CN111374776A

CN111374776A - Surgical robot equipment with position coordinate capable of being determined and surgical robot system

Info

Publication number: CN111374776A
Application number: CN201811644684.3A
Authority: CN
Inventors: 李欣生; 吴庆军; 何俊峰; 唐玉豪; 何跃春; 杨辉; 上官希坤; 张应洪; 刘志勇
Original assignee: Dakota Intelligent Medicine Co ltd
Current assignee: DAKEWE (SHENZHEN) MEDICAL EQUIPMENTS Co.,Ltd.
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2020-07-07

Abstract

The invention relates to the technical field of surgical robots, in particular to a surgical robot device with determinable position coordinates and a surgical robot system, and the scheme is as follows: a surgical robot apparatus including a surgical robot, a distance measuring device, and an angle measuring device; the distance measuring device and the angle measuring device are both arranged on the surgical robot; the distance measuring device is used for measuring the distances between a preset position base point on the surgical robot and a first wall surface and a second wall surface in an operating room respectively; the first wall surface is vertical to the second wall surface; the angle measuring device is used for measuring an included angle between a preset zero-degree datum line on the surgical robot and a first plane, and the first plane is perpendicular to the first wall surface or the second wall surface. According to the technical scheme provided by the invention, the distance measuring device and the angle measuring device are matched to determine the position coordinate of the surgical robot in the operating room, so that the position of the surgical robot can be accurately controlled in the operation process, and the global isotropy in the operation process is improved.

Description

Surgical robot equipment with position coordinate capable of being determined and surgical robot system

Technical Field

The invention relates to the technical field of surgical robots, in particular to a surgical robot device with a determinable position coordinate and a surgical robot system.

Background

A surgical robot device, such as a surgical robot trolley, controls 2 slave mechanical arms through a master hand to perform the pleuroperitoneal minimally invasive surgery. The method mainly adopts a master-slave mode to advance surgical instruments to target tissues and completes the operation under the coordination of a plurality of slave surgical arms. The abdominal cavity operation is a master-slave operation, the process is that a doctor carries out intuitive operation by taking the relative position of a surgical instrument and the body and the tissue of a patient as virtual coordinates, and global isotropy in the operation process is required, which is different from the expression of a strict geodetic coordinate system, and the precision of the global isotropy is the visual level of human eyes. However, the position coordinates (i.e., the virtual coordinates) of the existing surgical robot device in the operating room cannot be determined, which results in poor global isotropy in the surgical procedure of the surgical robot.

Disclosure of Invention

In view of this, the present invention provides a surgical robot device and a surgical robot system with determinable position coordinates, and mainly aims to solve the technical problem that the position coordinates of the existing surgical robot device in an operating room cannot be determined, which results in poor global isotropy in the surgical process.

In order to achieve the purpose, the invention mainly provides the following technical scheme:

in one aspect, embodiments of the present invention provide a surgical robot apparatus with determinable position coordinates, comprising a surgical robot, a distance measuring device and an angle measuring device; the distance measuring device and the angle measuring device are both arranged on the surgical robot;

the distance measuring device is used for measuring the distances between a preset position base point on the surgical robot and a first wall surface and a second wall surface in an operating room respectively; the first wall surface is perpendicular to the second wall surface;

the angle measuring device is used for measuring an included angle between a preset zero-degree datum line on the surgical robot and a first plane, and the first plane is perpendicular to the first wall surface or the second wall surface.

In the technical scheme provided by the invention, the position coordinates (X, Y, phi) of the surgical robot in the operating room can be determined through the obtained plane position coordinates (X, Y) and the offset angle phi of the surgical robot, so that the position of the slave mechanical arm of the surgical robot can be accurately controlled in the surgical process, and the global isotropy in the surgical process is improved.

The invention is further configured to: the distance measuring device comprises a distance measuring instrument, wherein the distance measuring instrument is arranged at the position base point preset, so that the distance between the position base point preset and the first wall surface and the distance between the position base point preset and the second wall surface in the operating room are measured through the distance measuring instrument.

In the technical scheme, the plane position coordinate of the surgical robot can be acquired through the arranged distance measuring instrument.

The invention is further configured to: the surgical robotic device further comprises a position adjustment mechanism;

the position adjusting mechanism is used for adjusting the height of the distance measuring instrument.

