CN111568558B

CN111568558B - Electronic device, surgical robot system, and control method thereof

Info

Publication number: CN111568558B
Application number: CN202010443248.0A
Authority: CN
Inventors: 孙加源; 廖志祥; 李自汉; 何超
Original assignee: Shanghai Chest Hospital; Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Chest Hospital; Shanghai Microport Medbot Group Co Ltd
Priority date: 2020-04-13
Filing date: 2020-05-22
Publication date: 2022-02-22
Anticipated expiration: 2040-05-22
Also published as: CN111568558A; CN111588472A; CN113520598B; CN111588472B; CN113520598A

Abstract

The invention relates to an electronic device, a surgical robot system and a control method thereof, aiming at acquiring the safety state of the system according to the states of a master end and a slave end, sending corresponding safety prompt information and/or safety processing measures according to the safety result of the system and combining with a preset system safety strategy so as to facilitate an operator and/or an auxiliary operator to acquire the abnormal state of the surgical robot system according to the safety prompt information and take the corresponding safety processing measures, thereby preventing the abnormal motion of the surgical robot system, ensuring the safety of a patient and ensuring the safe and smooth operation of the surgical process.

Description

Electronic device, surgical robot system, and control method thereof

Technical Field

The present invention relates to the field of surgical robots, and in particular, to a surgical robot system for respiratory diseases, a control method thereof, and an electronic device for implementing the control method.

Background

Bronchoscopes are medical instruments that are placed into the lower respiratory tract of a patient orally or nasally and are commonly used for observation, biopsy sampling, bacteriological and cytological examination of lesions of pulmonary lobes, segments and subsegments. The bronchoscope is used for carrying out alveolar lavage treatment and examination on the lung lobes of the lower respiratory tract where the focus is located, so that the detection rate and accuracy of infectious respiratory diseases can be effectively improved. Particularly for diseases such as novel coronavirus, replication and outbreak of the lower respiratory tract are often concentrated, and the nucleic acid detection accuracy of specimens obtained by alveolar lavage of the lower respiratory tract is higher than that of specimens obtained by pharyngeal swab detection. And lavage treatment directly to the lungs with a bronchoscope can also alleviate the symptoms of the lower respiratory tract.

However, the conventional bronchoscopy procedure requires a plurality of medical staff to hold the bronchoscope, and the medical staff and the patient can be in close contact. Moreover, critically ill patients mostly need to be subjected to trachea intubation or tracheotomy for ventilator assisted ventilation, and due to high exposure in the bronchoscopy process, adverse consequences of infection of operation medical personnel in the diagnosis and treatment processes are easily caused in the use of respiratory diseases with high infectivity.

Therefore, how to isolate medical care personnel from the operation infection environment and reduce the infection risk of the medical care personnel in the diagnosis and treatment process is a problem which needs to be solved urgently at present.

Disclosure of Invention

The invention aims to provide a surgical robot system, a control method thereof and electronic equipment for implementing the control method, which are used for endoscopic surgery, wherein on one hand, isolation of medical staff from a surgical infection environment is realized through master-slave control, so that the infection risk of the medical staff in the diagnosis and treatment process is reduced, on the other hand, a system safety result is obtained according to the state of a master end and the state of a slave end, and corresponding safety prompt information and/or safety processing measures are sent according to the system safety result and a preset system safety strategy, so that an operator and/or an auxiliary operator can obtain the abnormal state of the surgical robot system according to the safety prompt information and adopt the corresponding safety processing measures, thereby preventing the abnormal motion of the surgical robot system and ensuring the safety of a patient.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a surgical robot system, comprising a master terminal, a slave terminal and a control terminal, wherein the master terminal and the slave terminal are respectively connected to the control terminal in a communication manner;

the main end comprises an operation unit, the auxiliary end comprises an execution driving piece, and the execution driving piece is used for driving the endoscope to move;

the control end is used for controlling the execution driving piece to move according to the received motion information of the operation unit and a preset master-slave mapping relation;

and the control end is also used for obtaining a system safety result according to the state of the master end and the state of the slave end, and generating safety prompt information and/or safety processing measures by combining a preset system safety strategy.

Optionally, in the surgical robot system, the control end includes a posture and position control module and a safety control module which are in communication connection;

the gesture and position control module is used for controlling the execution of the movement of the driving piece according to the received movement information of the operation unit and a preset master-slave mapping relation;

the safety control module is used for obtaining a system safety result according to the state information of the master end and the slave end, and generating safety prompt information and/or safety processing measures by combining a preset system safety strategy.

Optionally, in the surgical robot system, the state of the master end includes a state of the operation unit, the state of the slave end includes a state of the actuating element, and the safety control module is further configured to obtain state information of the operation unit and the actuating element from the posture and position control module.

Optionally, in the surgical robot system, the safety prompt information includes one or more of the following information: vibration prompt, interactive software prompt, signal lamp prompt, buzzer prompt and voice prompt.

Optionally, in the surgical robot system, the surgical robot system further includes one or more of a vibration device, a display device, a signal lamp, a buzzer and a voice device, and the control end is in communication connection with one or more of the vibration device, the display device, the signal lamp, the buzzer and the voice device;

when the vibration equipment receives a vibration prompt of the control end, the vibration equipment is started and outputs vibration;

the display equipment is used for receiving and displaying the interactive software prompt of the control terminal;

the signal lamp is used for receiving the signal lamp prompt of the control end and generating a light signal;

the buzzer is used for receiving the buzzer prompt of the control end and generating buzzing;

the voice equipment is used for receiving the voice prompt of the control end and outputting voice information.

Optionally, in the surgical robot system, the operating unit includes an operating handle, which is connected to the control end in communication; the control end is used for controlling the execution driving piece to move according to the received motion information of the operating handle and a preset master-slave mapping relation; wherein the vibration device is mounted on the operating handle.

Optionally, in the surgical robot system, the display device includes a display unit disposed at the master end, the display unit includes a master end interface, and the interactive software prompt is displayed through the master end interface, and/or the display device includes an auxiliary display unit disposed at the slave end, the auxiliary display unit includes a slave end interface, and the interactive software prompt is displayed through the slave end interface.

Optionally, in the surgical robotic system, the vibration indication includes three stages of strong vibration, middle vibration and weak vibration according to amplitude, and/or the vibration indication includes three stages of high frequency, middle frequency and low frequency according to frequency, and different system safety results correspond to different amplitudes and/or frequencies.

Optionally, in the surgical robotic system, the interactive software prompt includes one or more of text information, image information, graphic information, animation information, and video information.

Optionally, in the surgical robot system, the signal light prompts are classified according to color, color temperature, frequency and light intensity, and the signal light can emit light signals with different color, color temperature, frequency and/or light intensity according to the signal light prompts so as to indicate different system safety results.

Optionally, in the surgical robot system, the buzzer prompt includes three stages of loud sound, medium sound and weak sound according to the intensity of the chirping sound, and/or includes three stages of fast frequency, medium frequency and slow frequency according to the chirping frequency, and different system safety results correspond to different chirping sounds and/or chirping frequencies.

Optionally, in the surgical robotic system, the safety handling measures include one or more of: locking a master-slave mapping relation; reconstructing a master-slave mapping relation; inhibiting partial articulation of the actuation member to facilitate positioning of the actuation member; disabling partial articulation of the actuation drive; inhibiting operation of the operation unit; and disabling the operation unit.

Optionally, in the surgical robot system, in a process of performing self-check after the surgical robot system is powered on, the safety control module is configured to obtain a state of the master terminal and a state of the slave terminal, and obtain a system safety result related to the self-check;

and if the system safety result about the self-checking indicates that the surgical robot system is not abnormal, controlling the posture and position control module to execute a safety processing measure for locking the master-slave mapping relation according to a preset system safety strategy so as to perform preoperative positioning operation on the slave end.

Optionally, in the surgical robot system, the safety control module is configured to control the operation unit to be prohibited from operating according to a preset system safety policy and/or control a part of joints of the actuating drive to be prohibited from moving according to a preset system safety policy if the system safety result regarding the self-test is that the surgical robot system is not abnormal.

Optionally, in the surgical robotic system, the state of the slave end includes a preoperative positioning state of the slave end, and after completion of the preoperative positioning operation of the slave end, the safety control module is further configured to generate a system safety result about the slave end according to the preoperative positioning state of the slave end;

and if the system safety result of the slave end is that the slave end is in the preoperative positioning state, controlling the posture and position control module to execute a safety processing measure for reconstructing a master-slave mapping relation according to a preset system safety strategy.

Optionally, in the surgical robot system, the surgical robot system further includes a preoperative positioning confirmation key or a portable preoperative positioning confirmation device communicatively connected to the safety control module;

when the safety control module receives confirmation information of the preoperative positioning confirmation key or the portable preoperative positioning confirmation equipment, a system safety result that the slave end is in a preoperative positioning state is generated.

