CN109965980B - Starting method of surgical robot, readable memory and surgical robot - Google Patents
Starting method of surgical robot, readable memory and surgical robot Download PDFInfo
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- 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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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Abstract
The invention relates to a starting method of a surgical robot, a readable memory based on the surgical method and the surgical robot. The surgical robot includes a handle and an operation arm having a tip instrument for performing a surgical operation and moving along with the handle, the alignment method includes: acquiring first posture information of the terminal instrument; acquiring second posture information of the handle; obtaining automatic adjustment information based on a deviation between the first attitude information and the second attitude information to compensate for the deviation.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a starting method of a surgical robot, a readable memory and the surgical robot.
Background
The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.
With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table comprises a handle, a doctor sends a control command to the slave operation device through the operation handle, the slave operation device comprises a plurality of operation arms, the operation arms are provided with tail end instruments, and the tail end instruments move along with the handle in a working state so as to realize remote operation. However, the posture of the distal end instrument often deviates from the posture of the handle, which makes the operator unable to control the distal end instrument well through the handle.
Disclosure of Invention
In view of the above, it is desirable to provide a starting method capable of better controlling a distal end instrument, a readable memory based on the surgical method, and a surgical robot.
An alignment method of a surgical robot including a handle and an operation arm having a tip instrument for performing a surgical operation and moving following the handle, the alignment method comprising:
acquiring first posture information of the terminal instrument;
acquiring second posture information of the handle;
obtaining automatic adjustment information based on a deviation between the first attitude information and the second attitude information to compensate for the deviation.
A computer-readable memory, on which a computer program is stored which, when being executed by a processor, carries out the steps of the startup method.
A surgical robot, comprising:
an operating arm having a tip instrument for performing a surgical procedure;
an operating arm having a distal instrument for performing a surgical procedure;
a first posture acquisition unit configured to acquire first posture information of the operation arm;
a handle capable of free movement;
the second posture acquisition part is used for acquiring second posture information of the handle in real time;
and the controller is connected with the first posture acquisition part and the second posture acquisition part and comprises a memory and a processor, wherein the memory stores a computer program, and the processor is used for realizing the steps of the starting method when executing.
Drawings
FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;
FIG. 2 is a partial schematic view of the surgical robot of FIG. 1;
FIG. 3 is a partial schematic view of the surgical robot of FIG. 1;
FIG. 4 is a flow chart of one embodiment of a surgical robot activation method;
FIG. 5 is a flow chart of one embodiment of a surgical robot activation method;
FIG. 6 is a partial schematic view of a surgical robot;
FIG. 7 is a schematic illustration of a partial display of the graphical interface shown in FIG. 6;
FIG. 8 is a schematic illustration of a partial display of the graphical interface of FIG. 6.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 to 3 are schematic structural diagrams and partial schematic diagrams of a surgical robot according to an embodiment of the present invention.
The surgical robot includes a master operation table 2 and a slave operation device 3. The main console 2 has a handle 21 and a display 22, and a doctor sends a control command to the slave operation device 3 through the handle 21 to make the slave operation device 3 execute a corresponding operation according to the control command of the doctor operating the handle 21, and observes an operation area through the display 22, wherein the handle 21 can freely move and rotate to make the doctor have a large operation space, for example, the handle is connected with the main console through a wire. The slave operation device 3 is provided with an operation arm 31, the operation arm comprises a connecting rod 32, a connecting component 33 and a terminal instrument 34 which are connected in sequence, wherein the connecting component 33 is provided with a plurality of joint components, and the operation arm 31 adjusts the posture of the terminal instrument 34 through adjusting the joint components; end instrument 34 has an image end instrument 34A and a manipulation end instrument 34B. In other embodiments, the handle may be connected to the main console via a rotating link.
Fig. 4 is a flowchart illustrating an exemplary method for starting the surgical robot.
The starting method of the surgical robot comprises the following steps.
Step S110, first posture information of the terminal instrument is obtained.
Specifically, first posture information of the distal end instrument is acquired based on position information of a specified point in the distal end instrument. In one embodiment, the designated point is located at the distal end region of the tip instrument, e.g., at the tip instrument head. In other embodiments, the designated point may be located in other regions of the tip instrument, for example, in the middle region of the tip instrument. Wherein the designated point may be one or more. The first posture information can be obtained in real time according to a preset rule, and can also be obtained only once in a static state.
