoscope of performing the operation；One
A above arm operation portion, for controlling robotic arm respectively；Augmented reality achievement unit utilizes arm operation portion according to user
The operation of progress and generate virtual operation instrument information, with will pass through picture display part show virtual operation instrument.The operation is used
The main interface of robot shows actual operation instrument and virtual operation instrument using augmented reality simultaneously, alleviates because of network
Communication delay and caused by performer's hand movement it is inconsistent with the movement for the slave robot seen by picture, thus influence apply
The technical issues of patient's normal surgical.The technology that this patent is shown also with enhancing, but main purpose is using void
Intend surgical instrument information to overcome delay effect or be used to impart knowledge to students, guarantees the concentrated force of patient's operation, or pass through energy
It enough allows performer's real-time perception to make internal organs contact etc. caused by virtual operation instrument movement etc. by main robot operation, does not relate to
And any purpose or method for solving safety problem when adjustment in art.
Summary of the invention
The purpose of the present invention is to provide a kind of surgical robot systems, to solve in the prior art for surgical instrument
Adjust inconvenient problem.
In order to solve the above technical problems, the present invention provides a kind of surgical robot system, the surgical robot system packet
It includes: first mechanical arm, second mechanical arm, pose acquiring unit, image processing unit and display unit；Wherein,
Surgical instrument is mounted in the first mechanical arm；
Endoscope is mounted in the second mechanical arm；
The pose acquiring unit is for obtaining position and institute of the surgical instrument under the display unit coordinate system
State pose of the endoscope under the display unit coordinate system；
Described image processing unit is used for position and institute according to the surgical instrument under the display unit coordinate system
Pose and endoscope visual field of the endoscope under the display unit coordinate system are stated, obtaining includes the surgical instrument and institute
State the image of endoscope visual field relative positional relationship information；And
The display unit shows that described image processing unit is formed by image.
Optionally, in the surgical robot system, the pose acquiring unit is also used to obtain the surgical device
Posture of the tool under the display unit coordinate system；
Described image processing unit is used for according to the surgical instrument and the endoscope in the display unit coordinate system
Under pose and endoscope visual field, obtain include the surgical instrument and the endoscope visual field relative pose relation information
Image.
Optionally, in the surgical robot system, display unit position under global coordinate system is kept not
Become；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm；
Second sensing unit, second sensing unit are set in the second mechanical arm；
Sense process unit, the sense process unit obtains first sensing unit and second sensing unit is each
Pose under the comfortable sense process unit coordinate system；
Coordinate calculating unit, the coordinate calculating unit are each according to first sensing unit and second sensing unit
First sensing unit and the operation under pose and current configuration under the comfortable sense process unit coordinate system
The pose mapping relations of the pose mapping relations of instrument end, second sensing unit and the endoscope tip, obtain institute
The pose of surgical instrument and the endoscope under the sense process unit coordinate system is stated, and as the surgical instrument and institute
State pose of the endoscope under the display unit coordinate system.
Optionally, in the surgical robot system, first sensing unit and second sensing unit are equal
Selected from optical target, the sense process unit is selected from optical tracker, alternatively,
First sensing unit, second sensing unit are selected from magnetic field sensor, the sense process unit
Selected from magnetic field generator.
Optionally, in the surgical robot system, display unit pose under global coordinate system is kept not
Become；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm and the surgical instrument, are used
In the motion state for obtaining each joint in the first mechanical arm and the surgical instrument；
Second sensing unit, second sensing unit are set in the second mechanical arm and the endoscope, are used for
Obtain the motion state in each joint on the second mechanical arm and the endoscope；
Coordinate calculating unit, the coordinate calculating unit obtains first sensing unit and second sensing unit obtains
The motion state obtained obtains the pose of the surgical instrument and the endoscope under global coordinate system according to kinematics model
Description, as the pose of the surgical instrument and the endoscope under the display unit coordinate system.
Optionally, in the surgical robot system, the display unit is moved with the movement of operator's eye,
And the pose under global coordinate system matches the display unit with operator's eye, movement change amount is consistent；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm；
Second sensing unit, second sensing unit are set in the second mechanical arm；
Third sensing unit, the third sensing unit are set on the display unit；
Sense process unit, the sense process unit obtain first sensing unit, second sensing unit and
Pose under each leisure of third sensing unit sense process unit coordinate system；
Coordinate calculating unit, the coordinate calculating unit according to first sensing unit, second sensing unit and
Pose and preset first sensing under each leisure of third sensing unit sense process unit coordinate system is single
The pose of the pose mapping relations of first and described surgical instrument end, second sensing unit and the endoscope tip maps
The pose mapping relations of relationship, the third sensing unit and the display unit obtain the surgical instrument and described interior peep
Pose under each leisure of mirror display unit coordinate system.
Optionally, in the surgical robot system, first sensing unit, second sensing unit and institute
Third sensing unit to be stated to be selected from magnetic field sensor, the sense process unit is selected from magnetic field generator, alternatively,
First sensing unit, second sensing unit and the third sensing unit are selected from optical target,
The sense process unit is selected from optical tracker.
Optionally, in the surgical robot system, the display unit is selected from head-mounted display.
Optionally, in the surgical robot system, the surgical robot system further includes imaging device, described
Imaging device is used for modeler body body surface, internal viscera environment；
The pose acquiring unit is also used to obtain the inside of human body internal organs environment under the display unit coordinate system
Pose；
According to pose of the inside of human body internal organs environment under the display unit coordinate system, described image processing unit
Also comprising the inside of human body internal organs environmental model and the surgical instrument relative pose relation information in the image of acquisition.
Optionally, in the surgical robot system, the imaging device is selected from CT equipment, MRI machine and heat
One or more of imaging device.