Optionally, in the surgical robotic system, the state of the slave end comprises a preoperative stance state of the slave end, and the state of the master end comprises a preoperative readiness state of the master end;

and upon completion of a preoperative positioning operation of a slave end, the safety control module is further configured to generate a system safety result for the slave end according to a preoperative positioning state of the slave end;

the safety control module is further configured to generate a first system safety result for a master end according to a preoperative state of the master end if the system safety result for the slave end is that the slave end is already in a preoperative posed state;

and if the first system safety result about the main end indicates that the main end is in a preoperative preparation state, controlling the posture and position control module to execute a safety processing measure for reconstructing a master-slave mapping relation according to a preset system safety strategy so that the operation unit controls and executes the movement of the driving piece, and further drives the endoscope to move and perform the operation.

Optionally, in the surgical robot system, the surgical robot system further includes a sensing unit disposed at the main end, and configured to detect whether an operator is present at the main end;

the sensing unit is in communication connection with the safety control module; when the sensing unit detects that no operator exists in the main end, the safety control module generates information that the main end is not in a preoperative preparation state; when the sensing unit detects that an operator exists at the main end, the safety control module generates information that the main end is in a preoperative preparation state.

Optionally, in the surgical robot system, the state of the master end further includes an operating state of an operating unit, and when the system safety result on the slave end is that the slave end is not in the preoperative posed state, the safety control module is further configured to generate a second system safety result on the master end according to the operating state of the operating unit;

and if the second system safety result of the main end is that the operation unit is currently in the operated state, sending corresponding safety prompt information and/or safety processing measures according to a preset system safety strategy.

Optionally, in the surgical robot system, the operating unit includes an operating handle including a housing and an operating member movable relative to the housing;

the control end is used for controlling the driving piece to move according to the received movement information of the operating piece relative to the shell and a preset master-slave mapping relation.

Optionally, in the surgical robotic system, the operation unit includes an interactive interface;

the interactive interface comprises a guide pipe forward extending key, a guide pipe backward key, an upward bending key, a downward bending key, a leftward rotating key and a rightward rotating key; the catheter forward-extending key is used for driving the bronchoscope to move towards the far end, the catheter backward-moving key is used for driving the bronchoscope to move towards the near end, the upward-bending key is used for driving the tail end of the bronchoscope to bend upwards, the downward-bending key is used for driving the tail end of the bronchoscope to bend downwards, the leftward-rotating key is used for driving the bronchoscope to rotate leftwards, and the rightward-rotating key is used for driving the bronchoscope to rotate rightwards;

and the control end is used for controlling and executing the motion of the driving part according to the preset motion information corresponding to each key on the interactive interface and the preset master-slave mapping relation.

To achieve the above object, according to a second aspect of the present invention, there is provided a control method of a surgical robot system including a master end including an operation unit, a slave end including an execution drive for driving an endoscope to move, and a control end, the control method including:

receiving the motion information of the operation unit and a preset master-slave mapping relation by using the control end, and controlling the execution driving part to move;

and obtaining a system safety result by using the control end according to the state of the master end and the state of the slave end, and generating safety prompt information and/or safety processing measures by combining a preset system safety strategy.

Optionally, in the control method of the surgical robot system, the control end includes a posture and position control module and a safety control module, which are connected in a communication manner, wherein:

receiving the motion information of the operation unit and a preset master-slave mapping relation by using the attitude and position control module, and controlling to execute the motion of a driving piece;

and the safety control module is utilized to obtain a system safety result according to the state information of the master end and the slave end, and generates safety prompt information and/or safety processing measures by combining a preset system safety strategy.

Optionally, in the control method of the surgical robot system, the state of the master end includes a state of the operation unit, the state of the slave end includes a state of the execution driver, and the control method further includes:

and acquiring the state information of the operation unit and the execution driving member from the posture and position control module by utilizing the safety control module.

Optionally, in the control method of the surgical robot system, the safety prompt information includes one or more of the following information: vibration prompt, interactive software prompt, signal lamp prompt, buzzer prompt and voice prompt.

Optionally, in the control method of the surgical robot system, the surgical robot system further includes one or more of a vibration device, a display device, a signal lamp, a buzzer and a voice device, and the control end is in communication connection with the one or more of the vibration device, the display device, the signal lamp, the buzzer and the voice device, wherein:

receiving a vibration prompt of the control end by using the vibration equipment to execute safety prompt of output vibration;

receiving and displaying an interactive software prompt of the control terminal by using the display equipment;

receiving a signal lamp prompt of the control end by using the signal lamp to execute a safety prompt of outputting a light signal;

receiving a buzzer prompt of the control end by using the buzzer to execute a safety prompt of outputting a buzz;

and receiving the voice prompt of the control terminal by utilizing the voice equipment to execute the safety prompt of outputting the voice information.

Optionally, in the control method of the surgical robot system, the operation unit includes an operation handle, the vibration device is mounted on the operation handle, and the control end is used to control the execution driving member to move according to the received motion information of the operation handle and a preset master-slave mapping relationship.

Optionally, in the control method of the surgical robot system, the display device includes a display unit disposed at the main end, the display unit includes a main end interface, and the main end interface is configured to display the interactive software prompt, and/or,

the display device comprises an auxiliary display unit arranged at the slave end, the auxiliary display unit comprises a slave end interface, and the slave end interface is used for displaying the interactive software prompt.

Optionally, in the control method of the surgical robot system, the vibration prompt includes three stages of strong vibration, middle vibration and weak vibration according to the amplitude, and/or includes three stages of high frequency, middle frequency and low frequency according to the frequency, and different system safety results correspond to different amplitudes and/or frequencies.

Optionally, in the control method of the surgical robot system, the interactive software prompt includes one or more combinations of text information, image information, graphic information, animation information, and video information.

Optionally, in the control method of the surgical robot system, the signal light prompts are classified according to colors, color temperatures, frequencies and light intensities, and the signal light can emit light signals with different colors, color temperatures, frequencies and/or light intensities according to the signal light prompts so as to indicate different system safety results.

Optionally, in the control method of the surgical robot system, the buzzer prompt includes three stages of loud sound, medium sound and weak sound according to the intensity of the chirping sound, and/or includes three stages of fast frequency, medium frequency and slow frequency according to the chirping frequency, and different system safety results correspond to different chirping sounds and/or chirping frequencies.

Optionally, in the control method of the surgical robot system, the safety handling measures include one or more of the following: locking a master-slave mapping relation; reconstructing a master-slave mapping relation; inhibiting partial articulation of the actuation member to facilitate positioning of the actuation member; disabling partial articulation of the actuation drive; inhibiting operation of the operation unit; and disabling the operation unit.

Optionally, in the control method of the surgical robot system, in a process of performing self-check after the surgical robot system is powered on, the control method further includes:

acquiring the state of the master end and the state of the slave end by using the safety control module to acquire a system safety result related to self-checking;

Optionally, in the control method of the surgical robot system, the control method further includes:

if the system safety result about the self-test is that the surgical robot system is not abnormal, the safety control module controls the operation unit to be forbidden to operate according to a preset system safety strategy, and/or controls part of joints of the execution driving piece to be forbidden to move according to a preset system safety strategy.

Optionally, in the control method of the surgical robot system, the state of the slave end includes a preoperative setting state of the slave end, and after the preoperative setting operation of the slave end is completed, the control method further includes:

generating a system safety result on a slave end according to the preoperative positioning state of the slave end by utilizing the safety control module;

Optionally, in the control method of the surgical robot system, the surgical robot system further includes a preoperative positioning confirmation key or a portable preoperative positioning confirmation device communicatively connected to the safety control module, wherein when the safety control module receives confirmation information of the preoperative positioning confirmation key or the portable preoperative positioning confirmation device, a system safety result of the slave terminal whose slave terminal is already in a preoperative positioning state is generated.

Optionally, in the control method of the surgical robot system, the state of the slave includes a preoperative setting state of the slave, the state of the master includes a preoperative preparation state of the master, and after the preoperative setting operation of the slave is completed, the control method further includes:

generating a first system safety result on a master according to a preoperative state of the master if the system safety result on the slave is that the slave is already in a preoperative setting state;

and if the first system safety result of the main end indicates that the main end is in a preoperative preparation state, controlling the posture and position control module to execute a safety processing measure for reconstructing a master-slave mapping relation according to a preset system safety strategy so that the operation unit controls and executes the movement of the driving piece to further drive the endoscope to move and perform the operation.

Optionally, in the control method of the surgical robot system, the surgical robot system further includes a sensing unit disposed in the operation unit, and configured to detect whether an operator is present at the main end;

Optionally, in the control method of a surgical robot system, the state of the master further includes an operating state of an operating unit, and when the system safety result regarding the slave is that the slave is not in a preoperative stance state, the control method further includes:

generating a second system security result about the master according to the operation state of the operation unit by using the security control module;

Optionally, in the control method of the surgical robot system, the operation unit includes an operation handle including a housing and an operation member movable relative to the housing, wherein:

and controlling the driving piece to move by using the control end according to the received movement information of the operating piece relative to the shell and a preset master-slave mapping relation.