By adopting the technical scheme, blocking interference possibly caused when more than two surgical robot devices are used simultaneously can be avoided.

The invention is further configured to: the position adjusting mechanism comprises a fixed frame;

the fixing frame is rotatably arranged on the surgical robot, and more than two distance meter mounting positions which are arranged along the height direction are arranged on the fixing frame.

Through foretell setting, when the different distancers installation position on the mount are installed to the distancer, make the distancer have different heights to the function of adjusting is carried out to the position of distancer on direction of height to the realization.

The invention is further configured to: the fixing frame comprises a first supporting arm, a bottom plate and a second supporting arm which are connected in sequence;

the bottom plate is rotatably arranged on the surgical robot through a rotating component so as to drive the fixed frame to rotate together;

the first support arm is opposite to the second support arm and is positioned on one side of the bottom plate, which is far away from the surgical robot;

the fixing frame further comprises a partition plate, and the partition plate is used for separating a clamping groove serving as a distance meter mounting position between the first support arm and the second support arm.

Through foretell setting, the distancer can the joint fix in the joint inslot, and its installation is all more convenient with the dismantlement.

The invention is further configured to: the clamping groove is provided with a first side and a second side which are opposite to each other;

the first side of the clamping groove is provided with a socket for inserting the distance measuring instrument;

the fixing frame further comprises a limiting plate, and the limiting plate is arranged on the second side of the clamping groove; the limiting plate is used for limiting the distance measuring instrument in the clamping groove so as to prevent the distance measuring instrument from being separated from the second side of the clamping groove.

In above-mentioned example, the limiting plate of setting through, improved the installation stability of distancer in the joint inslot.

The invention is further configured to: the surgical robotic device further comprises a drive mechanism;

the driving mechanism is used for driving the rotating component to rotate.

Through adopting above-mentioned technical scheme, have the technological effect of using manpower sparingly.

The invention is further configured to: the angle measuring device comprises a fixed dial and a scale indicating piece, and an included angle between the preset zero degree datum line and a first plane is measured through the cooperation of the fixed dial and the scale indicating piece;

the fixed dial is fixed on the surgical robot, and a zero-degree reference line of the fixed dial is parallel to the preset zero-degree reference line;

the scale indicator is rotatably disposed on the surgical robot to indicate the scale on the fixed dial.

By adopting the technical scheme, the fixed dial and the scale indicating piece are matched to measure the offset angle of the surgical robot equipment.

The invention is further configured to: the angle measuring device comprises an encoder;

the zero-degree datum line of the encoder is parallel to the preset zero-degree datum line;

the angle measuring device measures an included angle between the preset zero-degree datum line and the first plane through the encoder.

By adopting the technical scheme, the encoder can automatically measure the offset angle of the surgical robot equipment, so that the labor is saved.

In another aspect, embodiments of the present invention further provide a surgical robotic system, comprising a console and any one of the above-described surgical robotic devices with determinable position coordinates;

wherein, the control console is used for controlling the surgical robot according to an external instruction.

In the embodiment, due to the arrangement of the surgical robot device, the console of the surgical robot system provided by the invention can acquire the position coordinates of the surgical robot, so that the surgical robot can be conveniently and accurately controlled, and the global isotropy in the surgical process can be met.

By the technical scheme, the surgical robot equipment and the surgical robot system with determinable position coordinates have at least the following beneficial effects:

in the technical scheme provided by the invention, the distance between the preset position base point of the surgical robot and the first wall surface and the second wall surface of the operating room can be measured through the arranged distance measuring device, so that the plane position coordinate of the surgical robot equipment in the operating room can be determined; the offset angle coordinate of the surgical robot in the operating room can be determined through the angle measuring device; in summary, the position coordinates of the surgical robot in the operating room can be determined through the obtained plane position coordinates and the obtained offset angle coordinates, so that the position of the slave mechanical arm of the surgical robot can be accurately controlled in the surgical process, and the global isotropy in the surgical process is improved.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of a surgical robotic device with determinable position coordinates according to an embodiment of the present invention;

FIG. 2 is a schematic view of a surgical robotic device positioned within an operating room, according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an assembly of a distance measuring device and an angle measuring device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an assembly of a distance measuring device and an angle measuring device according to another embodiment of the present invention;

fig. 5 is a diagram illustrating a relative position relationship between a console of a surgical robot system and a surgical robot apparatus according to an embodiment of the present invention.