Optionally, in the surgical robot system, display unit position under global coordinate system is kept not
Become；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm；
Second sensing unit, second sensing unit are set in the second mechanical arm；
Third sensing unit, the third sensing unit are set to the characteristic point of body surface；
Sense process unit, the sense process unit obtain first sensing unit, second sensing unit and
Pose under each leisure of third sensing unit sense process unit coordinate system；
Coordinate calculating unit, the coordinate calculating unit are each according to first sensing unit and second sensing unit
First sensing unit and the operation under pose and current configuration under the comfortable sense process unit coordinate system
The pose mapping relations of the pose mapping relations of instrument end, second sensing unit and the endoscope tip, obtain institute
The pose of surgical instrument and the endoscope under the sense process unit coordinate system is stated, and as the surgical instrument and institute
State pose of the endoscope under the display unit coordinate system；
Position of the coordinate calculating unit also according to the third sensing unit under the sense process unit coordinate system
The position of appearance and each characteristic point in body surface, internal viscera environmental model obtains institute by images match
Pose of the inside of human body internal organs environmental model under the sense process unit coordinate system is stated, and as the inside of human body internal organs
Pose of the environmental model under the display unit coordinate system.
Optionally, in the surgical robot system, the display unit is moved with the movement of operator's eye,
And the pose under global coordinate system matches the display unit with operator's eye, movement change amount is consistent；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm；
Second sensing unit, second sensing unit are set in the second mechanical arm；
Third sensing unit, the third sensing unit are set on the display unit；
4th sensing unit, the 4th sensing unit are set to the characteristic point of body surface；
Sense process unit, the sense process unit obtain first sensing unit, second sensing unit, institute
State the pose under third sensing unit and each leisure of the 4th sensing unit sense process unit coordinate system；
Coordinate calculating unit, the coordinate calculating unit according to first sensing unit, second sensing unit and
Pose and preset first sensing under each leisure of third sensing unit sense process unit coordinate system is single
The pose of the pose mapping relations of first and described surgical instrument end, second sensing unit and the endoscope tip maps
The pose mapping relations of relationship, the third sensing unit and the display unit obtain the surgical instrument and described interior peep
Pose under each leisure of mirror display unit coordinate system；
Position of the coordinate calculating unit also according to the 4th sensing unit under the sense process unit coordinate system
The position of appearance and each characteristic point in body surface, internal viscera environmental model obtains institute by images match
Pose of the inside of human body internal organs environmental model under the sense process unit coordinate system is stated, and according to the display unit in institute
The pose under sense process unit coordinate system is stated, obtains the inside of human body internal organs environmental model in the display unit coordinate system
Under pose.
Optionally, in the surgical robot system, the surgical robot system further include: master manipulator and from
Manipulator, the first mechanical arm and the second mechanical arm be located at it is described from it is mechanical on hand, the master manipulator can control
The movement of the first mechanical arm and the second mechanical arm.
In surgical robot system provided by the invention, the surgical robot system includes: first mechanical arm, second
Mechanical arm, pose acquiring unit, image processing unit and display unit；Wherein, surgical device is mounted in the first mechanical arm
Tool；Endoscope is mounted in the second mechanical arm；The pose acquiring unit is for obtaining the surgical instrument described aobvious
Show the pose of position and the endoscope under the display unit coordinate system under unit coordinate system；Described image processing unit
For being sat according to position of the surgical instrument under the display unit coordinate system and the endoscope in the display unit
Pose and endoscope visual field under mark system, obtaining includes the surgical instrument and the endoscope visual field relative positional relationship
The image of information；And the display unit shows that described image processing unit is formed by image, thus is needing to adjust operation
When instrument, it can be closed according to what is shown on the display unit comprising the surgical instrument and endoscope visual field relative position
It is that the image of information is adjusted, so as to the visual field of very convenient, accurate adjustment surgical instrument to endoscope.
Detailed description of the invention
Fig. 1 is the operating room schematic layout pattern using surgical robot system of the embodiment of the present invention；
Fig. 2 is a structural schematic diagram of the surgical robot system of the embodiment of the present invention；
Fig. 3 is a functional block diagram of the surgical robot system of the embodiment of the present invention；
Fig. 4 is another structural schematic diagram of the surgical robot system of the embodiment of the present invention；
Fig. 5 is another the functional block diagram of the surgical robot system of the embodiment of the present invention；
Fig. 6 is the display effect schematic diagram of the surgical robot system of the embodiment of the present invention；
In Fig. 1 into Fig. 6,
10- is from hand end；The main hand end 20-；
100- first mechanical arm；110- second mechanical arm；120- pose acquiring unit；The first sensing unit of 121a-；
The second sensing unit of 121b-；122- sense process unit；123- coordinate calculating unit；130- image processing unit；140- is shown
Unit；150- surgical instrument；160- endoscope；
200- first mechanical arm；210- second mechanical arm；220- pose acquiring unit；The first sensing unit of 221a-；
The second sensing unit of 221b-；221c- third sensing unit；222- sense process unit；223- coordinate calculating unit；230- figure
As processing unit；240- display unit；250- surgical instrument；260- endoscope；
310- kidney；320- gall-bladder；350- surgical instrument；360- endoscope.
Specific embodiment
Surgical robot system proposed by the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
According to following explanation and claims, advantages and features of the invention will be become apparent from.It should be noted that attached drawing is all made of very
Simplified form and non-accurate ratio is used, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.It is special
Other, due to factors such as the effects of diagram, each attached drawing often uses different display scales.
Core of the invention thought is, provides a kind of surgical robot system, and the surgical robot system includes:
One mechanical arm, second mechanical arm, pose acquiring unit, image processing unit and display unit；Wherein, in the first mechanical arm
It is mounted with surgical instrument；Endoscope is mounted in the second mechanical arm；The pose acquiring unit is for obtaining the operation
Instrument is in the pose of position and the endoscope under the display unit coordinate system under the display unit coordinate system；It is described
Image processing unit is used for according to position of the surgical instrument under the display unit coordinate system and the endoscope in institute
The pose and endoscope visual field under display unit coordinate system are stated, obtaining includes the surgical instrument and the endoscope visual field
The image of relative positional relationship information；And the display unit shows that described image processing unit is formed by image, thus exists
When needing to adjust surgical instrument, it can be regarded according to what is shown on the display unit comprising the surgical instrument and the endoscope
The image of field relative positional relationship information is adjusted, so as to very convenient, accurate adjustment surgical instrument to endoscope
Visual field.