Optionally, in the control method of the surgical robot system, the operation unit includes an interactive interface;

and controlling the driving part to move by using the control end according to preset movement information corresponding to each key on the interactive interface and a preset master-slave mapping relation.

To achieve the above object, according to a third aspect of the present invention, there is provided an electronic device comprising a processor and a memory, the memory having stored thereon a computer program which, when executed by the processor, performs the method of controlling a surgical robot system as set forth in any one of the above.

The electronic equipment, the surgical robot system and the control method thereof provided by the invention have the following advantages:

first, the surgical robot system of the present invention is mainly used for endoscopic surgery, such as bronchoscope surgery for diagnosing and treating respiratory diseases, on one hand, physical isolation between medical care personnel and patients is realized through master-slave control at a master end and a slave end, infection risk of the medical care personnel in the respiratory diseases diagnosis and treatment process with strong infectivity is reduced, on the other hand, system safety state is obtained according to the state of the master end and the state of the slave end, and corresponding safety prompt information and/or safety processing measures are sent out according to the system safety result and a preset system safety strategy, so that an operator and/or an auxiliary operator can obtain abnormal state of the surgical robot system according to the safety prompt information and adopt corresponding safety processing measures, thereby preventing abnormal movement of the surgical robot system and ensuring smooth operation, and ensure the safety of the patient;

secondly, whether the surgical robot system of the present invention has a surgical status depends on the status of the slave end (e.g. preoperative positioning status of the slave end) and also depends on the status of the master end (e.g. preoperative preparation status of the master end), and the surgical robot system is determined to have the surgical status only after the master end and the slave end are both in a normal status, at this time, the safety control module controls the posture and the position control module to execute a safety processing measure for reconstructing a master-slave mapping relationship according to a preset system safety strategy, so as to allow the operation unit to drive and execute the driving member to move and further drive the endoscope to perform the surgical operation, otherwise, the safety control module does not control the posture and position control module according to the preset system safety strategy, so that the posture and position control module keeps executing the safety processing measure for locking the master-slave mapping relationship, so as to not allow the operation unit to drive and execute the driving member to move, by doing so, the movement of the executing driving piece can be ensured to be safe and controllable, the safe operation of the surgical robot system is ensured, the safety of the surgical process is ensured on the premise of not increasing additional complex equipment, and the use cost is low;

thirdly, when the surgical robot system does not have the surgical state and the operation unit is currently in the operated state, the safety protection system sends corresponding safety prompt information and/or safety processing measures according to a preset system safety strategy so as to execute the corresponding safety processing measures, thereby further ensuring the safety and the controllability of the movement of the execution driving piece and ensuring the safety of a patient.

Drawings

The features, nature, and advantages of embodiments of the invention will be described with reference to the accompanying drawings, in which:

FIG. 1 is a diagram of an application scenario of a surgical robotic system in an embodiment of the present invention;

FIG. 2 is a surgical flow chart of a surgical robotic system in accordance with a preferred embodiment of the present invention;

FIG. 3 is a block diagram of the components of the surgical robotic system in the preferred embodiment of the present invention;

FIG. 4 is a schematic diagram of system security policies in a preferred embodiment of the invention;

FIGS. 5 and 6 are flow charts illustrating the safety protection of a surgical robotic system in accordance with a preferred embodiment of the present invention;

FIG. 7 is a schematic interface diagram of the primary interface in a preferred embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a slave end according to an embodiment of the present invention;

figure 9 is a schematic view of a prior art bronchoscope.

The reference numerals are explained below:

a main terminal 1;

an operation unit 11; an operation handle 111; a display unit 13;

an interactive interface 112; a catheter forward-extending button 1121; a conduit back button 1122; upwardly curved keys 1123; bending the key 1124 downward; rotate key 1125 left; right rotation key 1126; a sputum aspiration button 1127; a sampling button 1128;

the slave end 2; an actuating drive 21; a rotation joint 211; a mobile joint 212; a fixed bracket 22; a mobile cart 23; an adaptor 24;

a bronchoscope 3; a bronchoscope body 31; a conduit 32; an injection tube 33; a suction tube 34; a suction valve switch 35; a catheter drive knob 36;

a control end 4; a posture and position control module 41; a safety control module 42; a system security policy 43; security prompt information 44; a vibration prompt 441; interactive software prompts 442; a signal light prompt 443; a buzzer alert 444; voice prompts 445; security measures 45;

a suction device 5; an irrigation fluid delivery device 6; a vibrating device 7; a display device 8; a signal lamp 9; a buzzer 12; a voice device 14; and an auxiliary display unit 15.

The same or similar elements are designated by different reference numerals in the drawings.

Detailed Description

The technical solutions in the preferred embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As used in this application, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this disclosure, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used in this disclosure, the term "plurality" is generally employed in its sense including "at least one" unless the content clearly dictates otherwise. As used in this disclosure, the term "at least two" is generally employed in a sense including "two or more" unless the content clearly dictates otherwise. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or at least two of the feature.

The core idea of the invention is to provide a surgical robot system, which is mainly used for endoscopic surgery, such as bronchoscope surgery for diagnosing and treating respiratory diseases, and the surgical robot system carries out diagnosis and treatment operations on diseases such as novel coronavirus through a robot, and realizes physical isolation between medical staff and a surgical infection environment through remote control operation at a far end, thereby not only reducing the infection risk of the medical staff in the diagnosis and treatment process, but also being beneficial to improving the diagnosis rate and the cure rate of the diseases such as the novel coronavirus. Particularly, the surgical robot system has a stable and reliable system safety strategy, and can ensure the stable and reliable operation of the surgical robot system, the safety of the surgical process and the safety of the patient on the premise of not increasing complex equipment.

The following examples further illustrate the invention in terms of a bronchoscope, but it should be understood that the invention is not limited to bronchoscopes.

Referring to fig. 1 in conjunction with fig. 3, the present embodiment relates to a surgical robot system, which includes a master end 1, a control end 4, and a slave end 2. Wherein the master end 1 comprises an operating unit 11 and the slave end 2 comprises an actuating drive 21. The control end 4 is in communication connection with the operation unit 11 and the execution driving member 21, and is configured to control the execution driving member 21 to move according to the received motion information of the operation unit and a preset master-slave mapping relationship. For example, the control terminal 4 controls the actuating driver 21 to drive the bronchoscope 3 to move according to the acquired moving speed of the operation unit 11, and controls the actuating driver 21 to drive the bronchoscope 3 to rotate according to the acquired rotating angle or rotating speed of the operation unit 11. The control terminal 4 is further configured to obtain a system security result according to the state of the master terminal and the state of the slave terminal, and generate security prompt information and/or security processing measures in combination with a preset system security policy. The operator and master 1 are preferably located in a different room than the slave 2 to achieve physical isolation of the operator from the patient. The master end 1 and the slave end 2 can be respectively arranged in different hospitals and different regions and are in communication connection through a remote communication technology. In this way, during the diagnosis and treatment of respiratory diseases, the operator performs the required operation in another room, another hospital or another city according to the image information acquired by the bronchoscope 3, and the driving member 21 is executed to repeat all the actions of the operator, thereby achieving the physical isolation of the operator from the patient during the operation. The present invention is not particularly limited to the location of the control terminal 4, and the control terminal may be provided on the master terminal 1 or a room in which the master terminal 1 is located, may be provided on the slave terminal 2 or a room in which the slave terminal 2 is located, or may be provided in a separate room.

Further, the operation unit 11 is configured to receive a position instruction and/or a speed instruction, and feed back position information and/or speed information to the control terminal 4. The control end 4 is specifically configured to perform a master-slave mapping calculation on the received position information and/or speed information to calculate a desired position and/or speed of the distal end of the bronchoscope 3, and accordingly control the execution driving unit 21 to drive the bronchoscope 3 to move according to the desired speed and/or to a desired position, so that the distal end of the bronchoscope 3 reaches a desired pose in a human body.