Reference numerals: 1. a distance measuring device; 11. a range finder; 10. a first wall surface; 20. a second wall surface; 2. an angle measuring device; 21. fixing the dial; 22. a scale indicator; 23. an encoder; 3. a column; 4. from the mechanical arm; 5. a fixed mount; 51. a first support arm; 52. a base plate; 53. a second support arm; 54. a partition plate; 55. a clamping groove; 56. a limiting plate; 6. a rotating member; 7. a vehicle body; 8. a motor; 100. a surgical robotic device; 101. a surgical robot; 102. presetting a zero-degree datum line; 200. a console.

Detailed Description

To further explain the technical means and effects of the present invention adopted to achieve the predetermined object, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "an embodiment" refers to not necessarily the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As shown in fig. 1, a surgical robot apparatus 100 capable of determining position coordinates according to an embodiment of the present invention includes a surgical robot 101, a distance measuring device 1, and an angle measuring device 2. The distance measuring device 1 and the angle measuring device 2 are both provided on the surgical robot 101.

The distance measuring device 1 is used for measuring the distance between a preset position base point on the surgical robot 101 and the first wall surface 10 and the second wall surface 20 in the operating room respectively. The first wall 10 and the second wall 20 are perpendicular to each other in the operating room. Specifically, as shown in fig. 2, the distance between the preset position base on the surgical robot 101 and the first wall surface 10 is X, and the distance between the preset position base on the surgical robot 101 and the second wall surface 20 is Y.

The angle measuring device 2 is used for measuring an included angle phi between a preset zero degree datum line 102 on the surgical robot 101 and a first plane. The first plane is perpendicular to the first wall 10 or the second wall 20.

The angle phi may also be referred to as an offset angle of the surgical robot 101 in the operating room in some cases.

In the technical scheme provided above, the position coordinates (X, Y, phi) of the surgical robot 101 in the operating room can be determined by the obtained plane position coordinates (X, Y) and the offset angle phi of the surgical robot 101, so that the position of the slave mechanical arm 4 of the surgical robot 101 can be accurately controlled in the surgical process, and the global isotropy in the surgical process is improved.

Wherein, when the minimally invasive surgery is not performed by the surgical robot 101, the hand holds the minimally invasive surgery instrument and swings around the small hole on the belly. Since the aperture in the belly is "pointed", the tip of the instrument in the abdominal cavity must be pulled back outside the belly if the surgeon's hand is to be moved "forward", which is non-syndromous. The "global isotropy" of the surgical robot 101 means that the movement direction of the distal end of the instrument viewed by the doctor on the endoscope video coincides with the push-pull direction of the hand.

Here, it should be noted that: as shown in fig. 1, the surgical robot 101 may have a vehicle body 7 to move through the vehicle body 7, which has an effect of convenient transportation. When the surgical robot 101 has a car body 7, the surgical robot 101 may also be referred to as a surgical robot cart in some occasions.

The first wall 10 and the second wall 20 may be walls of an operating room, or in some cases, walls of a screen or a baffle.

In a specific application example, as shown in fig. 3, the distance measuring device 1 may include a distance measuring instrument 11, and the distance measuring instrument 11 is disposed at a preset position base point on the surgical robot 101, so as to measure a distance between the preset position base point on the surgical robot 101 and the first wall 10 and the second wall 20 of the operating room respectively through the distance measuring instrument 11.

The range finder 11 may be a laser range finder, an ultrasonic range finder or an infrared range finder, and may be specifically selected according to actual conditions. Preferably, the distance meter 11 is a laser distance meter.

Laser rangefinders (Laser rangefinders) are instruments that use a certain parameter of modulated Laser to achieve distance measurement to a target. The measuring range of the laser range finder is 3.5-5000 meters. Laser range finders are classified into phase method range finders and pulse method range finders according to a range finding method. The pulse laser distance meter emits a pulse laser beam or a series of short pulse laser beams to a target when in work, the laser beam reflected by the target is received by a photoelectric element, and a timer measures the time from the emission to the reception of the laser beam and calculates the distance from an observer to the target. The phase-method laser range finder detects a distance by detecting a phase difference occurring when emitted light and reflected light propagate in a space. The laser range finder has light weight, small volume, simple operation, high speed and accuracy, and the error is only one fifth to one hundred times of that of other optical range finders.