In the embodiment of the present application, the type of the endoscope and surgical instrument is not particularly limited, such as institute
Stating endoscope can be acquisition surgical environments information (including but not limited to histoorgan vessel information, surgical instrument, operation consumptive material
Status information etc.) detecting instrument, the surgical instrument can be the operations such as scissors, needle forceps, nipper, electric knife, electric coagulation forceps use
Tool.
[embodiment one]
By taking a remote operating laparoscopic surgery robot system as an example.If Fig. 1 is remote operating laparoscopic surgery robot
The Surgical Operating Room schematic layout pattern of system.Remote operating laparoscopic surgery robot includes main hand end 20 and from hand end 10.
The main hand end 20 include main manipulator, it is described from hand end 10 include mechanical arm, the mechanical arm be mounted with surgical instrument or
Laparoscope.In surgical procedure, the surgical environments that main operation doctor obtains according to laparoscope operate the main manipulator at main hand end 20,
To which control implements minimally invasive surgery from the surgical instrument of the mechanical arm carry at hand end 10.Patient end nurse assists to execute more hand-off
The back works such as art instrument and adjustment surgical instrument position.
Specifically, please referring to Fig. 2 and Fig. 3, the surgical robot system includes: first mechanical arm 100, second mechanical arm
110, pose acquiring unit 120, image processing unit 130 and display unit 140；Wherein, carry in the first mechanical arm 100
There is surgical instrument 150；Endoscope 160 is mounted in the second mechanical arm 110；The pose acquiring unit 120 is for obtaining
Pose or position and the endoscope 160 of the surgical instrument 150 under 140 coordinate system of display unit are described aobvious
Show the pose under 140 coordinate system of unit；Described image processing unit 130 is used for according to the surgical instrument 150 in the display
The pose of pose or position and the endoscope 160 under 140 coordinate system of display unit under 140 coordinate system of unit, with
And endoscope visual field, it is formed containing the surgical instrument 150 and endoscope visual field relative position or position orientation relation information
Image；And the display unit 140 shows that described image processing unit 130 is formed by image.Can also have more from hand end 10
The mechanical arm of multi-quantity be located at it is described from hand end 10, for example, it is also possible to have third mechanical arm, the 4th mechanical arm etc., described the
Surgical instrument can also be accordingly mounted on three-mechanical arm, the 4th mechanical arm.Here, " pose " includes position and posture.
Here according to demand setting, " the pose acquiring unit 120 is for obtaining the surgical instrument 150 and described interior peeping
Pose under each leisure of mirror 160 140 coordinate system of display unit ", so that described image processing unit 130 is obtained comprising described
The image of surgical instrument 150 and the endoscope visual field relative pose relation information；Still " the pose acquiring unit 120 is used
In obtaining the position and the endoscope 160 of the surgical instrument 150 under 140 coordinate system of display unit in the display
Pose under 140 coordinate system of unit ", so that described image processing unit 130 is obtained comprising the surgical instrument 150 and described interior
The image of sight glass visual field relative positional relationship information.For example, the end that nurse only focuses on surgical instrument 150 is regarded relative to endoscope
When the position of field, it is only necessary to provide position of the distal point of the surgical instrument 150 under 140 coordinate system of display unit i.e.
It can.
In the embodiment of the present application, the endoscope 160 can be 3D endoscope, be also possible to 2D endoscope；Further
, the endoscope 160 can be 0 ° of endoscope, be also possible to 30 ° of endoscopes or the endoscope of other special angles.Institute
Stating the visual field (the also known as visual field) that endoscope 160 is actually able to observe that is a conical solid space structure.Specifically, institute
The visual field for stating endoscope 160 is to be determined by the endoscope 160 into the depth of human body and the field of view angle of the endoscope 160
Fixed, the field of view angle of the endoscope 160 is then by 160 self-characteristic of endoscope (such as endoscope lens angle, endoscope
Composition, type of objective lens etc.) it determines.
In the embodiment of the present application, the display unit 140 is preferably 3D display device, thus 140 energy of display unit
The image of enough visual fields for preferably showing the endoscope 160, thus more easily adjustment of the nurse for surgical instrument 150.
Further, the display unit 140 can also be flat-panel screens, projector or holographic imaging equipment etc. for show letter
The equipment of breath.Wherein, the display unit 140 and described image processing unit 130 can be mutually indepedent, also can integrate one
It rises；Further, the display unit 140 and described image processing unit 130 can be set in the operations equipment such as video vehicle
On.
Please continue to refer to Fig. 2 and Fig. 3, in the embodiment of the present application, the pose acquiring unit 120 includes: the first sensing
Unit 121a, the first sensing unit 121a are set in the first mechanical arm 100；Second sensing unit 121b, it is described
Second sensing unit 121b is set in the second mechanical arm 110；Sense process unit 122, the sense process unit 122
Obtain the first sensing unit 121a and each leisure of the second sensing unit 121b 122 coordinate system of sense process unit
Under pose；Coordinate calculating unit 123, the coordinate calculating unit 123 is according to the first sensing unit 121a and described
First sense under pose, current configuration under each leisure of two sensing unit 121b 122 coordinate system of sense process unit
Survey the pose mapping relations and the second sensing unit 121b and described interior of unit 121a and 150 end of the surgical instrument
The pose mapping relations of 160 end of sight glass obtain described in each leisure in 150 end of surgical instrument and 160 end of the endoscope
Pose under 122 coordinate system of sense process unit.