The present embodiment is not particularly limited in the kind and size of the bronchoscope 3. Referring to fig. 9, a conventional bronchoscope 3 is shown. In this embodiment, the bronchoscope 3 is a bronchoscope, and includes a bronchoscope body 31, a catheter 32, an injection tube 33, a suction tube 34, and a catheter driving knob 36. Preferably, the bronchoscope 3 further comprises a suction valve switch 35. The catheter 32 is adapted to be inserted into a target tissue, such as a lung, a bronchus, etc., of a patient to provide an operative access to other components. For example, the catheter 32 includes a viewing channel for inserting into a target tissue such as a lung, a bronchus, etc. of a patient, and an operator can view a lesion of the target tissue through a lens in the viewing channel. The catheter 32 may also include a functional channel in communication with the syringe 33 for performing surgical procedures such as perfusion, biopsy, and the like. For example, the operator injects a liquid (such as saline or liquid medicine) into the distal end of the catheter 32 through the injection tube 33, and the liquid flows into the lungs of the patient, thereby performing a surgical operation such as bronchoalveolar lavage. In addition, the functional channel may be in communication with a suction tube 34 through which fluid may be drawn from the distal end of the catheter 32 to draw the fluid accumulation from the patient. The suction valve switch 35 controls the opening and closing of the suction tube 34 to control the suction of the liquid. Typically, the operator needs to turn on suction by pressing the suction valve switch 35. A catheter drive knob 36 is used to drive the distal end of the catheter 32 to oscillate, and the operator can adjust the direction of oscillation of the distal end of the catheter 32 by turning the catheter drive knob 36. In addition, the functional channel may also provide a channel through which other instruments (e.g., biopsy forceps) may pass. In the use of the conventional bronchoscope 3, an operator holds the bronchoscope body 31 by hand, controls the bronchoscope 3 to deliver the bronchoscope to the front and back of the distal end, and moves the catheter 32 back and forth along the axial direction, so that the distal end of the catheter 32 advances and retreats in the target tissue of a patient; the operator can also control the bronchoscope 3 to circumferentially rotate around the axis within the range of +/-120 degrees, so that the distal end of the catheter 32 is correspondingly circumferentially rotated on the target tissue of the patient, and the position of the distal end of the catheter 32 is adjusted; operator 32 operates catheter drive knob 36 to oscillate the distal end of catheter 32 over the target tissue of the patient. In this way, adjustment of the distal end posture of the catheter 32 is achieved.

In this embodiment, in order to match the posture and position of the distal end of the bronchoscope 3, as shown in fig. 8, the execution driving unit 21 may include a rotation joint 211, a moving joint 212, and a rotation joint (not shown in the figure), wherein the automatic joint 211 is used for rotating the bronchoscope 3, the moving joint 212 is used for moving the bronchoscope 3, and the rotation joint is used for driving the catheter driving knob 36 of the bronchoscope 3 to rotate the distal end of the bronchoscope. Correspondingly, the slave end 2 further comprises three drivers in communication with the control end 4 for driving the articulation described above. Namely, the driver comprises a rotation driver for driving the rotation joint 211 to rotate; a movement driver for driving the movement joint 212 to move; and the rotary driver is used for driving the rotary joint to rotate. As shown in fig. 8, the slave end 2 further includes a movable trolley 23 and a fixed bracket 22 provided on the movable trolley. The actuating drive 21 can be supported and adjusted in position by a fixed bracket 22, and the position can be adjusted by a mobile trolley 23.

In one embodiment, the operating unit 11 may include an operating handle 111, and the operating handle 111 includes a housing and an operating member movable relative to the housing. The operation member is used for remotely operating the execution driving member 21 to move, that is, the control end controls the execution driving member to move according to the received motion information (such as speed, angle and the like) of the operation member relative to the shell and a preset master-slave mapping relation. The operating member may be one or more. The actuator is one with three degrees of freedom, for example a ball joint, for establishing a mapping with the three joints of the actuator drive 21. The number of the operating parts can also be two, namely a rotating control part and a moving control part. The rotation control member includes two degrees of freedom, such as a hooke joint, a trackball or a joystick, which respectively establish a mapping relationship with the rotation joint 211 and the rotation joint of the actuating member 21. The movement control member establishes a mapping relationship with the movement joint 212 of the actuating member 21. The number of the operating members may also be three, and the three operating members are used for establishing mapping relations with three joints of the actuating driving member 21 respectively.

In another embodiment, the operation unit 11 includes an interactive interface 112. As shown in fig. 7, the interface 112 includes a catheter forward button 1121, a catheter backward button 1122, an upward flex button 1123, a downward flex button 1124, a left turn button 1125, and a right turn button 1126. The forward catheter button 1121 is configured to actuate the bronchoscope 3 to move distally, the backward catheter button 1122 is configured to actuate the bronchoscope 3 to move proximally, the upward bending button 1123 is configured to actuate the bronchoscope tip to bend upward, the downward bending button 1124 is configured to actuate the bronchoscope tip to bend downward, the leftward rotation button 1125 is configured to actuate the bronchoscope to rotate leftward, and the rightward rotation button 1126 is configured to actuate the bronchoscope to rotate rightward. And the control end 4 controls the driving part to move according to preset movement information (such as speed, angle and the like) corresponding to each key on the interactive interface and a preset master-slave mapping relation. It will be understood by those skilled in the art that the upper, lower, left and right are used only to describe the relationship of the moving direction when the keys actuate the bronchoscope, and do not limit the functions of the keys. In this embodiment, the key may be a physical key or a virtual key.

Further, the main terminal 1 further includes a display unit 13 (see fig. 1), the display unit 13 is in communication connection with the control terminal 4, and the display unit 13 includes a main terminal interface for displaying. Fig. 7 illustrates a main end interface display during a surgical procedure. The interactive interface 112 is disposed on the main-end interface. In addition, the main interface can also display operation images. Correspondingly, the control terminal 4 further includes the image signal processing and transmitting module, which is communicatively connected to the bronchoscope 3 to receive the image signal from the bronchoscope 3 about the surgical environment (e.g., surgical instrument, target lesion, tissue organ and its surrounding tissue organ, blood vessel), and perform image processing such as noise reduction and sharpening on the image signal. Further, the image signal processing and transmitting module is also in communication connection with the display unit 13, so that the display unit 13 displays an image according to the processed image signal, thereby enabling an operator to perform a next operation based on the image signal captured by the bronchoscope 3, for example, to control the adjustment of the position of the bronchoscope 3. The interactive interface 112 may be displayed in a manner of being superimposed on the operation image, or may be displayed in different areas of the main interface. The slave terminal 2 further comprises an auxiliary display unit 15 for communicative connection with the control terminal 4. The auxiliary display unit 15 includes a slave interface for display. The image information and/or the interactive software prompt which are transmitted by the control end 4 and collected by the bronchoscope 3 are arranged on the slave end interface. The auxiliary display unit 15 is disposed in the operating room in a room with the slave terminal 2.

When the preoperative preparation is carried out, the bronchoscope 3 is manually placed into the lower respiratory tract of a patient through the mouth or the nose by an auxiliary operator, and in the process, the auxiliary operator can observe the movement and the position of the bronchoscope 3 in the intubation process in real time through the auxiliary display unit 15, so that the pre-intubation of the bronchoscope 3 is completed. During operation, on one hand, image information about the operation condition (such as tissue organ at the end position of the bronchoscope, the working state of the operation instrument, etc.) acquired by the bronchoscope 3 is displayed by the display unit 13, and the operator can observe the operation condition in real time through the display unit 13, determine the expected pose and/or operation of the bronchoscope 3, and then control the execution driving member 21 through teleoperation of the operation handle 111 to control the movement of the bronchoscope 3 in the patient and the operation (such as perfusion, suction, biopsy, etc.).

To actuate the bronchoscope 3 for irrigation, suction and other surgical procedures, the slave end 2 further comprises a suction device 5 and a lavage fluid delivery device 6, as shown in fig. 9. The lavage fluid delivery device 6 is communicated with the injection tube 33 and is used for delivering the perfusion fluid to the target tissue of the human body; the suction device 5 is communicated with the suction tube 34 and is used for pumping the effusion out of the human body. The control end 4 further comprises a perfusion and suction control module, which is in communication connection with the suction device 5 and the lavage liquid delivery device 6, and is used for controlling the opening of the suction device 5 and the lavage liquid delivery device 6, and the operation parameters. Correspondingly, the operation unit 11 is provided with a lavage liquid delivery key and a suction key which are in communication connection with the perfusion and suction control module and used for receiving perfusion or suction instructions. Preferably, lavage liquid is carried the button, is inhaled the button setting on the operating parts, is convenient for operate. Of course, the operation unit 11 may include a general key. When the control terminal 4 senses that the suction device 5 and the lavage fluid delivery device 6 are connected with the control terminal 4, the control terminal 4 maps the universal key to be used for receiving a perfusion or suction instruction. In another embodiment, the interactive interface 112 includes a sputum aspirating button 1127 and a sampling button 1128. Similarly, the sputum suction button 1127 and the sampling button 1128 are communicatively connected to the perfusion and aspiration control module for receiving perfusion or aspiration commands.

