CN114343856A - Surgical robot control console switching method and device and surgical robot - Google Patents
Surgical robot control console switching method and device and surgical robot Download PDFInfo
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- CN114343856A CN114343856A CN202210014843.1A CN202210014843A CN114343856A CN 114343856 A CN114343856 A CN 114343856A CN 202210014843 A CN202210014843 A CN 202210014843A CN 114343856 A CN114343856 A CN 114343856A
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Abstract
The invention provides a surgical robot control console switching method and device and a surgical robot, and relates to the technical field of surgical robot control. The method comprises the following steps: the method comprises the steps of executing a position obtaining step, wherein the position obtaining step comprises the steps of obtaining the position of a main manipulator of a current console in real time and sending the position to a mechanical arm system and other consoles respectively, the current console is the console with the control authority of the mechanical arm system at the current moment, the mechanical arm system is used for controlling the movement of a mechanical arm according to the position, and the other consoles are used for controlling the movement of the corresponding main manipulator according to the position; responding to an operation instruction input by a user, and switching consoles; and executing the position acquisition step by taking the switched new control console as the current control console. According to the technical scheme, the time spent on switching the control console of the laparoscopic surgery robot is reduced, and the safety of the control console switching process is improved.
Description
Technical Field
The invention relates to the technical field of surgical robot control, in particular to a surgical robot control table switching method and device and a surgical robot.
Background
With the rapid development of surgical robots, more and more operations can be performed by surgical robots. The laparoscopic surgery robot is a robot for carrying out laparoscopic surgery and comprises a mechanical arm system and a control console, wherein the mechanical arm system comprises a plurality of mechanical arms, and a doctor can remotely drive the mechanical arms in the mechanical arm system to move so as to carry out laparoscopic surgery by operating a main manipulator of the control console. Meanwhile, the laparoscopic surgery robot can also realize traditional multi-doctor combined surgery, namely, the surgery is finished by controlling the same mechanical arm system through a plurality of control consoles, each doctor controls the mechanical arm system through the corresponding control console, when one doctor finishes the surgery operation through the control console, the next doctor switches to the next control console, and the surgery operation is continued by the next doctor until the whole surgery is finished.
At present, when a laparoscopic surgery robot is used for performing combined surgery, the console is switched every time, the new console needs to be subjected to master-slave matching with the mechanical arm system again, namely the position of a mechanical arm in the mechanical arm system needs to be adjusted, so that the position of the mechanical arm in the mechanical arm system is consistent with the position of a main manipulator in the new console, time is wasted, the surgery time is greatly prolonged, and a patient may be injured in the moving process.
Disclosure of Invention
The invention solves the problem of how to reduce the time spent on switching the control console of the laparoscopic surgery robot and improve the safety of the switching process of the control console.
In order to solve the above problems, the present invention provides a surgical robot console switching method, a surgical robot console switching device, and a surgical robot.
In a first aspect, the present invention provides a surgical robot console switching method, including:
the method comprises the steps of executing a position obtaining step, wherein the position obtaining step comprises the steps of obtaining the position of a main manipulator of a current console in real time and sending the position to a mechanical arm system and other consoles respectively, the current console is the console with the control authority of the mechanical arm system at the current moment, the mechanical arm system is used for controlling the movement of a mechanical arm according to the position, and the other consoles are used for controlling the movement of the corresponding main manipulator according to the position;
responding to an operation instruction input by a user, and switching consoles;
and executing the position acquisition step by taking the switched new control console as the current control console.
Optionally, the switching the console in response to an operation instruction input by a user includes:
and when the clutch signal output by the current console and the starting signal output by the new console are received, switching the control authority of the mechanical arm system from the current console to the new console.
Optionally, the clutch signal is output by the current console when its clutch pedal is depressed, and the enable signal is output by the new console when its safety switch is triggered.
Optionally, the performing console switching further includes: and if at least two starting signals are received, outputting a device locking instruction and error prompt information, wherein the device locking instruction is used for locking the console corresponding to the starting signals so that the corresponding console does not respond to the operation instruction input by the user.
Optionally, the method further comprises: and when the current console controls the mechanical arm system to move, outputting the equipment locking instruction to other consoles except the current console.
Optionally, after the switching the control authority of the mechanical arm system from the current console to the new console, the method further includes: and outputting prompt information of releasing the clutch pedal.
In a second aspect, the present invention provides a surgical robot console switching apparatus, comprising:
the acquisition module is used for executing the position acquisition step and comprises the steps of acquiring the position of a main manipulator of a current control console in real time and respectively sending the position to a mechanical arm system and other control consoles, wherein the current control console is the control console with the control authority of the mechanical arm system at the current moment, the mechanical arm system is used for controlling the movement of a mechanical arm according to the position, and the other control consoles are used for controlling the movement of the corresponding main manipulator according to the position;
the switching module is used for responding to an operation instruction input by a user and switching the console; and executing the position acquisition step by taking the switched new control console as the current control console.
In a third aspect, the present invention provides a surgical robot console switching apparatus, comprising a memory and a processor;
the memory for storing a computer program;
the processor is configured to implement the surgical robot console switching method according to any one of the first aspect when executing the computer program.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the surgical robot console switching method according to any one of the first aspect.