Further, the surgical robot apparatus 100 of the present invention may further include a position adjustment mechanism. The position adjustment mechanism is used to adjust the height of the distance meter 11 to avoid blocking interference that may be caused when two or more surgical robot apparatuses 100 are used simultaneously.

Particularly, through the position adjusting mechanism who sets up, when more than two surgical robot 100 use simultaneously, can adjust distancer 11 on each surgical robot 100 to different heights, the interference that blocks that probably causes when avoiding the distancer 11 on each surgical robot 100 to use simultaneously influences the accuracy of range finding.

Further, as shown in fig. 3 and 4, the aforementioned position adjustment mechanism may include a fixing frame 5. The fixing frame 5 is rotatably provided on the surgical robot 101. The fixing frame 5 is provided with more than two distance meter mounting positions arranged along the height direction.

Through foretell setting, when distancer 11 installs the different distancer installation positions on mount 5, make distancer 11 have different heights to the function of adjusting the position of distancer 11 in the direction of height is realized.

Further, as shown in fig. 3 and 4, the fixing frame 5 may include a first arm 51, a base plate 52 and a second arm 53 connected in sequence. The base plate 52 is rotatably provided on the surgical robot 101 by the rotating member 6 to bring the holder 5 to rotate together. Preferably, the base plate 52 is rotatably disposed at the top end of the column 3 of the surgical robot 101 by the rotating member 6. The first arm 51 is opposite to the second arm 53 and is located on a side of the base plate 52 facing away from the surgical robot 101. The fixing frame 5 further includes a partition plate 54, and the partition plate 54 is used for partitioning a clamping groove 55 as a distance meter mounting position between the first arm 51 and the second arm 53.

Through foretell setting, distancer 11 can the joint fix in joint groove 55, and its installation is all more convenient with the dismantlement.

Further, as shown in fig. 3 and 4, the aforementioned clip groove 55 has a first side and a second side opposite to each other. The first side of the catching groove 55 has a socket into which the distance meter 11 is inserted. The fixing frame 5 may further include a limiting plate 56, and the limiting plate 56 is disposed on a second side of the engaging groove 55. The limit plate 56 is used for limiting the distance meter 11 in the clamping groove 55 so as to prevent the distance meter 11 from being separated from the second side of the clamping groove 55.

Particularly, distancer 11 inserts in joint groove 55 from the interface of joint groove 55 first side, and until inconsistent with joint groove 55 second side's limiting plate 56, distancer 11 joint is fixed in joint groove 55 to the realization is to distancer 11's installation.

In the above example, the installation stability of the distance meter 11 in the snap groove 55 is improved by the provision of the limit plate 56.

Further, the surgical robot apparatus 100 of the present invention may further include a driving mechanism. The driving mechanism is used for driving the rotating component 6 to rotate, and therefore the technical effect of saving manpower is achieved.

In a specific application example, as shown in fig. 3, the aforementioned driving mechanism includes a motor 8 to drive the rotating member 6 to rotate by the motor 8.

In particular, the drive mechanism may further comprise a gear reducer, through which an output shaft of the motor 8 is connected to the rotating member 6 to drive the rotating member 6 to rotate. Wherein, the gear reducer may include a driving gear and a driven gear, the driving gear is fixedly sleeved on the output shaft of the motor 8, and the driven gear is fixedly sleeved on the rotating component 6, such as the central shaft.

Further, as shown in fig. 4, the distance between the first arm 51 and the second arm 53 may be greater than the width of the distance measuring device 11, so that the distance measuring device 11 can horizontally move left and right in the engaging groove 55, thereby avoiding blocking interference that may be caused when more than two surgical robot apparatuses 100 are used simultaneously. Wherein the main purpose is to avoid interference of the fixed frame 5 on the other surgical robot apparatus 100.

The measurement process of X and Y using the laser rangefinder by the aforementioned rangefinder 1 will be specifically described below.