Fig. 2 is a flow chart of the operation of the surgical robotic system in the preferred embodiment of the present invention. As shown in fig. 2, the surgical procedure of the surgical robot system of the present embodiment preferably includes:

step S00: starting up;

step S01: the method comprises the steps of performing power-on self-test, wherein the self-test work comprises the steps of checking whether each joint of an execution driving part 21 normally rotates, whether a sensor normally works, whether a main end 1 and a slave end 2 can normally communicate with a control end 4, and obtaining the instrument type of the bronchoscope, the human-computer interaction and control parameter information (the human-computer interaction and control parameter information is used for enabling the main end 1 and the slave end of the execution driving part 21 to be matched in a master-slave control mapping relation, such as the three-direction movement range of different bronchoscopes 3, the mapping proportion of the speed and/or the position of the main end and the slave end, the preset speed when an interaction interface 112 is used as an operation unit, and the like);

step S02: the operation unit 11 is controlled to be in an operation locking state, the operation unit 11 cannot teleoperate the execution driving member 21, for example, the control end 4 receives the motion state of the operation handle 111, but the execution driving member 21 is not controlled to drive the bronchoscope 3 to move and the operation is not performed accordingly, that is, the operation handle 111 cannot teleoperate the execution driving member 21 to drive the bronchoscope 3 to move and the operation is performed; further, the operation unit 11 is also controlled to prohibit operation, such as graying of the catheter extending button 1121 in fig. 7, so as to facilitate the positioning operation of the actuating member 21 and ensure safe operation; further, the control end 4 controls part of joints of the executing driving member 21 to be prohibited from moving according to a preset system safety strategy, for example, if the rotation joint 211 and the moving joint 212 do not need to be subjected to positioning operation, the joints can be locked, so as to facilitate an operator to adjust the other joints;

step S03: preoperative positioning, which is completed by an auxiliary operator entering an operating room, and the slave end (such as the execution driving piece 21 and the fixed bracket 22) is in a preoperative positioning state through preoperative positioning operation; the preoperative positioning operation includes configuring the actuation drives 21 to be in a proper posture (for example, a posture at which the working space of the actuation drives 21 is maximized) by adjusting the actuation drives 21 and the fixing brackets 22; further, the pair of slave end 2 preoperative positioning operations may further include that the bronchoscope 3 is mounted on the actuating drive 21, and the tail end of the bronchoscope 3 is placed in the lower respiratory tract of the patient, and other operation preparation works;

step S04: after preoperative positioning is finished, assisting an operator to finish preoperative positioning confirmation so as to confirm that the slave end 2 is in a preoperative positioning state; the preoperative positioning confirmation operation can be completed on the slave end 2, for example, a corresponding preoperative positioning confirmation key is arranged on the actuating drive member 21, and pressing the key represents that the preoperative positioning of the actuating drive member 21 is completed; the preoperative positioning confirmation operation can be realized through a portable preoperative positioning confirmation device (such as a mobile phone and a tablet digital device), and the portable preoperative positioning confirmation device is in communication connection with the control terminal 4;

step S05: after the auxiliary operator finishes preoperative positioning confirmation, the surgical robot system has a surgical state, the operation unit 11 is controlled to enter an operation unlocking state, the master-slave mapping relation is reestablished between the execution driving part 21 and the operation unit 11, and the control end 4 allows the operation unit 11 to perform teleoperation on the execution driving part 21; further, the operation lock of the operation unit 11 is released, if the operation unit 11 is locked at step S02; further, the joint in which the actuating member 21 is locked is unlocked, if part of the joints of the actuating member 21 is prohibited from moving at step S02;

step S06: when the surgical robot system is in the surgical state and the operation unit 11 enters the operation unlocking state, the execution driving member 21 and the operation handle 111 reestablish the master-slave mapping relationship, and further, the operation lock of the operation handle 111 is released (if the operation handle is locked before), and the joint locked by the execution driving member 21 is unlocked; an operator (such as a doctor) can remotely control the execution driving member 21 to drive the bronchoscope 3 to move and perform a surgical operation, such as lavage, effusion collection or biopsy on alveoli, by operating the operating handle 111 according to the image information displayed by the display unit 13;

step S07: after the operation is finished, the auxiliary operating personnel (such as nurses) enter the operating room again to perform the operation evacuation, and the whole operation is completed.

It should be noted that, in step S04, if the operation of "preoperative positioning confirmation" has not been performed after the auxiliary operator enters the operating room, the surgical robot system does not have the operation state, and the operation unit 11 is always controlled to be in the operation locked state. Therefore, before preoperative positioning confirmation, the operation unit 11 is always in an operation locking state, so that the action of the execution driving piece is safe and controllable, the safe operation of the execution driving piece is realized, and the safety of a patient is ensured. It should be understood that when the operation unit 11 is in the operation unlocking state, the control end 4 receives the motion state of the operation handle 111, and can control the execution driving member 21 to drive the bronchoscope 3 to move and the operation accordingly, that is, the operation handle 111 can realize the teleoperation to control the execution driving member 21 to drive the bronchoscope 3 to move and the operation.

Fig. 3 is a block diagram of a surgical robot system according to a preferred embodiment of the present invention. As shown in fig. 3, the control terminal 4 includes a safety control module 42 and a posture and position control module 41 which are connected in communication. The posture and position control module 41 is configured to control the execution driving member to move according to the received motion information of the operation unit 11 and a preset master-slave mapping relationship. For example, the posture and position control module 41 performs a master-slave mapping calculation on the received position information and/or velocity information to calculate a desired position and/or velocity of the distal end of the bronchoscope 3, respectively, and accordingly controls the actuating driver 21 to drive the bronchoscope 3 to move at a desired velocity and/or to a desired position, so as to bring the distal end of the bronchoscope 3 to a desired pose in the human body. In this way, the operation information of the operation unit 11 is mapped to the actuator 21 by the attitude and position control module 41, so that the actuator 21 reproduces the desired action of the operator. Further, the posture and position control module 41 determines whether to control the actuator 21 to drive the bronchoscope 3 and the operation according to the control of the safety control module 41. More specifically, when the operation unit 11 is controlled to enter the operation-locked state, the posture and position control module 41 does not allow the operation unit 11 to perform the remote operation of the actuator 21; on the contrary, when the operation unit 11 is controlled to enter the operation unlocking state, the posture and position control module 41 allows the operation unit 11 to perform the remote operation on the actuating member 21.

Furthermore, the security control module 42 is configured to obtain a system security result according to the state of the master 1 and the state of the slave 2, and generate a security prompt message 44 and/or a security processing measure 45 in combination with a preset system security policy 43 (see fig. 4). Further, the safety control module 42 is configured to obtain a system safety result according to the status information of the operating unit 11 and the actuating element 21, and generate a safety prompt message 44 and/or a safety processing measure 45 in combination with a preset system safety policy 43. Further, the safety control module 42 acquires the status information of the operation unit 11 and the actuating drive 21 from the attitude and position control module 41. In other embodiments, the safety control module 42 may also directly obtain status information from the operating unit 11 and other devices of the master 1, and directly obtain status information from the executive driver 21 and other devices of the slave 2. Furthermore, the safety control module 42 may execute the safety processing measure 45 by controlling the posture and position control module 41 and/or the operation unit 11. In this embodiment, the manner in which the safety control module 42 acquires the state of the master 1 and the state of the slave 2 is not particularly limited, and the safety control module 42 may actively acquire the state of the master 1 and the state of the slave 2, or the master 1 and the slave 2 may actively transmit the state information to the safety control module 42.

Further, the safety control module 42 is in communication connection with one or more of the vibration device 7, the display device 8, the signal lamp 9, the buzzer 12 and the voice device 14 to realize the output of the safety prompt message 44.

As shown in fig. 4 in conjunction with fig. 3, the security prompt 44 includes, but is not limited to, issuing one or more of the following:

a vibration prompt 441 for transmitting to the operation unit 11 to remind an operator that a certain safety problem occurs in the surgical robot system, so that the operator can collect corresponding safety measures; for example, a vibration device 7, such as a motor, which is in communication connection with the safety control module 42 is mounted on the operation handle 111 of the operation unit 11, and when the vibration device 7 receives the vibration prompt 441 of the safety control module 42, the vibration device is turned on and outputs vibration, so that an operator can obtain a system safety result;

interactive software prompts 442; for example, the display device 8, such as the display unit 13, receives the prompt of the interactive software 442 of the safety control module 42, and displays the interactive software prompt 442 on the main interface of the display unit 13, so as to facilitate the operator to obtain the system safety result according to the interactive software prompt 442 on the display unit 13 and determine the next surgical operation, or the auxiliary display unit 15 includes a slave interface, and is configured to receive the interactive software prompt 442 of the safety control module 42, and display the interactive software prompt 442 on the slave interface of the auxiliary display unit 15, so as to facilitate the auxiliary operator to obtain the system safety result according to the interactive software prompt 442 on the auxiliary display unit 15 and determine the next surgical operation;

a signal light prompt 443; for example, the master terminal 1 and/or the slave terminal 2 may further include a signal lamp 9 communicatively connected to the safety control module 42 for receiving a signal lamp indication 443 of the safety control module 42, so that an operator and/or an auxiliary operator can obtain a system safety result according to an indication state of the signal lamp 9;

a buzzer alert 444; for example, the master 1 and/or the slave 2 may further include a buzzer 12 communicatively connected to the safety control module 42, and configured to receive a buzzer prompt 444 of the safety control module 42, so that an operator and/or an auxiliary operator may obtain a system safety result according to a buzzer state of the buzzer 12;

voice prompts 445; for example, the master 1 and/or the slave 2 may further include a voice device 14 communicatively connected to the security control module 42 for receiving a voice prompt 445 from the security control module 42, so that the operator and/or the assistant operator can obtain the system security result according to the voice prompt 445.