How the present embodiment is to obtaining " the first sensing unit 121a and the surgical instrument 150 under current configuration
The pose mapping relations of end " and " the pose mapping pass of 160 end the second sensing unit 121b and the endoscope
System " is not particularly limited.For example, the first sensing unit 121a can be set in the proximal end of surgical instrument, described second
The proximal end of the endoscope 160 is arranged in sensing unit 121b.During from hand end motion, the first sensing unit 121a
It is fixed with the relative position of the surgical instrument 150, the relative position of the second sensing unit 121b and the endoscope 160
Fixed, the pose that the first sensing unit 121a and the surgical instrument 150 thus can be accordingly obtained in initialization reflects
Penetrate the pose mapping relations of relationship and the second sensing unit 121b and the endoscope 160.Or first sense
Surveying unit 121a can be set in first mechanical arm, and the second sensing unit 121b is arranged in the second mechanical arm,
The pose mapping relations of 150 end the first sensing unit 121a and the surgical instrument at this time, second sensing unit
The pose mapping relations of 160 end 121b and the endoscope, then need the motion state according to joint each under current configuration,
It is determined by kinematics model.
In general, the surgical instrument includes the interface section connecting with mechanical arm tail end, instrument shaft, instrument shaft distal end
End effector.For snakelike surgical instrument, snakelike joint may be additionally provided between instrument shaft and end effector.At this
It is described " position/posture of the surgical instrument under the display unit coordinate system " in invention, it can refer to the surgical instrument
Some or all of position/posture under the display unit coordinate system, the interface section of for example, described surgical instrument, device
Position/posture of the tool bar part under the display unit coordinate system, or sat for surgical instrument is whole in the display unit
Position/posture under mark system, or be the interface section of surgical instrument, instrument bar part and snakelike joint (if there is) portion
Divide position/posture under the display unit coordinate system.Operator can require according to operation, and the end of surgical instrument executes
Device type (such as, if can to human body generate grievous injury), the length of the end effector of surgical instrument is (for example, length
Whether can ignore) etc. factors selected.If necessary to consider that the end effector of surgical instrument is sat in the display unit
When marking position/posture of the snakelike joint of the position/posture or surgical instrument under system under the display unit coordinate system,
Then on the basis of obtaining sensing unit to joint motions state each between instrument shaft, snakelike joint, end are further obtained
The motion state in each joint in actuator, and determine the end effector of surgical instrument described according to kinematics model
Position of the snakelike joint of position/posture or surgical instrument under display unit coordinate system under the display unit coordinate system
Set/posture.It is such for being especially snakelike endoscope also for endoscope.
In a preferred embodiment, the first sensing unit 121a and the second sensing unit 121b are selected from
In optical target, the sense process unit 122 is selected from optical tracker.
It is described as follows in conjunction with Fig. 2 and Fig. 3:
The sense process unit 122 measures the position of the first sensing unit 121a and the second sensing unit 121b
Appearance obtains the first sensing unit 121a and the second sensing unit 121b in 122 coordinate system of sense process unit
Under pose be
The coordinate calculating unit 123 receives the first sensing unit 121a that the sense process unit 122 is sent
With pose of the second sensing unit 121b under 122 coordinate system of sense process unitAnd according to pre-
If 150 end the first sensing unit 121a and the surgical instrument pose mapping relationsSecond sensing
The pose mapping relations of 160 end unit 121b and the endoscopeExist to obtain 150 end of surgical instrument
Pose under 122 coordinate system of sense process unit160 end of endoscope is in the sense process unit 122
Pose under coordinate systemThen, the pose by the surgical instrument 150 under 122 coordinate system of sense process unitWith pose of the endoscope 160 under 122 coordinate system of sense process unitIt is single that the display is transformed to respectively
Under first 140 coordinate systems.It is arranged on video vehicle by display unit 140 in this present embodiment, pose is kept under global coordinate system
It is constant, without being matched with human eye coordinates system, therefore can be directly by the surgical instrument 150 in the sense process list
Pose under first 122 coordinate systemsWith pose of the endoscope 160 under 122 coordinate system of sense process unit
As the pose of the surgical instrument 150 and the endoscope 160 under 140 coordinate system of display unit
In an alternative embodiment, the first sensing unit 121a and the second sensing unit 121b can also be with
Selected from magnetic field sensor, the sense process unit 122 is selected from magnetic field generator.Preferably, first sensing unit
121a is set to the first mechanical arm 100 close to the proximal end of the surgical instrument 150, the second sensing unit 121b
The second mechanical arm 110 is set to close to the proximal end of the endoscope 160.
In another alternate embodiment, the first sensing unit 121a and the second sensing unit 121b are
(for cradle head, motion state is rotational angle to each joint motions state, for moving on sense mechanism arm, surgical instrument
Movable joint is then displacement) position sensor, such as code-disc etc..The coordinate calculating unit 123, according to Mechanical transmission test mould
Type obtains the pose of 150 end of surgical instrument and 160 end of the endoscope under the global coordinate system.
Then, described image processing unit 130 receives the surgical instrument 150 and the endoscope 160 in the display
Pose under 140 coordinate system of unitAnd according to the surgical instrument 150 and the endoscope 160 in the display
Pose under 140 coordinate system of unitAnd endoscope visual field, it obtains comprising the surgical instrument and described interior peeps
The image of mirror visual field relative pose relation information.Specifically, described image processing unit 130 exists according to the endoscope 160
Pose under 140 coordinate system of display unitIt determines the pose of 160 visual field of endoscope, and then determines surgical instrument
The pose of the dummy model of the visual field of the pose and endoscope 160 of 150 dummy model, forming one includes the surgical instrument
With the image of the endoscope visual field relative pose relation information.The display unit 140 shows described comprising the surgical device
The image of tool and the endoscope visual field relative pose relation information.Further, described image processing unit 130 will be comprising described
The image of surgical instrument and the endoscope visual field relative pose relation information is arranged on a display frame (frame).Institute
Stating in the image of the formation of image processing unit 130 may include one or more display frames, and each display frame may include
Different images.The display unit 140 shows that the graphics processing unit 130 is formed by image, i.e., the described display unit
It may include one or more display frames in the image of 140 displays, each display frame may include different images, wherein
One image includes the surgical instrument and the endoscope visual field relative pose relation information.Needing to adjust the surgical device
When tool 150 is so that the instrument on hand 150 enters the visual field of the endoscope 160, it can be shown according on the display unit 140
The image containing the surgical instrument 150 and the endoscope visual field relative pose relation information shown is adjusted, so as to
With it is very convenient, accurately adjust the visual field that the surgical instrument 150 enters the endoscope 160.