In one specific application example, as shown in fig. 2 to 4, the fixed frame 5 is disposed at a preset position base point on the surgical robot 101 by the rotating member 6. The preset position base point may be located at the top end of the column 3 of the surgical robot 101. The laser range finder 11 is arranged in a clamping groove 55 in the fixing frame 5. When the rotating part 6 is driven to rotate manually or electrically, the rotating part 6 can drive the laser range finder 11 on the fixing frame 5 to rotate together. When the light beam of the laser distance measuring device 11 moves on the first wall 10, the laser distance measuring device 11 measures a first minimum distance value when the light beam is perpendicular to the first wall 10, and the first minimum value is the distance X between the preset position base point and the first wall 10. Similarly, when the light beam of the laser distance measuring device 11 moves on the second wall 20, the laser distance measuring device 11 measures a second minimum distance value when the light beam is perpendicular to the second wall 20, and the second minimum distance value is the distance Y between the predetermined position base point and the second wall 20.

Here, it should be noted that: due to the spacing between the laser emitting opening of the laser distance measuring device 11 and the predetermined position base point, the measured values of X and Y have deviations from the actual values, which are negligible in the case of not very high accuracy requirements. Under the condition of higher precision requirement, the values of X and Y measured by the laser range finder 11 can be properly adjusted according to the distance between the laser emitting port of the laser range finder 11 and the preset position base point, so as to reduce the deviation between the actual value and both the X value and the Y value measured by the laser range finder 11.

The aforementioned angle measuring device 2 can be realized by means of a fixed scale 21 or an encoder 23, which will be described in detail below.

In the first example, as shown in fig. 3, the angle measuring device 2 includes a fixed scale 21 and a scale indicator 22 to cooperatively measure an angle between the preset zero-degree reference line 102 and the first plane through both the fixed scale 21 and the scale indicator 22. The fixed scale 21 is fixed to the surgical robot 101, and a zero-degree reference line of the fixed scale 21 is parallel to the preset zero-degree reference line 102. A scale indicator 22, such as a pointer, is rotatably provided on the surgical robot 101 to indicate the scale on the fixed scale 21.

When the surgical robot apparatus 100 includes the position adjusting mechanism for adjusting the height of the distance meter 11, and the position adjusting mechanism includes the fixing frame 5, the fixing frame 5 includes the first support arm 51, the bottom plate 52 and the second support arm 53 which are connected in sequence, and the bottom plate 52 is rotatably disposed on the surgical robot 101 through the rotating member 6, the above-mentioned scale indicator 22 is disposed on the rotating member 6 to rotate under the driving of the rotating member 6.

In the above example, the distance meter 11 and the scale indicator 22 are both provided on the rotating member 6 to rotate by the rotating member 6. In operation, in particular, the rotating part 6, such as the central shaft, rotates the distance meter 11 and the scale indicator 22 together. When the laser emitted from the laser range finder 11 is perpendicular to the first wall surface 10, the distance X between the preset position datum and the first wall surface 10 can be measured, and the indication of the scale indicator 22 on the fixed scale 21 is the included angle Φ 1 between the preset zero-degree datum 102 and a first plane perpendicular to the first wall surface 10. Similarly, when the laser emitted from the laser range finder 11 is perpendicular to the second wall surface 20, the distance Y between the preset position base and the second wall surface 20 can be measured, and accordingly, the indication of the scale indicator 22 on the fixed scale 21 is the included angle Φ 2 between the preset zero degree reference line 102 and another first plane perpendicular to the second wall surface 20. Where Φ 1+ Φ 2=90 degrees.

In a second example, as shown in fig. 4, the aforementioned angle measuring device 2 includes an encoder 23. The zero degree reference line of the encoder 23 is parallel to the preset zero degree reference line 102 on the surgical robot 101. The angle measuring device 2 measures an angle between the preset zero-degree reference line 102 on the surgical robot 101 and the first plane through the encoder 23.

With the above arrangement, the angle measured by the encoder 23 can be read by a digital display device or directly sent to the console 200 for processing. Compared with the manual reading mode of the fixed dial 21, the automatic reading operation can be realized through the measuring mode of the encoder 23 in the scheme, and the labor is saved.