Further, the vibration prompt 441 may include three stages of strong vibration, middle vibration and weak vibration according to the amplitude; the vibration indication 441 may include three stages of high frequency, medium frequency and low frequency according to the frequency. Each file may correspond to a different system security outcome. In addition, the vibration prompt 441 may include nine steps of high vibration intensity frequency, medium vibration intensity frequency and the like according to the combination of frequency and amplitude. In this manner, the vibration prompt 441 may provide the operator with more feedback on the safety outcome of the system. In the present embodiment, a vibration adjusting switch may be provided at the operation unit 11, by which the vibration mode of the vibration device 7 is adjusted.

Further, the interactive software prompt 442 may include one or more combinations of textual, graphical, animated, and video information. By displaying the interactive software prompts 442 on the master-side interface and/or the slave-side interface, the operator and/or the auxiliary operator can quickly and conveniently learn about the system safety results. In addition, the content of the interactive software prompt 442 may be failure information, a processing method for resolving the failure, and the like.

Further, the signal light prompts 443 can be classified according to color, color temperature, frequency and light intensity. The signal lamp 9 may emit light signals of different colors, color temperatures, frequencies and/or light intensities according to the signal lamp prompt 443 to display different system safety results.

Further, the buzzer prompt 444 can include three stages of loud sound, medium sound and weak sound according to the intensity of the sounding sound; the third gear may be a fast gear, a medium gear and a slow gear according to the frequency of the beep. Each gear corresponds to a different system safety result so that the operator and/or an auxiliary operator can obtain the system safety result from the beeping of the buzzer 12. In addition, the buzzer alert 444 may also include nine steps based on a combination of frequency and amplitude.

In addition, the security control module 42 may generate a security measure 45 according to the system security result and the preset system security policy 43. For example, the safety control module 42 is communicatively connected to the attitude and position control module 41 to control the attitude and position control module 41 to execute the safety processing measures 45. The security measures 45 may include one or more of the following: locking a master-slave mapping relation; reconstructing a master-slave mapping relation; inhibiting partial articulation of the actuation member to facilitate positioning of the actuation member; disabling partial articulation of the actuation drive; inhibiting operation of the operation unit; and unblocking the operation of the operation unit, etc.

The system security policy 43 includes the system security result and the corresponding security processing measures 45 and/or security hint information 44. Different types of system security results may have corresponding security measures 45, or corresponding security hints 44, or a combination of corresponding security measures and security hints. Different system security result types may have one or more corresponding security processing measures and one or more corresponding security prompts. For example, when the safety control module 42 performs a system safety patrol to obtain a system safety result about a serious failure of the actuating element 21, the safety control module 42 sends a vibration prompt 441 with strong vibration to the vibration device 7 such as a motor according to a preset system safety policy 43 to prompt the operator to stop the surgical operation; in addition, the safety control module 42 may also send an interactive software prompt 442 to the display unit 13 in the operation unit 11, the content of the interactive software prompt 442 including the cause of the critical failure and the recommended resolution; the safety control module 42 may also send a signal light prompt 443 to the signal light 9 and a buzzer prompt 444 to the buzzer 12, causing the signal light 9 to display red and flash quickly, and the buzzer 12 to sound with a strong sound; and the safety control module 42 informs the posture and position control module 41 to lock the joint of the actuator 21 and stop the operation of the actuator 21, thereby protecting the safety of the patient.

Referring back to fig. 2, in a preferred embodiment, after the surgical robot system is powered on, the power on self-test of step S01 is performed, and at this time, the security control module 42 obtains the status of the master 1 and the status of the slave 2, and obtains the system security result related to the self-test. For example, the state of the slave end 2 includes the working state of each joint of the actuating drive 21, the working state of the sensor of the actuating drive 21, the communication state of the slave end 2 and the control end 4, the existence state of the instrument type of the bronchoscope, the existence state of the human-computer interaction and control parameter information, and the like; the state of the master 1 includes an operation state of a sensor of the operation unit, a communication state of the master 1 and the control 4, and the like. If the system safety result of the self-test indicates that the surgical robot system is not abnormal, the safety control module 42 controls the posture and position control module 41 to perform a safety process for locking the master-slave mapping relationship according to the system safety strategy 43 (i.e., step S02) to facilitate the preoperative positioning operation of the actuating member 21 and the fixing bracket 22. Further, if the system safety result regarding the self-test is that the surgical robot system is not abnormal, the safety control module 42 controls the operation unit 11 to perform a safety process measure in which the operation is prohibited, according to the system safety policy 43. Further, if the system safety result regarding the self-test is that the surgical robot system has no abnormality, the safety control module 42 controls the safety process measure to perform the motion inhibition of the partial joints of the driving member 21 according to the system safety policy 43. Further, in step S03, the assist operator performs the preoperative positioning operation on the actuator driver 21.

After the preoperative positioning is completed, the assistant operator confirms the preoperative positioning of the slave end in step S04. Upon preoperative positioning confirmation, the safety control module 42 generates a system safety result regarding the slave according to the preoperative positioning state of the slave, and generates a safety treatment 45 according to the system safety result regarding the slave and in combination with the system safety strategy 43. When the system safety result of the slave end is that the slave end 2 is already in the preoperative setting state, according to the system safety strategy 43, the safety control module 42 executes step S05, that is, the surgical robot system is considered to have the surgical state, and controls the posture and position control module 41 to execute the safety processing measures for reconstructing the master-slave mapping relationship, so as to allow the operation unit 11 to perform the teleoperation on the execution driving member 21. When the slave 2 is not in the preoperative setting state as a result of the system safety of the slave, the safety control module 42 does not control the attitude and position control module 41 according to the system safety strategy 43, that is, the operation unit 11 is still in the operation locking state, that is, the surgical robot system does not have the operation state. The present embodiment is not particularly limited to the manner of performing preoperative positioning confirmation, for example, a preoperative positioning confirmation key or a portable preoperative positioning confirmation device is communicatively connected to the safety control module 42, and when the safety control module 42 receives confirmation information of the preoperative positioning confirmation key or the portable preoperative positioning confirmation device, a system safety result that the slave terminal 2 is already in the preoperative positioning state is generated.

Fig. 5 is a flow chart illustrating the safety protection of the surgical robot system according to the preferred embodiment of the present invention. As shown in fig. 5 in combination with fig. 2, in step S03, the operator is assisted in performing preoperative positioning operation on the slave end 2. In step S04, the assistant operator completes the preoperative positioning confirmation to confirm that the slave end 2 is already in the preoperative positioning state, and the safety control module 42 generates a system safety result for the slave end according to the preoperative positioning state of the slave end 2. In the present embodiment, when the system safety result regarding the slave end is that the slave end 2 is already in the preoperative setting state, the safety control module 42 does not control the posture and position control module 41 to perform the safety processing measures for reconstructing the master-slave mapping relationship therewith. At this time, the safety control module 42 further determines whether the surgical robot system has a surgical state according to the preoperative preparation state of the main terminal 1, and allows the operation unit 11 to enter an operation unlock state. Further, the preoperative preparation state of the main terminal 1 includes whether an operator is present at the main terminal 1 or not, and the like.

In step S04, when the assistant operator of the operating room presses the preoperative setting confirmation button on the actuating drive for confirming that the slave end 2 is in the preoperative setting state, the safety control module 42 executes the following safety protection process, i.e. after the process S500 is started, the following steps are executed:

step S501: the safety control module 42 obtains the preoperative positioning state of the slave terminal 2, for example, receives confirmation information of a preoperative positioning confirmation key (or a portable preoperative positioning confirmation device), and generates a system safety result that the slave terminal 2 is already in the preoperative positioning state. Thereafter, the process proceeds to step S502 according to the preset system security policy 43.

Step S502: the state of the main terminal 1 further comprises a preoperative state of the main terminal 1; the safety control module 42 generates a first system safety result with respect to the main terminal according to the pre-operation state of the main terminal 1. If the first system safety result about the main end is that the main end 1 is already in the pre-operation preparation state, the method proceeds to step S05, in which the safety control module 42 determines that the surgical robot system has the surgical state according to the preset system safety policy 43, and controls the posture and position control module 41 to perform a safety processing measure for reconstructing the master-slave mapping relationship. At this time, the next step S06 is proceeded to, the operation unit 11 controls the actuating unit 21 to move so as to actuate the bronchoscope 3 and the operation. If the first system safety result of the main terminal indicates that the main terminal 1 is not in the pre-operation preparation state, the safety control module 42 is not allowed to control the posture and position control module 41 to execute the safety processing measure for reconstructing the master-slave mapping relationship, that is, the system safety result in step S503 is obtained, that is, it is determined that the surgical robot system does not have the surgical state and cannot be operated, and at this time, the safety control module 42 may generate corresponding safety prompt information to prompt the operator to pay attention to the safety problem.