In an embodiment, the first pose information includes first angle information of the distal instrument within a coordinate system based on at least one coordinate axis. For example, the first posture information includes first angle information based on two coordinate axes, one of which is based on the X-axis and the other of which is based on the Z-axis or the Y-axis, or one of which is based on the Y-axis and the other of which is based on the Z-axis; for another example, the first pose information includes first angle information based on three coordinate axes; as another example, the first pose information includes only first angle information based on one coordinate axis in the coordinate system.
Wherein when the first posture information includes posture information of a plurality of points, the first angle information based on the respective coordinate axes each includes angle information of the plurality of points. It should be noted that, at this time, the pose information of each point may include angle information based on each coordinate axis, or may include only angle information of some coordinate axes. For example, the posture information of one point includes angle information based on the X axis and the Y axis, and the information of the other point has only angle information based on the X axis.
And step S120, acquiring second posture information of the handle in real time.
The second posture information is acquired based on the position information of the specified point in the handle, as in the first posture information, wherein the number and position of the specified point can be set as desired. Similarly, the second posture information includes second angle information based on at least one coordinate axis in the same coordinate system of the handle. And will not be repeated here.
Further, the at least one second angle information and the first angle information are based on the same coordinate axis, for example, the second posture information includes two second angle information, the first posture information includes two first angle information, and the two first angle information and the second angle information can be based on any two coordinate axes of an X axis, a Y axis and a Z axis; for another example, the second posture information includes a second angle information based on the X-axis, and the first posture information includes two first angle information based on the X-axis and the Y-axis, respectively, or based on the X-axis and the Z-axis.
It should be noted that, when the second posture information includes posture information of a plurality of points, the posture information of each point on the handle may correspond to the posture information of the corresponding point of the distal end instrument, or may correspond to a part of the points. The posture information of each point on the handle corresponds to the posture information of the corresponding point of the terminal instrument, namely when the posture information of the point on the handle comprises the angle information based on the X axis and the Y axis, the posture information of the point on the terminal instrument also comprises the angle information based on the X axis and the Y axis.
And S130, comparing the second posture information with the first posture information, aligning the tail end instrument with the handle when the deviation of the second posture information and the first posture information is within a preset deviation, and sending a following signal to start the tail end instrument to enter a following state.
When the first posture information comprises a plurality of first angle information and/or the second posture information comprises a plurality of second angle information, comparing the first angle information and the second angle information based on the same coordinate axis. For example, when the first posture information includes first angle information based on X-axis and Y-axis and the second posture information includes second angle information based on X-axis, the first angle information based on X-axis and the second angle information are compared. When the first posture information comprises the posture information of a plurality of points and/or the second posture information comprises the posture information of a plurality of points, the posture information of the corresponding point is compared according to the method.
In one embodiment, when any one or more of the second angle information is within a preset deviation from the corresponding first angle information, the end instrument is started to enter the following state. For example, the first posture information includes first angle information based on an X-axis and a Y-axis, the second posture information includes second angle information based on an X-axis and a Y-axis, and when the second angle information based on an X-axis or a Y-axis is within a preset deviation from the first angle information based on an X-axis or a Y-axis, the handle is aligned with the distal end instrument, and the distal end instrument enters a following state. For another example, when the deviation of each of the three second angle information based on the X-axis, the Y-axis, and the Z-axis from the corresponding first angle information is within the preset deviation, the end instrument is activated to enter the following state. It should be noted that, when the first posture information and the second posture information are obtained, angle information based on three coordinate axes of the coordinate system may be obtained at the same time, and any number of corresponding angle information may be compared, or angle information based on a part of the coordinate axes may be obtained and compared.
In one embodiment, the end instrument is actuated to enter the following state when the specified one or more second angle information deviates from the corresponding first angle information by a preset deviation. For example, the specified second angle information is second angle information based on the Z axis. Similarly, when the first posture information and the second posture information are obtained, the angle information based on three coordinate axes of the coordinate system can be obtained at the same time, the specified angle information is compared, and only the required angle information can be obtained for comparison.
In one embodiment, the preset deviations based on different coordinate axes are at least partially the same, for example, the preset deviation between the first angle information and the second angle information based on the X axis is the same as the preset deviation between the first angle information and the second angle information based on the Z axis and is different from the preset deviation based on the Y axis. For another example, the preset deviations based on the X-axis, the Y-axis, and the Z-axis are all the same. In other embodiments, the preset deviations based on different coordinate axes may be different.