When the surgical robot apparatus 100 includes the position adjusting mechanism for adjusting the height of the distance meter 11, and the position adjusting mechanism includes the fixing frame 5, the fixing frame 5 includes the first support arm 51, the bottom plate 52 and the second support arm 53 which are connected in sequence, and the bottom plate 52 is rotatably disposed on the surgical robot 101 through the rotating member 6, the above-mentioned encoder 23 is disposed on the rotating member 6 such as the center shaft to rotate by the rotating member 6.

In the above example, the distance meter 11 and the encoder 23 are both provided on the rotating member 6 to rotate by the rotating member 6. In operation, in particular, the rotating member 6, such as a central shaft, rotates the distance meter 11 and the encoder 23 together. When the laser emitted from the laser range finder 11 is perpendicular to the first wall surface 10, the distance X between the preset position base point and the first wall surface 10 can be measured, and the value measured by the encoder 23 is the included angle Φ 1 between the preset zero-degree reference line 102 and the first plane, which is perpendicular to the first wall surface 10. Similarly, when the laser emitted from the laser range finder 11 is perpendicular to the second wall surface 20, the distance Y between the preset position base and the second wall surface 20 can be measured, and accordingly, the value measured by the encoder 23 is the included angle Φ 2 between the preset zero-degree datum line 102 and another first plane perpendicular to the second wall surface 20. Where Φ 1+ Φ 2=90 degrees.

As shown in fig. 5, an embodiment of the present invention also provides a surgical robotic system including a console 200 and the surgical robotic device 100 of any of the above examples. The console 200 is used for controlling the surgical robot 101 according to an external command.

In the above embodiment, due to the arrangement of the surgical robot apparatus 100, the console 200 of the surgical robot system of the present invention can acquire the position coordinates of the surgical robot 101, so as to conveniently and accurately control the surgical robot 101, thereby satisfying the global isotropy during the surgical procedure.

In a specific application example, as shown in fig. 5, the number of the surgical robot apparatus 100 may be two or more. The number of the surgical robot apparatus 100 is specifically exemplified as two. For the sake of an aspect description, two surgical robot apparatuses 100 are taken as a first surgical robot apparatus and a second surgical robot apparatus, respectively.

The position coordinates (X1, Y1, Φ 1) of the first surgical robot and the position coordinates (X2, Y2, Φ 2) of the second surgical robot are determined by the distance measuring device 1 and the angle measuring device 2 on the surgical robot apparatus 100, respectively, and the respective position coordinates of the two surgical robots are input to the console 200. Then the following steps are adopted for operation:

1. first, a distance (X, Y) between a preset position base point of the first surgical robot and a preset position base point of the second surgical robot is determined.

2. And calculating a relative included angle phi of the two surgical robots in the coordinate system of the operating room according to the offset angle phi 1 of the first surgical robot and the offset angle phi 2 of the second surgical robot.

3. The console 200 performs global isotropic motion control of the two surgical robots according to X, Y and phi above.

4. The X, Y and phi can be modified according to the operation requirement or the operation habit of the doctor to achieve the optimal operation effect.

The working principle and preferred embodiments of the present invention are described below.

The top of the upright post 3 of the surgical robot 101 is provided with a distance measuring and positioning device. The device consists of an angle measuring device 2 and a distance measuring device 1 which are fixed on the top of a stand column 3 of a surgical robot 101.

The distance measuring device 1 comprises a distance meter 11. The rangefinder 11 may be rotated manually or motorised about a rotating member 6 such as a central shaft. The angle measuring device 2 includes a fixed scale 21 and a scale indicator 22 (such as a pointer), the central axis being concentric with the fixed scale 21. During rotation, the distance is minimized when the light beam of the rangefinder 11 is perpendicular to the wall of the operating room (one minimum in each of the X and Y directions). This minimum value is sent to the master control system of the surgical robot 101 via wireless transmission and recorded. When the minimum horizontal distance is obtained perpendicular to the wall surface, the reading phi of the scale pointer rotating along with the distance meter 11 is also the included angle between the surgical robot 101 and the minimum light beam. This angle is also input to the master control system.

Thus, the distances X and Y from the base point of the surgical robot 101 to the wall of the operating room, and the relative offset angle φ are obtained.

One scheme is that the encoder 23 reads the rotation angle phi, an absolute zero point rigidly fixed with the robot can be set, and the offset angle phi can be rapidly measured. The output of the angle can then simply be read by a digital display. For a highly configured system, it may be transmitted to the control system for processing.