In the present embodiment, due in surgical procedure, when except surgical instrument being located at endoscope visual field, main operation doctor
It can not continue to perform the operation, to guarantee that operation is normally carried out and operation safety, nurse need to adjust surgical instrument to endoscope visual field
Under, and the practical visual field being able to observe that of endoscope is a conical stereochemical structure, that is, is needed surgical instrument tune
Within the scope of the whole stereochemical structure to the cone.If nurse only focuses on surgical instrument whether under endoscope visual field, on
The image comprising the surgical instrument and the endoscope visual field relative pose relation information is stated, surgical instrument can be only provided
The relative positional relationship of the visual field of end and endoscope.Thus the virtual display model of the surgical instrument 150 can be entirely
Perhaps the model of inequality proportion indicates to be also possible to other identifier symbol or textual representation surgical device 150 equal proportion of surgical instrument
The end of tool 150, as long as the instrument end that can clearly describe the surgical instrument 150 is opposite with the visual field of the endoscope 160
Positional relationship.In addition, the dummy model of the visual field of the endoscope 160, can be indicated with cone, bullet.Such as
Fruit nurse also need to pay close attention to surgical instrument movement to the endoscope visual field path (such as from where, what angle into
Enter endoscope visual field), then the above-mentioned image comprising the surgical instrument and the endoscope visual field relative pose relation information,
Need to provide the relative attitude relationship of the end of surgical instrument and the visual field of endoscope.The so described surgical instrument 150 it is virtual
Display model needs to be that the model of entire 150 equal proportion of surgical instrument or inequality proportion indicates.
[embodiment two]
The present embodiment two and embodiment one main difference is that, in the present embodiment two, the display unit is with operation
The movement of person's eye and move, and the pose under global coordinate system matches the display unit with operator's eye, and movement becomes
Change amount is consistent.Such as the display unit is selected from head-mounted display.Therefore, described image processing unit is according to the hand
Pose under art instrument and each leisure of endoscope display unit coordinate system, the visual field of the endoscope, obtain about
When the image of the surgical instrument and the endoscope visual field relative positional relationship, it is formed by about the surgical instrument and institute
The image for stating endoscope visual field relative positional relationship will consider the viewing of moveable display user, i.e., while also carry out and people
The matching of eye coordinates system.The structure and function of surgical robot system described in the present embodiment two subsequently will be described in detail, this
The non-description section of embodiment two can corresponding reference implementation example one description.
Specifically, please referring to Fig. 4 and Fig. 5, the surgical robot system includes: first mechanical arm 200, second mechanical arm
210, pose acquiring unit 220, image processing unit 230 and display unit 240；Wherein, carry in the first mechanical arm 200
There is surgical instrument 250；Endoscope 260 is mounted in the second mechanical arm 210；The pose acquiring unit 220 is for obtaining
Pose or position and the endoscope 260 of the surgical instrument 250 under 240 coordinate system of display unit are described aobvious
Show the pose under 240 coordinate system of unit；Described image processing unit 230 is used for according to the surgical instrument 250 in the display
The pose of pose or position and the endoscope 260 under 240 coordinate system of display unit under 240 coordinate system of unit, with
And the visual field of the endoscope 260, it obtains about including the surgical instrument 250 and endoscope visual field relative position or position
The image of appearance relation information；And the display unit 240 shows that described image processing unit 230 is formed by image.
In the embodiment of the present application, the pose acquiring unit 220 includes: the first sensing unit 221a, first sense
Unit 221a is surveyed to be set in the first mechanical arm 200；Second sensing unit 221b, the second sensing unit 221b setting
In in the second mechanical arm 210；Third sensing unit 221c, the third sensing unit 221c are set to the display unit
On 240；Sense process unit 222, the sense process unit 222 obtain the first sensing unit 221a, second sense
Survey the pose under unit 221b and each leisure of third sensing unit 221c 222 coordinate system of sense process unit；Coordinate
Computing unit 223, the coordinate calculating unit 223 is according to the first sensing unit 221a, the second sensing unit 221b
With the pose and first sensing under each leisure of third sensing unit 221c 222 coordinate system of sense process unit
Pose mapping relations, the second sensing unit 221b and the endoscope of 250 end unit 221a and the surgical instrument
The pose mapping relations of the pose mapping relations of 260 ends and the third sensing unit 221c and the display unit 240,
Obtain the position under each leisure in 250 end of surgical instrument and 260 end of the endoscope 240 coordinate system of display unit
Appearance.
Wherein, the first sensing unit 221a, the second sensing unit 221b and the third sensing unit 221c
It is selected from magnetic field sensor, the sense process unit 222 is selected from magnetic field generator.Preferably, first sensing is single
First 221a is set to the first mechanical arm 200 close to the end of the surgical instrument 250, and the second sensing unit 221b is set
The second mechanical arm 210 is placed in close to the end of the endoscope 260, the third sensing unit 221c can be set in head
Wear on the frame of formula glasses (display unit 240) etc..