When the first posture information includes posture information of a plurality of points, the preset deviation of each point based on different or the same coordinate axis may be the same or different.
In one embodiment, the predetermined deviation is 2 to 15 degrees, for example, the predetermined deviation is 3 degrees, 5 degrees, or 10 degrees.
And when the deviation is greater than the preset deviation, continuously adjusting the handle until the deviation is less than the preset deviation.
The starting method enables the operation of the surgical robot to be safer, and enables the starting speed to be higher due to the fact that the surgical robot can be aligned to the preset deviation.
Fig. 5 is a flowchart illustrating an exemplary method for starting the surgical robot.
The starting method of the surgical robot comprises the following steps.
Step S210, first posture information of the terminal instrument is obtained. It is the same as step S110 and will not be repeated here.
Step S220, displaying a first pose image of the distal instrument on the graphical interface based on the first pose information.
The graphical interface can be a graphical interface in a display of the main console or a graphical interface in an auxiliary display, wherein the auxiliary display is arranged separately from the main console.
As shown in fig. 6 and 7, where orientation 420 is the orientation of the distal instrument and orientation 520 is the orientation of the handle, in one embodiment, first pose image 400 comprises a first coordinate image 410 of distal instrument 34 in a coordinate system, and the step of displaying first pose image 400 of distal instrument 34 comprises the following steps.
(1) And acquiring first coordinate information of the terminal instrument on corresponding coordinate axes in a coordinate system based on the first posture information. The first coordinate axis information may be a plurality of first coordinate axis information, for example, the first coordinate axis information includes two first coordinate axis information, which are first coordinate axis information on an X axis and a Y axis respectively; for another example, the first coordinate axis information is three, which are the first coordinate axis information on the X axis, the Y axis, and the Z axis, respectively.
(2) And displaying the first coordinate image along the corresponding coordinate axis on the graphical interface based on the first coordinate information. The first coordinate image is an image along a coordinate axis.
In an embodiment, at least a part of the first coordinate image corresponds to the first angle information to be compared. For example, the number of the first coordinate images is the same as the number of the first angle information to be compared, and the first coordinate images correspond to the first angle information one by one, so that the first coordinate images can be visually displayed in a graphical interface. For another example, the number of the first coordinate images may also be greater than the first angle information to be compared, where a part of the first coordinate images corresponds to the first angle information, and if the number of the first coordinate images is less than the number of the first angle information to be compared, the first coordinate images all correspond to the first angle information one to one.
When the first coordinate images are multiple, the colors of at least two first coordinate images are different for distinguishing. For example, the first coordinate images are three, the three coordinate images are different in color, or two of the coordinate images are different in color. The colors of the three first coordinate images may also be all the same, as desired.
And step S230, acquiring second posture information of the free handle in real time. It is the same as step S120 and will not be repeated here.
And S240, displaying a second posture image of the handle on the graphical interface based on the second posture information.
The first posture image and the second posture image are images projected to a graphical interface by the tail end instrument and the handle respectively and are used for assisting in handle adjustment so that a user can sense the deviation between the handle and the tail end instrument more intuitively, and then the handle is adjusted according to the two posture images to enable the tail end instrument to enter a following state.
As shown in fig. 6 and 8, the second posture image 500 includes a second coordinate image 510 of the handle 21 in the same coordinate system as the first posture image 400, and the step of displaying the second posture image 500 of the handle 21 includes the following steps.
(1) And acquiring second coordinate information of the handle on the corresponding coordinate axis in the coordinate system based on the second posture information.
(2) And displaying a second coordinate image on the graphical interface along the corresponding coordinate axis based on the second coordinate information.
The second pose image has the same content as the first pose image, and will not be repeated here. At least one first coordinate image and at least one second coordinate image are images displayed based on the same coordinate axis. For example, the first posture image and the second coordinate image each include two first coordinate images based on the X axis and the Y axis, respectively. For another example, the first pose image includes two first coordinate images based on X-axis and Y-axis, and the second pose image includes a second coordinate image based on X-axis.
In one embodiment, the first pose image coincides with the reference point of the second pose image, e.g., the origin of the first coordinate image coincides with the origin of the second coordinate image. In other embodiments, the reference points of the two posture images may be arranged in a non-overlapping manner, and the two posture images are arranged in parallel.
Further, the positions of the first posture image and the second posture image in the graphical interface can be set according to requirements, for example, the positions are located in the edge area of the graphical interface; and as an image area adjacent the distal instrument. The origin of the two posture images can be in a designated area on the graphical interface, and can also move on the graphical interface, for example, move along with the terminal instrument.