In certain cases, a wall surface may be replaced with a baffle to measure and read the horizontal position and offset angle of the cart of the surgical robot 101.

The measuring device can have 2 different heights so as to avoid the shielding which can be generated when 2 operation carts are used for measuring.

Here, it should be noted that: in the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. Surgical robot apparatus with determinable position coordinates, characterized by comprising a surgical robot (101), a distance measuring device (1) and an angle measuring device (2); the distance measuring device (1) and the angle measuring device (2) are both arranged on the surgical robot (101);

the distance measuring device (1) is used for measuring the distances between a preset position base point on the surgical robot (101) and a first wall surface (10) and a second wall surface (20) in an operating room respectively; the first wall (10) is perpendicular to the second wall (20);

the angle measuring device (2) is used for measuring an included angle between a preset zero-degree datum line (102) on the surgical robot (101) and a first plane, and the first plane is perpendicular to the first wall surface (10) or the second wall surface (20).

2. A surgical robotic device with determinable position coordinates as claimed in claim 1,

distance measuring device (1) includes distancer (11), distancer (11) set up preset position base point department, with through distancer (11) measure the distance between preset position base point respectively and first wall (10) and second wall (20) in the operating room.

3. A surgical robotic device with determinable position coordinates as claimed in claim 2,

the surgical robotic device further comprises a position adjustment mechanism;

the position adjusting mechanism is used for adjusting the height of the distance measuring instrument (11).

4. A surgical robotic device with determinable position coordinates as claimed in claim 3,

the position adjusting mechanism comprises a fixed frame (5);

the fixing frame (5) is rotatably arranged on the surgical robot (101), and more than two distance meter mounting positions which are arranged along the height direction are arranged on the fixing frame (5).

5. A surgical robotic device with determinable position coordinates as claimed in claim 4,

the fixing frame (5) comprises a first support arm (51), a bottom plate (52) and a second support arm (53) which are connected in sequence;

the bottom plate (52) is rotatably arranged on the surgical robot (101) through a rotating component (6) so as to drive the fixing frame (5) to rotate together;

the first arm (51) is opposite to the second arm (53) and is positioned on the side of the base plate (52) facing away from the surgical robot (101);

the fixing frame (5) further comprises a partition plate (54), and the partition plate (54) is used for separating a clamping groove (55) serving as a distance meter mounting position between the first support arm (51) and the second support arm (53).

6. A surgical robotic device with determinable position coordinates as claimed in claim 5,

the clamping groove (55) is provided with a first side and a second side which are opposite;

the first side of the clamping groove (55) is provided with a socket for inserting the distance measuring instrument (11);

the fixing frame (5) further comprises a limiting plate (56), and the limiting plate (56) is arranged on the second side of the clamping groove (55); and the limiting plate (56) is used for limiting the distance measuring instrument (11) in the clamping groove (55) so as to prevent the distance measuring instrument (11) from being separated from the second side of the clamping groove (55).

7. A surgical robotic device with determinable position coordinates as claimed in claim 5 or 6, further comprising a drive mechanism;

the driving mechanism is used for driving the rotating component (6) to rotate.

8. A surgical robotic device with determinable position coordinates as claimed in any one of claims 1 to 6,

the angle measuring device (2) comprises a fixed dial (21) and a scale indicating piece (22) so as to measure an included angle between the preset zero-degree datum line (102) and a first plane through the cooperation of the fixed dial (21) and the scale indicating piece (22);

wherein the fixed dial (21) is fixed on the surgical robot (101), and a zero degree reference line of the fixed dial (21) is parallel to the preset zero degree reference line (102);

the scale indicator (22) is rotatably provided on the surgical robot (101) to indicate a scale on the fixed scale (21).

9. A surgical robotic device with determinable position coordinates as claimed in any one of claims 1 to 6,

the angle measuring device (2) comprises an encoder (23);

a zero-degree datum line of the encoder (23) is parallel to the preset zero-degree datum line (102);

the angle measuring device (2) measures an included angle between the preset zero-degree datum line (102) and the first plane through the encoder (23).

10. A surgical robotic system comprising a console (200) and a surgical robotic device whose position coordinates are determinable according to any one of claims 1 to 9;

wherein the console (200) is used for controlling the surgical robot (101) according to an external instruction.