In the embodiment of the present application, the sense process unit 222 measures the first sensing unit 221a, described second
The pose of sensing unit 221b and the third sensing unit 221c obtain the first sensing unit 221a, second sense
Surveying pose of the unit 221b and third sensing unit 221c under 222 coordinate system of sense process unit is
The coordinate calculating unit 223 receive the first sensing unit 221a that the sense process unit 222 sends,
Pose of the second sensing unit 221b and third sensing unit 221c under 222 coordinate system of sense process unitAnd according to the pose of 250 end the preset first sensing unit 221a and the surgical instrument
Mapping relationsThe pose mapping relations of 260 end the second sensing unit 221b and the endoscopeAnd institute
State the pose mapping relations of third sensing unit 221c and the display unit 240To obtain the surgical instrument
250 pose under 222 coordinate system of sense process unitThe endoscope 260 is in the sense process unit 222
Pose under coordinate systemAnd pose of the display unit 240 under 222 coordinate system of sense process unit
Then, the pose by the surgical instrument 250 under 222 coordinate system of sense process unitExist with the endoscope 260
Pose under 222 coordinate system of sense process unitIt is transformed under 240 coordinate system of display unit respectively, thus
To pose of the surgical instrument 250 under 240 coordinate system of display unitWith the endoscope 260 in the display
Pose under 240 coordinate system of unitIn the present embodiment, the display unit 240 is selected from wearing type glasses, by described
Third sensing unit 221c can finally obtain the pose of the wearing type glasses, it is possible thereby to matched with human eye coordinates system,
Further it is convenient for adjustment of the nurse for surgical instrument 250.
Then, likewise, described image processing unit 230 receives the surgical instrument 250 and the endoscope 260 in institute
State the pose under 240 coordinate system of display unitAnd according to the surgical instrument 250 and the endoscope 260 in institute
State the pose under 240 coordinate system of display unitThe visual field of preset endoscope 260, determines surgical instrument 250
The pose of the virtual display model of the visual field of the pose and endoscope 260 of virtual display model, forming one includes the operation
The image of instrument and the endoscope visual field relative pose relation information.The display unit 240 shows described comprising the hand
The image of art instrument and the endoscope visual field relative pose relation information.Further, image processing unit 230 will be comprising described
The image of surgical instrument and the endoscope visual field relative pose relation information is arranged on a display frame (frame).And
The display unit 240 shows that the graphics processing unit 230 is formed by image.Needing to adjust the surgical instrument 250
It, can be according to being shown on the display unit 240 when so that the instrument on hand 250 entering the visual field of the endoscope 260
The image for showing 260 visual field relative pose relation information of the surgical instrument 250 and the endoscope is adjusted, so as to
Easily, the visual field that the surgical instrument 250 enters the endoscope 260 is accurately adjusted.
[embodiment three]
The present embodiment three and embodiment one main difference is that, the surgical robot system further includes imaging device,
The imaging device is used for modeler body body surface, internal viscera environment, and the pose acquiring unit is also used to obtain the human body
Pose of the internal viscera environment under the display unit coordinate system, the described image that described image processing unit obtains also include
The inside of human body internal organs environmental model and the surgical instrument relative pose relation information.
Specifically, the surgical robot system includes: first mechanical arm, second mechanical arm, pose acquiring unit, image
Processing unit and display unit；Wherein, surgical instrument is mounted in the first mechanical arm；It is mounted in the second mechanical arm
Endoscope.The pose acquiring unit includes that the first sensing unit, the second sensing unit, sense process unit and coordinate calculate list
Member.Wherein, first sensing unit is set in the first mechanical arm；Second sensing unit is set to described second
On mechanical arm；The sense process unit is for obtaining the surgical instrument and each leisure of endoscope sense process list
Pose under first coordinate system；The coordinate calculating unit is used for each according to first sensing unit and second sensing unit
Pose under the comfortable sense process unit coordinate system obtains position of the surgical instrument under the display unit coordinate system
Appearance, pose of the endoscope under display unit coordinate system system.Described image processing unit is used for according to the operation
Instrument in the pose of pose and the endoscope under the display unit coordinate system under the display unit coordinate system, with
And the visual field of the endoscope, the image of acquisition show that the surgical instrument and endoscope visual field relative position or pose are closed
System.
On this basis, in the present embodiment, the surgical robot system further includes imaging device, the imaging device
For modeling body surface, internal viscera environment, the pose acquiring unit further includes third sensing unit, described for obtaining
Pose of the inside of human body internal organs environmental model under display unit coordinate system, described image processing unit is by inside of human body internal organs ring
Border model is superimposed with surgical instrument model, endoscope visual field model, and the image of formation not only includes the surgical instrument and described
Endoscope visual field relative pose relation information, but also including between the surgical instrument and the inside of human body internal organs environment
Relative pose relation information, the display unit also show the image that described image processing unit is formed.Wherein, the imaging is set
It is standby to be selected from one or more of CT equipment, MRI machine and thermal imaging apparatus.
Further, the third sensing unit is, for example, auxiliary positioning sensor.Before being performed the operation, first set by imaging
It is standby to obtain body surface, internal viscera environmental model.When operation prepares, the auxiliary positioning sensor can be attached to patient's body
On epidermis outside the special bone of body, including but not limited to characteristic points such as clavicle end, acromion, xiphoid-process, thoracic vertebrae, sense process list
Member obtains pose of the determining each characteristic point of auxiliary positioning sensor under sense process unit coordinate system respectively.Further,
Position of the coordinate calculating unit according to the characteristic point in the body surface, internal viscera environmental model, is preferably tied
The physical data of the patient of fit height, weight, body fat rate etc., for example, by point cloud registration algorithm automated characterization point registration or
Be manually entered the image registrations such as the software combined (Image registration) method, obtain the body surface, inside
Pose of the internal organs environmental model under sense process unit coordinate system, and then obtain the inside of human body internal organs environmental model and feeling
Survey the pose under processing unit coordinate system.Position of the characteristic point in the body surface, internal viscera environmental model
Acquisition methods do not limit, can by position of the hand labeled characteristic point in the body surface, internal viscera environmental model,
It can also be obtained in the body surface, internal viscera environmental model according to the characteristics of each characteristic point by pattern algorithm
Position.Further, pose of the coordinate calculating unit according to the endoscope under sense process unit coordinate system obtains institute
State pose of the inside of human body internal organs environmental model under display unit coordinate system.Similarly, since display unit is arranged in video vehicle
On, pose remains unchanged under global coordinate system, without being matched with human eye coordinates system.Therefore the surgical instrument is existed
The pose and institute of pose, the endoscope under the sense process unit coordinate system under the sense process unit coordinate system
State pose of the inside of human body internal organs environmental model under sense process unit coordinate system as the surgical instrument, it is described in peep
The pose of mirror, the inside of human body internal organs environmental model under the display unit coordinate system.Described image processing unit is used for
According under the surgical instrument, the endoscope, each leisure of inside of human body internal organs environment display unit coordinate system
The visual field of pose and the endoscope forms and believes comprising the surgical instrument and the endoscope visual field relative pose relationship
The image of breath and the surgical instrument and inside of human body internal organs environment relative pose relation information, allows operator (nurse) energy
Enough feel fully transparent abdominal cavity environment.As shown in fig. 6, can not only see surgical instrument 350 and endoscope 360, moreover it is possible to
Internal organs into the human body, such as kidney 310 and gall-bladder 320 are seen, so as to greatly enhance the safety of surgical operation.At this
In embodiment, since how surgical instrument to be considered 350 moves under the model of inside of human body internal organs environment, so surgical instrument
350, inside of human body internal organs environment and 360 visual field model of endoscope are shown using equal proportion, and to consider the surgical device
Posture relationship of the tool 350 relative to 360 visual field of endoscope.