Like the first coordinate image, when there are a plurality of second coordinate images, at least two of the second coordinate images have different colors for distinction, and will not be repeated here.
In one embodiment, the first coordinate image and the second coordinate image based on the same coordinate axis have colors corresponding to each other, so that the user can adjust the handle more intuitively to align the handle with the distal instrument, for example, the first coordinate image is dark green, and the second coordinate image is light green.
And S250, comparing the second posture information with the first posture information, aligning the tail end instrument with the handle when the deviation of the second posture information and the first posture information is within a preset deviation, and sending a following signal to start the tail end instrument to enter a following state.
The comparison method and related content of the two posture information are the same as those in step S130, and are not repeated here.
Further, when the deviation of the second angle information from the first angle information corresponding thereto is within a preset deviation, the distal end instrument is aligned with the handle in the direction, and the aligned second coordinate image displays an alignment color. At this time, the aligned first coordinate image may also display the alignment color. And the colors and the alignment colors of the first coordinate image and the second coordinate image are different.
In one embodiment, when the deviation between the second angle information and the corresponding first angle information is within a preset deviation, the distal end instrument and the handle are aligned in the direction, and at this time, if the origin of the first posture image coincides with the origin of the second posture image, the aligned second coordinate image coincides with the first coordinate image. Therefore, the display is more visual and convenient to adjust. It should be noted that when the preset deviation is small, the step of overlapping the two projections may be omitted, and in this case, the deviation is small, so that the two projections are not visually noticeable.
It should be noted that, in an embodiment, the first posture image and/or the second posture image may also be a trajectory image in a coordinate system, that is, a posture image of the distal end instrument and the handle in the coordinate system, instead of the component images of the posture on the coordinate axes in the above embodiment. In this case, each posture image may be linear or may be an outline of the distal end instrument or the handle, and the first posture information is information corresponding thereto. For example, the first pose image and the second pose image are both contour images of the distal instrument; for another example, the first pose image is an image of the distal end instrument and the second pose image is a line image. When the handle is aligned with the tip instrument, the first pose image, the second pose image substantially coincide, or indicate the same direction.
In an embodiment, step S250 may also be omitted, and in this case, the starting method may visually obtain the deviation between the handle and the distal end instrument according to the first posture image and the second posture image, and start the distal end instrument to enter the following state through observation, so as to avoid the injury to the inside of the body during starting.
Step S260, hiding the first posture image and the second posture image when the terminal instrument enters the following state.
In an embodiment, after the second coordinate image is aligned with the first coordinate image, the first and second coordinate images are hidden, that is, the coordinate images are hidden one by one as the coordinate images on different coordinate axes are aligned one by one until the first and second posture images are hidden. In other embodiments, the coordinate images may be hidden simultaneously instead of one by one when the distal end instrument enters the following state.
Step S260 may be omitted as necessary.
In one embodiment, after entering the following state, the activation method may further include an alignment method for compensating for misalignment between the distal instrument and the handle, the alignment method including the following steps.
Obtaining automatic adjustment information based on a deviation between the first attitude information and the second attitude information to compensate for the deviation. The firing method adjusts the pose of the end instrument by this step so that it coincides with the pose between the end instruments.
The first posture information and the second posture information are both information acquired in real time, namely the second posture information of the handle and the first posture information of the tail end instrument are continuously acquired in the adjusting process of the tail end instrument. It should be noted that the tip instrument may be continuously adjusted to compensate for the deviation in the following state so that the two postures are consistent, or may be non-continuously adjusted, for example, the deviation may be adjusted only at the beginning of the following state so as to compensate for the deviation in the alignment.
In one embodiment, the automatic adjustment information includes adjustment velocity information of the distal instrument. The step of acquiring the adjustment speed information in the automatic adjustment information comprises the following steps.
(1) The deviation is compared with a preset adjustment deviation.
The preset adjustment deviation can be the same as the preset deviation when the following state is entered, and can also be smaller than the preset deviation. The preset adjustment deviation may be a constant value or a variable value. For example, the preset deviation is 0.1-0.4 of the preset deviation and is a constant value. For another example, the preset adjustment deviation is smaller just after the distal end instrument enters the adjustment process, and the preset adjustment deviation gradually increases along with the adjustment time. As another example, the preset adjustment offset is inversely related to the offset.