In this embodiment, the main terminal 1, for example, the operation unit 11 or the display unit 13, is further provided with a sensing unit, which is in communication connection with the safety control module 42 and is used for detecting whether an operator is present at the main terminal 1. The safety control module 42 generates a system safety result that the main terminal 1 is already in a preoperative state or a system safety result that the main terminal 1 is not yet in a preoperative state according to the detection information received from the sensing unit. The sensing unit 14 may be, for example, a photoelectric switch, and is disposed on the display unit 13 for detecting whether there is an operator in a detection range of the photoelectric switch.

In step S05, after the surgical robot system has the surgical status, the safety control module 42 controls the posture and position control module 41 to execute a safety processing measure for reconstructing the master-slave mapping relationship according to the system safety policy 43, and then the next step S06 is executed. That is, after the confirmation of the slave end 2 and the double confirmation of the master end 1, the operator is allowed to perform the master-slave control operation through the operation unit 11, and finally the surgical operation is performed on the actuating drive 21. Otherwise, the safety control module 42 determines that the surgical robot system does not have a surgical status, and at this time, the operation unit 11 cannot control the movement of the execution driving unit 21 to drive the bronchoscope 3 to move and perform the surgical operation. When it is determined that the surgical robot system does not have the surgical status or has the surgical status, step S504 is executed to end the flow.

Fig. 6 is a flow chart of the safety protection of the surgical robotic system in the preferred embodiment of the present invention. As shown in fig. 6, the safety control module 42 further preferably executes the following safety protection process, that is, after the process S600 is started, the following steps are executed:

step S601: after the safety control module 42 generates the system safety result that the slave terminal 2 is already in the preoperative setting state, the step S602 is executed in combination with the preset system safety strategy 43; or, after the system safety result that the slave terminal 2 is not in the preoperative positioning state is generated, the step S603 is executed in combination with the preset system safety strategy 43;

step S602: that is, in step S05, the safety control module 42 controls the posture and position control module 41 to execute safety processing measures for reconstructing the master-slave mapping relationship, so as to allow the operator to control the movement of the actuating member 21 through the operation unit 11 to drive the bronchoscope 3 to move and the operation procedure.

Step S603: the state of the master terminal also comprises the operation state of the operation unit; the safety control module 42 generates a second system safety result with respect to the master according to the operation state of the operation unit 11. If the second system security result of the primary end is that the operation unit 11 is currently in an already-operated state, the security control module 42 sends the security prompt information in step S604 and/or the security processing measures in step S605 according to a preset system security policy. And the corresponding component executes the security prompt and the security handling measures. Here, "the operation unit 11 is currently in the operated state" includes a state in which the operation unit 11 has sent the posture and position control module 41 a command to drive the bronchoscope 3 to move or perform the surgical operation. For example, the operator has operated the state in which the operation handle 111 intends to extend the bronchoscope 3. For another example, the operator has operated the operation handle 111 in an attempt to cause the bronchoscope 3 to perform a surgical operation for suctioning sputum. And when the second system security result about the master is that the operation unit 11 is not currently in the already-operated state, step S606 is executed to end the entire process. It should be understood that "the operation unit 11 is not currently in the already-operated state" includes a state in which the operation unit 11 does not send the driving of the bronchoscope 3 or the operation to the posture and position control module 41.

Therefore, by executing the safety protection flow shown in fig. 6, the safety of the surgical robot system can be further improved, and a safety problem caused by the operator operating the operation unit 11 when the actuator 21 does not have a surgical state can be avoided.

In this embodiment, when the actuating element 21 does not have the surgical status and the operating unit 11 is in the operating status, the safety prompt information sent by the safety control module 42 may include a vibration prompt 441, such as a weak vibration prompt. In addition, when the actuating member 21 does not have the operation status and the operation unit 11 is in the operation status, the safety prompt message sent by the safety control module 42 may further include the interactive software prompt 442.

As shown in fig. 7, if the operator selects the catheter extension button 1121 when the preparation before operation is not completed from the tip 2, the posture and position control module 41 acquires information that the catheter extension button is selected, and then transmits the information to the safety control module 42. The safety control module 42 generates a system safety result (i.e. the slave terminal 2 is not in the preoperative setting state, and the operation unit 11 is in the already-operated state), and accordingly, sends out a safety prompt message in combination with a preset system safety strategy. For example, the security prompt information includes interactive software prompts 442. That is, the security control module 42 issues an interactive software prompt 442 to the display unit 13. The main interface of the display unit 13 further includes a safety prompt information display area for displaying an interactive software prompt 442, such as a text message "please confirm that the patient end is ready to start operation after completing the pre-operation preparation". Optionally, the safety prompt information display area is at the uppermost position of the interactive interface 112.

In addition, the safety prompt information issued by the safety control module 42 may also include a signal light prompt 443, for example, the signal light prompt 443 is a slow flashing green to a slow flashing blue. The security prompt message issued by the security control module 42 may also include a buzzer prompt 444, such as the buzzer prompt 444 being a beep with a weak gear.

Further, an embodiment of the present invention further provides an electronic device, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the security protection process of the control terminal 4 is performed. The present invention is not particularly limited in kind of processor. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor 301 (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or it may be any conventional processor or the like which is the control center for the electronic device and which connects the various parts of the overall electronic device using various interfaces and lines. Also, the present invention has no particular limitation on the kind of the memory. The memory may be non-volatile and/or volatile memory. The non-volatile Memory may include Read Only Memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), variable resistive Memory (ReRAM), phase change Memory (PCRAM), or Flash Memory (Flash Memory). Volatile memory can include Random Access Memory (RAM), registers, or cache. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It should be understood that the type of the control end is not particularly limited, and the control end may be hardware for executing Logic operation, such as a single chip, a microprocessor, a Programmable Logic Controller (PLC) or a Field-Programmable Gate Array (FPGA), or a software program, a function module, a function, a target library (Object Libraries) or a Dynamic Link library (Dynamic-Link Libraries) for implementing the above functions on a hardware basis. Alternatively, a combination of the above two. The skilled person will know how to implement the functions of the control terminal based on the disclosure of the present application.

To sum up, the surgical robot system of the present invention is mainly used for endoscopic surgery, such as bronchoscope surgery for diagnosing and treating respiratory diseases, on one hand, the medical care personnel and the patient are physically isolated through the master end and the slave end through master-slave control, the infection risk of the medical care personnel in the respiratory disease diagnosis and treatment process with strong infectivity is reduced, on the other hand, the system safety state is obtained according to the state of the master end and the state of the slave end, and corresponding safety prompt information and/or safety processing measures are sent out according to the system safety result and the preset system safety strategy, so that the operator and/or the auxiliary operating personnel can obtain the abnormal state of the surgical robot system according to the safety prompt information and adopt the corresponding safety processing measures, thereby preventing the abnormal movement of the surgical robot system and ensuring the smooth operation of the surgery, and ensures the safety of the patient.

In addition, whether the surgical robot system of the present invention has the surgical status depends on not only the status of the slave (e.g., preoperative positioning status of the slave), but also depends on the state of the master end (such as the preoperative preparation state of the master end), and the surgical robot system is determined to have the surgical state only after the master end and the slave end are in the normal state, at this time, the safety control module controls the posture and position control module to execute safety processing measures for reconstructing a master-slave mapping relation according to a preset system safety strategy so as to allow the operation unit to drive the execution driving piece to move, and then driving the bronchoscope to move and the operation, otherwise, the safety control module does not control the posture and position control module according to a preset system safety strategy, so that the posture and position control module keeps executing a safety processing measure for locking the master-slave mapping relation, and the operation unit is not allowed to drive the driving piece to move. By doing so, can ensure that the motion of carrying out the driving piece is safe and controllable, guarantee the safe operation of surgical robot system, guarantee the security of operation process moreover under the prerequisite that does not increase extra complicated equipment, use cost is low.

In addition, when the surgical robot system does not have a surgical state, and the operating unit is currently in the operating state, the safety protection system sends corresponding safety prompt information and/or safety processing measures according to a preset system safety strategy so as to execute the corresponding safety processing measures, so that the safety and the controllability of executing the movement of the driving piece can be further ensured, and the safety of a patient can be ensured.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the present invention.

Claims

1. The surgical robot system is characterized by comprising a master end, a slave end and a control end, wherein the master end and the slave end are respectively in communication connection with the control end;

the control end is also used for obtaining a system safety result according to the state of the master end and the state of the slave end, and generating safety prompt information and/or safety processing measures by combining a preset system safety strategy;

the control end comprises a posture and position control module and a safety control module which are in communication connection;

the gesture and position control module is used for controlling the execution driving piece to move according to the received motion information of the operation unit and a preset master-slave mapping relation;

the safety control module is used for obtaining a system safety result according to the state information of the master end and the slave end, and generating safety prompt information and/or safety processing measures by combining a preset system safety strategy;

in the process of executing self-checking after the surgical robot system is started, the safety control module is configured to acquire the state of the master end and the state of the slave end and acquire a system safety result related to the self-checking;

2. The surgical robotic system of claim 1, wherein the status of the master end includes the status of the operating unit, the status of the slave end includes the status of the actuating drive, and the safety control module is further configured to obtain status information of the operating unit and the actuating drive from the attitude and position control module.