The non-description section of the present embodiment three can corresponding reference implementation example one description, the present embodiment three repeats no more.
In addition, the display unit can be with the fortune of operator's eye in an alternate embodiment of the present embodiment three
It moving and moves, and the pose under global coordinate system matches the display unit with operator's eye, movement change amount is consistent,
For example, head-mounted display.At this time, it may be necessary to pose of the head-mounted display under the sense process unit coordinate system is obtained,
And then obtain pose of the inside of human body internal organs environmental model under display unit.Specifically, the pose acquiring unit packet
Include: the first sensing unit, first sensing unit are set in the first mechanical arm；Second sensing unit, described second
Sensing unit is set in the second mechanical arm；Third sensing unit, it is single that the third sensing unit is set to the display
In member；4th sensing unit, the 4th sensing unit are set to the characteristic point of body surface；Sense process unit, the sense
It surveys processing unit and obtains first sensing unit, second sensing unit, the third sensing unit and the 4th sense
Survey the pose under each leisure of unit sense process unit coordinate system；Coordinate calculating unit, the coordinate calculating unit according to
First sensing unit, second sensing unit and each leisure of third sensing unit sense process unit coordinate
Pose and preset first sensing unit and the pose mapping relations of the surgical instrument end under system, described the
The pose of the pose mapping relations of two sensing units and the endoscope tip, the third sensing unit and the display unit
Mapping relations obtain the pose under the surgical instrument and each leisure of endoscope display unit coordinate system；The seat
Computing unit is marked also according to pose of the 4th sensing unit under the sense process unit coordinate system and each described
Position of the characteristic point in body surface, internal viscera environmental model obtains the inside of human body internal organs ring by images match
Pose of the border model under the sense process unit coordinate system, and sat according to the display unit in the sense process unit
Pose under mark system, obtains pose of the inside of human body internal organs environmental model under the display unit coordinate system.Accordingly may be used
With reference implementation example two.
To sum up, in surgical robot system provided by the invention, the surgical robot system includes: the first machine
Tool arm, second mechanical arm, pose acquiring unit, image processing unit and display unit；Wherein, carry in the first mechanical arm
There is surgical instrument；Endoscope is mounted in the second mechanical arm；The pose acquiring unit is for obtaining the surgical instrument
In the pose of position and the endoscope under the display unit coordinate system under the display unit coordinate system；Described image
Processing unit is used for according to position of the surgical instrument under the display unit coordinate system and the endoscope described aobvious
Show the pose and endoscope visual field under unit coordinate system, obtains opposite comprising the surgical instrument and the endoscope visual field
The image of positional relationship information；And the display unit shows that described image processing unit is formed by image, is thus needing
It can include the surgical instrument and the endoscope visual field phase according to what is shown on the display unit when adjusting surgical instrument
The image of position relation information is adjusted, so as to the visual field of very convenient, accurate adjustment surgical instrument to endoscope.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Range.
Claims (13)
1. a kind of surgical robot system, which is characterized in that the surgical robot system includes: first mechanical arm, the second machine
Tool arm, pose acquiring unit, image processing unit and display unit；Wherein,
Surgical instrument is mounted in the first mechanical arm；
Endoscope is mounted in the second mechanical arm；
The pose acquiring unit is used to obtain position of the surgical instrument under the display unit coordinate system and described interior
Pose of the sight glass under the display unit coordinate system；
Described image processing unit is used for according to position of the surgical instrument under the display unit coordinate system and described interior
Pose and endoscope visual field of the sight glass under the display unit coordinate system are obtained comprising the surgical instrument and described interior
The image of sight glass visual field relative positional relationship information；And
The display unit shows that described image processing unit is formed by image.
2. surgical robot system as described in claim 1, which is characterized in that
The pose acquiring unit is also used to obtain posture of the surgical instrument under the display unit coordinate system；
Described image processing unit is used for according to the surgical instrument and the endoscope under the display unit coordinate system
Pose and endoscope visual field obtain the figure comprising the surgical instrument and the endoscope visual field relative pose relation information
Picture.
3. surgical robot system as claimed in claim 2, which is characterized in that
The display unit remains unchanged position under global coordinate system；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm；
Second sensing unit, second sensing unit are set in the second mechanical arm；
Sense process unit, the sense process unit obtain first sensing unit and each leisure of the second sensing unit
Pose under the sense process unit coordinate system；
Coordinate calculating unit, the coordinate calculating unit is according to first sensing unit and each leisure of the second sensing unit
First sensing unit and the surgical instrument under pose and current configuration under the sense process unit coordinate system
The pose mapping relations of the pose mapping relations of end, second sensing unit and the endoscope tip, obtain the hand
The pose of art instrument and the endoscope under the sense process unit coordinate system, and as the surgical instrument and described interior
Pose of the sight glass under the display unit coordinate system.