(2) And if the deviation is greater than or equal to the preset adjustment deviation, acquiring adjustment speed information according to the preset adjustment deviation, and if the deviation is less than the preset adjustment deviation, acquiring adjustment speed information according to the deviation.
In this embodiment, the adjustment speed information is obtained based on the deviation/the preset adjustment deviation and the preset time, where the preset time is a fixed value, and in other embodiments, the preset time may also be a variable, for example, as the adjustment time increases, the preset time gradually decreases. It is to be understood that the adjustment speed information may also be acquired based on the deviation when the deviation is equal to the preset adjustment deviation. In one embodiment, the step of obtaining the adjustment speed information includes the following steps.
(1) Speed information is obtained based on the deviation. At this time, the speed information is acquired according to the preset time.
(2) And if the speed information is greater than or equal to the preset speed information, setting the preset speed information as the adjustment speed information, and if the speed information is less than the preset speed information, setting the speed information as the adjustment speed information.
In one embodiment, the offset is positively correlated to the speed of adjustment of the distal instrument. That is, when the deviation between the first posture information and the second posture information is large, the adjustment speed of the distal end instrument is high, and when the deviation is small, the adjustment posture of the distal end instrument is slow.
In one embodiment, the adjustment speed of the end instrument during the initial and/or final phases of the automatic adjustment is less than the adjustment speed during the intermediate phases. The initial stage and the end stage can be determined according to information such as deviation, estimated adjustment time and the like, and the estimated adjustment time is the time from the beginning to the end of adjustment. For example, the initial stage is determined by the estimated adjustment time, and the duration is 1/5-1/3 of the estimated adjustment time when the adjustment is started.
Further, the adjustment speed in each stage may be positively correlated with the deviation, i.e. the adjustment speed in each adjustment stage differs according to the deviation difference.
In an embodiment, the automatic adjustment information includes preset speed information and adjustment direction information. Wherein the terminal instrument is adjusted based on the preset speed information and the adjustment direction information. In this embodiment, the preset speed information is independent of the deviation, i.e. it is independent of the deviation, and the end instrument is adjusted in the adjustment direction at the preset speed. For example, the tip instrument adjusts in a uniform motion based on the automatic adjustment information; for another example, the tip instrument is adjusted with a uniform acceleration motion based on the automatic adjustment information.
In one embodiment, the range of adjustment speeds of the tip instrument within the coordinate system based on different coordinate axes is at least partially different. For example, the range of adjustment speeds of the tip instrument in the X-axis is a first range, the range of adjustment speeds in the Y-axis is a second range, and the range of adjustment speeds in the Z-axis is a third range, where at least two ranges are distinct. In the present embodiment, the speed adjustment range is independent of the adjustment stage and the deviation in the above embodiments, that is, the adjustment speed may be further set according to the adjustment stage and the deviation in different adjustment ranges.
It should be noted that the adjustment speed is not related to the input command of the handle, and if the handle simultaneously inputs the command during the adjustment process to change the first posture information, the adjustment speed is obtained based on the input command and/or the above factors. The adjustment speed may be set to a constant value or may be set according to the operation habit of the user, as required.
In one embodiment, the coordinate system is a graphical interface coordinate system. The starting method of the robot further comprises the following steps.
(1) And acquiring second posture information of the handle in the graphical interface coordinate system based on the posture information of the handle in the world coordinate system and the mapping relation between the world coordinate system and the graphical interface coordinate system.
(2) And acquiring first posture information of the terminal instrument in the graphical interface coordinate system based on the posture information of the terminal instrument in the connecting rod coordinate system and the mapping relation between the connecting rod coordinate system and the graphical interface coordinate system.
The operation arm comprises a connecting rod, a connecting component and the tail end instrument which are sequentially connected, the tail end instrument is provided with an image tail end instrument and an operation tail end instrument, and the posture of the operation tail end instrument in the image tail end instrument coordinate system is the posture of the operation tail end instrument in the graphical interface coordinate system.
A computer readable memory having stored thereon a computer program for implementing the steps of the startup method of any of the above embodiments when the computer program is executed by a processor.
In one embodiment, the master console further includes a second posture acquiring unit, the slave operation device further includes a first posture acquiring unit, and the surgical robot further includes a controller.