3. A surgical robotic system as claimed in claim 1 or 2, wherein the safety cue information comprises one or more of the following: vibration prompt, interactive software prompt, signal lamp prompt, buzzer prompt and voice prompt.

4. The surgical robotic system of claim 3, further comprising one or more of a vibration device, a display device, a signal light, a buzzer, and a voice device, and wherein the control terminal is communicatively coupled to one or more of the vibration device, the display device, the signal light, the buzzer, and the voice device; wherein:

starting and outputting vibration after the vibration equipment receives the vibration prompt of the control end;

5. The surgical robotic system as claimed in claim 4, wherein the operating unit includes an operating handle communicatively connected to the control end; the control end is used for controlling the execution driving piece to move according to the received motion information of the operating handle and a preset master-slave mapping relation; wherein the vibration device is mounted on the operating handle.

6. The surgical robotic system according to claim 4, wherein the display device comprises a display unit disposed at the master, the display unit comprising a master interface through which the interactive software cues are displayed, and/or wherein the display device comprises an auxiliary display unit disposed at the slave, the auxiliary display unit comprising a slave interface through which the interactive software cues are displayed.

7. A surgical robotic system as claimed in claim 4, characterized in that the vibration cues include three steps of strong vibration, medium vibration, weak vibration, and/or, according to frequency, high frequency, medium frequency, and low frequency, and different system safety outcomes correspond to different amplitudes and/or frequencies.

8. The surgical robotic system as claimed in claim 4, wherein the interactive software cues comprise one or more combinations of textual information, image information, graphical information, animated information, and video information.

9. A surgical robotic system as claimed in claim 4, wherein the signal light cues are categorized according to colour, colour temperature, frequency and light intensity, and the signal light cues are capable of emitting light signals of different colour, colour temperature, frequency and/or light intensity to indicate different system safety outcomes.

10. A surgical robotic system as claimed in claim 4, wherein the buzzer cues comprise three steps of loud, medium and weak sounds, depending on the intensity of the beeping sound, and/or three steps of fast, medium and slow frequencies, depending on the frequency of the beeping, and different system safety outcomes correspond to different beeping sounds and/or frequencies.

11. The surgical robotic system as claimed in claim 1, wherein the safety handling measures include one or more of: locking a master-slave mapping relation; reconstructing a master-slave mapping relation; inhibiting partial articulation of the actuation member to facilitate positioning of the actuation member; disabling partial articulation of the actuation drive; inhibiting operation of the operation unit; and disabling the operation unit.

12. A surgical robotic system as claimed in claim 11, wherein the safety control module is configured to control the operating unit to be inhibited from operating according to a preset system safety strategy and/or to control part of the joints of the actuation drive to be inhibited from moving according to a preset system safety strategy if the system safety result on the self-test is that the surgical robotic system is not abnormal.

13. The surgical robotic system as claimed in claim 11, wherein the state of the slave end includes a preoperative stance state of the slave end, and upon completion of a preoperative stance operation of the slave end, the safety control module is further configured to generate a system safety result for the slave end in accordance with the preoperative stance state of the slave end;

14. The surgical robotic system as claimed in claim 13, further comprising a preoperative setup confirmation key or a portable preoperative setup confirmation device communicatively connected with the safety control module;

15. The surgical robotic system as claimed in claim 11, wherein the state of the slave end includes a preoperative stance state of the slave end, the state of the master end includes a preoperative readiness state of the master end,

16. A surgical robotic system as claimed in claim 15, further comprising a sensing unit disposed at the main end for detecting the presence of an operator at the main end;

17. A surgical robotic system as claimed in claim 13 or 15, wherein the state of the master end further comprises an operating state of an operating unit, and when the system safety result on the slave end is that the slave end is not in a preoperative stance state, the safety control module is further configured to generate a second system safety result on the master end in accordance with the operating state of the operating unit;

18. A surgical robotic system as claimed in claim 1 or 2, characterized in that the operating unit comprises an operating handle comprising a housing and an operating member movable relative to the housing;

19. A surgical robotic system as claimed in claim 1 or 2, characterized in that the operating unit comprises an interactive interface;

20. A computer-readable storage medium for a surgical robotic system comprising a master end, a slave end and a control end, the master end comprising an operating unit, the slave end comprising an actuation member for driving movement of an endoscope, the computer-readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor performs the steps comprising:

the control end is used for obtaining a system safety result according to the state of the master end and the state of the slave end, and generating safety prompt information and/or safety processing measures by combining a preset system safety strategy;

the control end comprises a posture and position control module and a safety control module which are in communication connection, wherein:

in the process of performing self-check after the surgical robot system is powered on, the computer program, when executed by the processor, further includes:

21. The computer-readable storage medium of claim 20, wherein the state of the master comprises a state of the operating unit, the state of the slave comprises a state of the execution driver, and the computer program when executed by the processor further comprises:

22. The computer-readable storage medium of claim 20 or 21, wherein the security prompt information comprises one or more of the following: vibration prompt, interactive software prompt, signal lamp prompt, buzzer prompt and voice prompt.

23. The computer readable storage medium of claim 22, wherein the surgical robotic system further comprises one or more of a vibration device, a display device, a signal light, a buzzer, and a voice device, and the control end is communicatively coupled to the one or more of the vibration device, the display device, the signal light, the buzzer, and the voice device, wherein:

24. The computer-readable storage medium of claim 23, wherein the operating unit comprises an operating handle, the vibration device is mounted on the operating handle, and the control end is used for controlling the execution driving member to move according to the received motion information of the operating handle and a preset master-slave mapping relation.

25. The computer-readable storage medium of claim 23, wherein the display device comprises a display unit disposed at the main end, the display unit comprises a main end interface, and the main end interface is used for displaying the interactive software prompt, and/or,

26. The computer-readable storage medium of claim 23, wherein the vibration cues comprise three steps of strong vibration, medium vibration, weak vibration, and/or the vibration cues comprise three steps of high frequency, medium frequency, and low frequency, according to amplitude, and wherein different system safety outcomes correspond to different amplitudes and/or frequencies, according to frequency.

27. The computer-readable storage medium of claim 23, wherein the interactive software prompt comprises one or more of a combination of textual information, graphical information, animated information, and video information.

28. The computer-readable storage medium of claim 23, wherein the signal light cues are classified according to color, color temperature, frequency, and light intensity, and wherein the signal light cues are capable of emitting light signals of different color, color temperature, frequency, and/or light intensity to indicate different system safety outcomes.

29. The computer-readable storage medium of claim 23, wherein the buzzer alert includes three steps of loud, medium, and weak beeps, depending on the intensity of the beep sound, and/or three steps of fast, medium, and slow frequency, depending on the frequency of the beep, and different system safety outcomes correspond to different beep sounds and/or beep frequencies.

30. The computer-readable storage medium of claim 20 or 21, wherein the security measures include one or more of: locking a master-slave mapping relation; reconstructing a master-slave mapping relation; inhibiting partial articulation of the actuation member to facilitate positioning of the actuation member; disabling partial articulation of the actuation drive; inhibiting operation of the operation unit; and disabling the operation unit.

31. The computer-readable storage medium of claim 30, wherein the computer program, when executed by the processor, further comprises:

32. The computer readable storage medium of claim 30 wherein the slave end state comprises a slave end preoperative positioning state, and upon completion of the slave end preoperative positioning operation, the computer program when executed by the processor further comprises:

33. The computer readable storage medium of claim 32, wherein the surgical robotic system further comprises a preoperative positioning confirmation key or a portable preoperative positioning confirmation device communicatively connected to the safety control module, wherein the safety control module generates a system safety result that the slave end is already in a preoperative positioning state upon receiving confirmation information of the preoperative positioning confirmation key or portable preoperative positioning confirmation device.

34. The computer readable storage medium of claim 30 wherein the state of the slave end comprises a preoperative positioning state of the slave end, the state of the master end comprises a preoperative readiness state of the master end, and upon completion of a preoperative positioning operation of the slave end, the computer program when executed by the processor further comprises:

35. The computer-readable storage medium of claim 34, wherein the surgical robotic system further comprises a sensing unit disposed at the master end for detecting the presence of an operator at the master end;

36. The computer-readable storage medium according to claim 32 or 34, wherein the state of the master further comprises an operating state of an operating unit, and when the system safety outcome on the slave is that the slave is not in a preoperative stance state, the computer program when executed by a processor further comprises:

37. The computer-readable storage medium according to claim 20 or 21, wherein the operating unit comprises an operating handle, the operating handle comprises a housing and an operating member movable relative to the housing, and wherein the control end is used for controlling the driving member to move according to the received movement information of the operating member relative to the housing and a preset master-slave mapping relation.

38. The computer-readable storage medium according to claim 20 or 21, wherein the operation unit includes an interactive interface;

39. An electronic device for a control method of a surgical robotic system, comprising a processor and a memory, the memory comprising a computer readable storage medium according to any of claims 20 to 38, the memory having stored thereon a computer program for execution by the processor.