4. surgical robot system as claimed in claim 3, which is characterized in that first sensing unit and second sense
Unit to be surveyed to be selected from optical target, the sense process unit is selected from optical tracker, alternatively,
First sensing unit, second sensing unit are selected from magnetic field sensor, and the sense process unit is selected from
In magnetic field generator.
5. surgical robot system as claimed in claim 2, which is characterized in that
Display unit pose under global coordinate system remains unchanged；
The pose acquiring unit includes:
First sensing unit, first sensing unit is set in the first mechanical arm and the surgical instrument, for obtaining
Take the motion state in each joint in the first mechanical arm and the surgical instrument；
Second sensing unit, second sensing unit is set in the second mechanical arm and the endoscope, for obtaining
The motion state in each joint in the second mechanical arm and the endoscope；
Coordinate calculating unit, the coordinate calculating unit obtain what first sensing unit and second sensing unit obtained
Motion state obtains the pose description of the surgical instrument and the endoscope under global coordinate system according to kinematics model,
As the pose of the surgical instrument and the endoscope under the display unit coordinate system.
6. surgical robot system as claimed in claim 2, which is characterized in that
The display unit is moved with the movement of operator's eye, and the display unit and operator's eye are in world coordinates
It is that lower pose matches, movement change amount is consistent；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm；
Second sensing unit, second sensing unit are set in the second mechanical arm；
Third sensing unit, the third sensing unit are set on the display unit；
Sense process unit, the sense process unit obtain first sensing unit, second sensing unit and described
Pose under each leisure of third sensing unit sense process unit coordinate system；
Coordinate calculating unit, the coordinate calculating unit is according to first sensing unit, second sensing unit and described
Pose and preset first sensing unit under each leisure of third sensing unit sense process unit coordinate system and
The pose of the pose mapping relations of the surgical instrument end, second sensing unit and the endoscope tip, which maps, to close
It is, the pose mapping relations of the third sensing unit and the display unit, obtains the surgical instrument and the endoscope
Pose under each leisure display unit coordinate system.
7. surgical robot system as claimed in claim 6, which is characterized in that first sensing unit, second sense
It surveys unit and the third sensing unit is selected from magnetic field sensor, the sense process unit is selected from magnetic field generator,
Alternatively,
First sensing unit, second sensing unit and the third sensing unit are selected from optical target, described
Sense process unit is selected from optical tracker.
8. surgical robot system as claimed in claim 6, which is characterized in that the display unit is shown selected from wear-type
Device.
9. surgical robot system as claimed in claim 2, which is characterized in that
The surgical robot system further includes imaging device, and the imaging device is used for modeler body body surface, internal viscera ring
Border；
The pose acquiring unit is also used to obtain position of the inside of human body internal organs environment under the display unit coordinate system
Appearance；
According to pose of the inside of human body internal organs environment under the display unit coordinate system, described image processing unit is obtained
Image in also comprising the inside of human body internal organs environmental model and the surgical instrument relative pose relation information.
10. surgical robot system as claimed in claim 9, which is characterized in that the imaging device selected from CT equipment,
One or more of MRI machine and thermal imaging apparatus.
11. surgical robot system as claimed in claim 9, which is characterized in that the display unit is under global coordinate system
Position remains unchanged；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm；
Second sensing unit, second sensing unit are set in the second mechanical arm；
Third sensing unit, the third sensing unit are set to the characteristic point of body surface；
Sense process unit, the sense process unit obtain first sensing unit, second sensing unit and described
Pose under each leisure of third sensing unit sense process unit coordinate system；
Coordinate calculating unit, the coordinate calculating unit is according to first sensing unit and each leisure of the second sensing unit
First sensing unit and the surgical instrument under pose and current configuration under the sense process unit coordinate system
The pose mapping relations of the pose mapping relations of end, second sensing unit and the endoscope tip, obtain the hand
The pose of art instrument and the endoscope under the sense process unit coordinate system, and as the surgical instrument and described interior
Pose of the sight glass under the display unit coordinate system；
Pose of the coordinate calculating unit also according to the third sensing unit under the sense process unit coordinate system, with
And position of each characteristic point in body surface, internal viscera environmental model obtains the human body by images match
Pose of the internal viscera environmental model under the sense process unit coordinate system, and as the inside of human body internal organs environment mould
Pose of the type under the display unit coordinate system.
12. surgical robot system as claimed in claim 9, which is characterized in that
The display unit is moved with the movement of operator's eye, and the display unit and operator's eye are in world coordinates
It is that lower pose matches, movement change amount is consistent；
The pose acquiring unit includes:
First sensing unit, first sensing unit are set in the first mechanical arm；
Second sensing unit, second sensing unit are set in the second mechanical arm；
Third sensing unit, the third sensing unit are set on the display unit；
4th sensing unit, the 4th sensing unit are set to the characteristic point of body surface；
Sense process unit, the sense process unit obtain first sensing unit, second sensing unit, described the
Pose under three sensing units and each leisure of the 4th sensing unit sense process unit coordinate system；
Coordinate calculating unit, the coordinate calculating unit is according to first sensing unit, second sensing unit and described
Pose and preset first sensing unit under each leisure of third sensing unit sense process unit coordinate system and
The pose of the pose mapping relations of the surgical instrument end, second sensing unit and the endoscope tip, which maps, to close
It is, the pose mapping relations of the third sensing unit and the display unit, obtains the surgical instrument and the endoscope
Pose under each leisure display unit coordinate system；
Pose of the coordinate calculating unit also according to the 4th sensing unit under the sense process unit coordinate system, with
And position of each characteristic point in body surface, internal viscera environmental model obtains the human body by images match
Pose of the internal viscera environmental model under the sense process unit coordinate system, and according to the display unit in the sensing
Pose under processing unit coordinate system obtains position of the inside of human body internal organs environmental model under the display unit coordinate system
Appearance.
13. the surgical robot system as described in any one of claim 1~12, which is characterized in that the operating robot
System further include: master manipulator and from manipulator, the first mechanical arm and the second mechanical arm are located at described from manipulator
On, the master manipulator can control the movement of the first mechanical arm and the second mechanical arm.
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