The first posture acquisition part is used for acquiring first posture information of the operation arm; the second posture acquisition part is used for acquiring second posture information of the handle in real time; the controller is connected with the first posture acquisition part and the second posture acquisition part and comprises the memory and a processor, wherein the memory stores a computer program, and the processor is used for realizing the steps of the starting method when executing. For example, the controller is used for acquiring first posture information and second posture information, comparing the second posture information with the first posture information, and sending a following signal to enable the tail end instrument to move along with the handle when the deviation between the first posture information and the second posture information is within a preset deviation. The relevant contents of other steps are the same as those of the above embodiments, and will not be repeated here.
It should be noted that there may be a plurality of controllers, and the plurality of controllers may process different information respectively, where one of the plurality of controllers may have a master controller, and the others may be slave controllers, or may be independent from each other.
In one embodiment, the first posture acquiring unit includes a sensor configured to acquire joint component position information and/or deflection information of each joint component, and acquire the first posture information based on the joint component position information and/or deflection information. In another embodiment, the first in-posture acquiring unit may also include a processor for acquiring the first posture information according to the joint component position information and/or the deflection information, and in this case, the processor may be located in the controller.
Further, the sensor may be disposed on a motor that drives the operation arm to move, and the sensor may acquire the related information through rotation of the motor, or may be disposed on the joint assembly, and the related information may be acquired through movement of the joint assembly. And one joint component can correspond to one sensor or a plurality of sensors to acquire different information.
In one embodiment, the second attitude obtaining part is a magnetic navigation system connected with the controller. In other embodiments, the second posture acquiring unit may adopt another positioning system such as an optical positioning system or a gyroscope, or a combination of a plurality of systems.
In one embodiment, a display of the surgical machine has a graphical operation interface thereon, and the display is configured to display the first pose image and the second pose image on the graphical interface according to the first pose information and the second pose information.
In one embodiment, the distal instrument is further adapted to adjust the pose of the distal instrument in accordance with the automatic adjustment information after the distal instrument has entered the following state, to compensate for said deviation in alignment. At this time, the controller is configured to transmit automatic adjustment information based on the deviation. Further, the first posture acquisition unit is further configured to acquire the first position information in real time, so that the controller acquires the adjustment speed information of the distal end instrument based on a deviation between the first posture information and the second posture information.
In one embodiment, the main console of the surgical robot further comprises an alignment part connected with the controller, wherein the handle is detachably disposed on the alignment part to be aligned by the alignment part. When the handle needs to be aligned, the handle can be placed on the aligning part and aligned through the aligning part, and then the handle is removed after alignment, in the process of removing the handle, the deviation generated by the handle can cause the need of realignment, but the approximate position of the handle is close to the aligning state, so that a user can perform fine adjustment under the current state to enter the aligning state, and the alignment is more convenient.
Specifically, the controller is configured to send alignment adjustment information based on a deviation between the first position information and the second position information, and the alignment is adjusted based on the alignment adjustment information to conform to the posture of the distal instrument. The alignment and adjustment method may be the same as that in the above embodiments, for example, when the deviation between the first position information and the second position information is within a preset deviation, the end instrument enters the following state, and after entering the following state, the alignment deviation is compensated.
The aligning part is provided with a placing position which is matched with the handle and used for placing the handle.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (23)
1. A surgical robot comprising a controller, a handle, and a manipulator arm having a tip instrument for performing a surgical operation and following movement of the handle, the controller coupled to the handle and the manipulator arm, the controller configured to:
acquiring first posture information of the tail end instrument in real time;
acquiring second posture information of the handle in real time;
displaying a first coordinate image on a graphical interface based on the first posture information, displaying a second coordinate image on the graphical interface based on the second posture information, wherein the first coordinate image and the second coordinate image are overlapped at a reference point of the same coordinate system, the first coordinate image is used for displaying the posture of the terminal instrument, the second coordinate image is used for displaying the posture of the handle, and the first coordinate image and the second coordinate image are used for assisting the adjustment of the handle, so that a user can more intuitively sense the deviation between the handle and the terminal instrument, and further adjust the handle according to the first coordinate image and the second coordinate image, and the terminal instrument enters a following state;
comparing the second posture information with the first posture information, and when the deviation between the second posture information and the first posture information is within a preset deviation, sending a following signal to start the tail end instrument to enter a following state and hide the first coordinate image and the second coordinate image;
and acquiring automatic adjustment information in real time based on the deviation between the first attitude information and the second attitude information to compensate for a first deviation, wherein the first deviation refers to the deviation between the first attitude information and the second attitude information.
2. The surgical robot of claim 1, wherein the automatic adjustment information includes adjustment speed information of a distal end instrument, and the step of obtaining the adjustment speed information in the automatic adjustment information includes:
comparing the first deviation with a preset adjustment deviation;
if the first deviation is greater than or equal to the preset adjusting deviation, the adjusting speed information is obtained according to the preset adjusting deviation, and if the first deviation is smaller than the preset adjusting deviation, the adjusting speed information is obtained according to the first deviation.
3. A surgical robot as claimed in claim 2, wherein the preset adjustment deviation is less than the preset deviation.
4. A surgical robot as claimed in claim 2, characterized in that the preset adjustment deviation is positively correlated with an adjustment time.
5. A surgical robot as claimed in claim 2, wherein the preset adjustment deviation is inversely related to the first deviation.
6. The surgical robot of claim 1, wherein the automatic adjustment information includes adjustment speed information of a distal end instrument, and the step of obtaining the adjustment speed information in the automatic adjustment information includes:
acquiring speed information based on the first deviation;
if the speed information is greater than or equal to the preset speed information, setting the preset speed information as the adjustment speed information, and if the speed information is less than the preset speed information, setting the speed information as the adjustment speed information.
7. A surgical robot as claimed in claim 1, wherein the automatic adjustment information comprises adjustment direction information.
8. The surgical robot of claim 7, wherein the automatic adjustment information further includes preset speed information, the controller configured to control the tip instrument to adjust based on the preset speed information, the adjustment direction information.
9. A surgical robot as claimed in claim 7, wherein the controller is configured to control the tip instrument to adjust with uniform acceleration motion based on the automatic adjustment information.
10. A surgical robot as claimed in claim 1, wherein the automatic adjustment information comprises adjustment speed information such that an adjustment speed of the tip instrument at an initial and/or end phase of automatic adjustment is less than the adjustment speed at an intermediate phase.
11. A surgical robot as claimed in claim 10, characterized in that the adjustment speed is positively correlated with the first deviation in each phase.
12. A surgical robot as claimed in claim 1, wherein the automatic adjustment information comprises adjustment speed information, the controller being configured to control the range of adjustment speeds of the tip instrument based on different coordinate axes within the coordinate system based on the adjustment speed information to differ at least in part.
13. A surgical robot as claimed in claim 12, wherein the coordinate system is a graphical interface coordinate system.
14. A surgical robot as recited in claim 1, wherein the controller is further configured to:
acquiring second posture information of the handle in a graphical interface coordinate system based on the posture information of the handle in the world coordinate system and the mapping relation between the world coordinate system and the graphical interface coordinate system;
and acquiring the first posture information of the terminal instrument in the graphical interface coordinate system based on the posture information of the terminal instrument in the connecting rod coordinate system and the mapping relation between the connecting rod coordinate system and the graphical interface coordinate system.
15. A surgical robot as claimed in claim 14, wherein the manipulator arm comprises a link, a link assembly and the tip instrument connected in series, the tip instrument having an image tip instrument and a manipulation tip instrument, the pose of the manipulation tip instrument in the image tip instrument coordinate system being the pose in the graphical interface coordinate system.
16. A surgical robot according to claim 1, wherein as the coordinate images of the first and second coordinate images on different coordinate axes are aligned one by one, the respective coordinate images are hidden one by one.
17. A computer-readable memory on which a computer program is stored, the computer program, when executed by a processor, performing the steps of:
acquiring first posture information of a terminal instrument;
acquiring second posture information of the handle in real time;
displaying a first coordinate image on a graphical interface based on the first posture information, displaying a second coordinate image on the graphical interface based on the second posture information, wherein the first coordinate image and the second coordinate image are overlapped at a reference point of the same coordinate system, the first coordinate image is used for displaying the posture of the terminal instrument, the second coordinate image is used for displaying the posture of the handle, and the first coordinate image and the second coordinate image are used for assisting the adjustment of the handle, so that a user can more intuitively sense the deviation between the handle and the terminal instrument, and further adjust the handle according to the first coordinate image and the second coordinate image, and the terminal instrument enters a following state;
comparing the second posture information with the first posture information, aligning the tail end instrument with the handle when the deviation of the second posture information and the first posture information is within a preset deviation, and sending a following signal to start the tail end instrument to enter a following state and hide the first coordinate image and the second coordinate image;
and acquiring automatic adjustment information in real time based on the deviation between the first attitude information and the second attitude information to compensate for a first deviation, wherein the first deviation refers to the deviation between the first attitude information and the second attitude information.
18. A surgical robot, comprising:
an operating arm having a tip instrument for performing a surgical procedure;
an operating arm having a distal instrument for performing a surgical procedure;
a first posture acquisition unit configured to acquire first posture information of the operation arm;
a handle capable of free movement;
the second posture acquisition part is used for acquiring second posture information of the handle in real time;
a controller connected to the first posture acquiring unit and the second posture acquiring unit, and including a memory in which a computer program is stored and a processor for implementing the following steps when executed:
acquiring first posture information of the terminal instrument;
acquiring second posture information of the handle in real time;
displaying a first coordinate image on a graphical interface based on the first posture information, displaying a second coordinate image on the graphical interface based on the second posture information, wherein the first coordinate image and the second coordinate image are overlapped at a reference point of the same coordinate system, the first coordinate image is used for displaying the posture of the terminal instrument, the second coordinate image is used for displaying the posture of the handle, and the first coordinate image and the second coordinate image are used for assisting the adjustment of the handle, so that a user can more intuitively sense the deviation between the handle and the terminal instrument, and further adjust the handle according to the first coordinate image and the second coordinate image, and the terminal instrument enters a following state;
comparing the second posture information with the first posture information, aligning the tail end instrument with the handle when the deviation of the second posture information and the first posture information is within a preset deviation, and sending a following signal to start the tail end instrument to enter a following state and hide the first coordinate image and the second coordinate image;
and acquiring automatic adjustment information in real time based on the deviation between the first attitude information and the second attitude information to compensate for a first deviation, wherein the first deviation refers to the deviation between the first attitude information and the second attitude information.
19. The surgical robot of claim 18, further comprising a display for displaying a graphical user interface, wherein the processor obtains a first coordinate image based on the first pose information and a second coordinate image based on the second pose information and displays the first coordinate image and the second coordinate image on the graphical user interface.
20. A surgical robot as claimed in claim 18, wherein the processor controls the tip instrument to adjust its pose in accordance with the automatic adjustment information to compensate for the first deviation in alignment after the tip instrument enters the following state.
21. A surgical robot according to claim 18, wherein the first posture acquiring portion includes a sensor, the operation arm includes a link, a connecting member and the distal end instrument, which are connected in this order, the connecting member has a plurality of joint components, the operation arm adjusts the posture of the distal end instrument by adjusting the joint components, and the sensor is configured to acquire joint component position information and/or deflection information of each of the joint components.
22. A surgical robot as claimed in claim 18, wherein the second attitude capture component is one or more of a magnetic navigation system, an optical positioning system, a gyroscope connected to the controller.
23. A surgical robot as claimed in claim 18, further comprising an alignment portion connected to the controller, the handle being detachably disposed on the alignment portion for alignment by the alignment portion,
the processor is further configured to send alignment adjustment information based on the first deviation;
the alignment portion is configured to adjust to conform to the tip instrument pose based on the alignment portion adjustment information.
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| CN110464469B (en) * | 2019-09-10 | 2020-12-01 | 深圳市精锋医疗科技有限公司 | Surgical robot, method and device for controlling distal end instrument, and storage medium |
| CN110559083B (en) * | 2019-09-10 | 2020-08-25 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device for tail end instrument of surgical robot |
| CN114601564B (en) * | 2020-10-08 | 2023-08-22 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, graphical control device thereof and graphical display method thereof |
| CN111991084B (en) * | 2020-10-08 | 2022-04-26 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, virtual imaging control method thereof and virtual imaging control device thereof |
| CN112450995B (en) * | 2020-10-28 | 2022-05-10 | 杭州无创光电有限公司 | Situation simulation endoscope system |
| CN112587243B (en) * | 2020-12-15 | 2022-06-07 | 深圳市精锋医疗科技股份有限公司 | Surgical robot and control method and control device thereof |
| CN112618020B (en) * | 2020-12-15 | 2022-06-21 | 深圳市精锋医疗科技股份有限公司 | Surgical robot and control method and control device thereof |
| CN113612928B (en) * | 2021-10-09 | 2022-04-12 | 深圳市越疆科技有限公司 | Teleoperation system, teleoperation method and chip |
| CN113812902B (en) * | 2021-11-22 | 2022-02-18 | 极限人工智能有限公司 | Method and device for controlling tail end of flexible instrument, electronic equipment and storage medium |
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