In a fifth aspect, the present invention provides a surgical robot, characterized by comprising a manipulator system, a plurality of consoles, and the surgical robot console switching device according to the third aspect, wherein the surgical robot console switching device is respectively connected in communication with the manipulator system and each console.
The surgical robot control console switching method, the surgical robot control console switching device and the surgical robot have the beneficial effects that: the method comprises the steps of acquiring the position of a main manipulator of a current console in real time, and sending the position to a mechanical arm system and other consoles, wherein the current console is the console with the control authority of the mechanical arm system at the current moment, and the other consoles are all the consoles except the current console. The mechanical arm system controls the mechanical arm to move according to the position, and for each control console except the current control console, the corresponding main operating hand is controlled to move according to the position, so that the positions of the main operating hands of all the control consoles are consistent with the position of the mechanical arm. And switching the control console according to an operation instruction input by a user, namely disconnecting the control connection of the current control console to the mechanical arm system and switching the control authority of the mechanical arm system to a new control console. And repeating the steps by taking the new console with the control authority of the mechanical arm system after switching as the current console until the operation is finished. According to the technical scheme, when the surgical robot performs surgery, the position of the current console main manipulator is always consistent with the positions of the mechanical arms in the mechanical arm system and the positions of other console main manipulators, and after the consoles are switched, the mechanical arm does not need to search the position of a new console main manipulator to complete master-slave matching, so that the time spent on switching the consoles is reduced; meanwhile, when the mechanical arm moves to match the position of a main operating hand of a new console, the damage to a patient is avoided, and the safety of the console switching process is improved.
Drawings
FIG. 1 is a top view of a prior art surgical robotic console;
FIG. 2 is a flowchart illustrating a method for switching between control consoles of a surgical robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a surgical robot console switching device according to another embodiment of the present invention.
Description of reference numerals:
1-a console; 11-main manipulator; 12-clutch pedal.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
As shown in fig. 1, the surgical robot console 1 includes two main operation hands 11 and a clutch pedal 12, and a doctor controls the mechanical arm system through the main operation hands 11, and when the doctor operates, the main operation hands 11 will follow the doctor's hands to do the same motion, that is, the main operation hands 11 of the console 1 will move along with the movement of the doctor's hands. The clutch pedal 12 is used to output a clutch signal when depressed, to cut off the control of the arm system by the console 1.
As shown in fig. 2, a surgical robot console switching method according to an embodiment of the present invention includes:
and S110, acquiring the position of a main manipulator of a current console in real time, and respectively sending the position to a mechanical arm system and other consoles, wherein the current console is the console with the control authority of the mechanical arm system at the current moment, the mechanical arm system is used for controlling the movement of the mechanical arm according to the position, and the other consoles are used for respectively controlling the movement of corresponding main manipulators according to the positions.
Specifically, the position of the current console main manipulator is sent to the mechanical arm system and other consoles except the current console in real time, and the mechanical arm system comprises a plurality of mechanical arms which control the mechanical arms to move according to the position, so that the mechanical arms move along with the movement of the current console main manipulator to perform the operation. Meanwhile, for each console except the current console, the main operating hand of the console is controlled to move according to the position, so that the position of the main operating hand of the console is consistent with the position of the main operating hand of the current controller and the position of the mechanical arm.
And step S120, responding to an operation instruction input by the user, and switching the console.
Specifically, the control relationship between the console and the arm system is switched according to an operation instruction input by a user through the corresponding surgical robot console, for example, the operation instruction includes disconnecting the control of the console on the arm system and establishing the control of the console on the arm system.
Step S130, the new console after switching is taken as the current console, and the process goes to step S110.
Specifically, after the console switching is completed, the new console having the control authority for the manipulator system after the switching is taken as the current console, and all the consoles except the current console are other consoles, and the procedure is transferred to step S110 to continue the procedure until the procedure is completed.
In this embodiment, the position of the current console master manipulator is obtained in real time, and the position is sent to the manipulator system and other consoles, where the current console is a console having the control authority of the manipulator system at the current time, and the other consoles are all consoles except the current console. The mechanical arm system controls the mechanical arm to move according to the position, and controls the corresponding main operating hand to move according to the position for each control console except the current control console, so that the positions of all the main operating hands of the control console are consistent with the position of the mechanical arm, when the control consoles are switched, the mechanical arm does not need to match the position of the main operating hand of a new control console again, the time is saved, and the situation that the mechanical arm searches for the position of the main operating hand of the new control console to hurt a patient can be avoided. And switching the control console according to an operation instruction input by a user, namely disconnecting the control connection of the current control console to the mechanical arm system and switching the control authority of the mechanical arm system to a new control console. And repeating the steps by taking the new console with the control authority of the mechanical arm system after switching as the current console until the operation is finished. According to the technical scheme, when the surgical robot performs surgery, the position of the current console main manipulator is always consistent with the positions of the mechanical arms in the mechanical arm system and the positions of other console main manipulators, and after the consoles are switched, the mechanical arm does not need to search the position of a new console main manipulator to complete master-slave matching, so that the time spent on switching the consoles is reduced; meanwhile, when the mechanical arm moves to match the position of a main operating hand of a new console, the damage to a patient is avoided, and the safety of the console switching process is improved.
Optionally, the switching the console in response to an operation instruction input by a user includes:
and when the clutch signal output by the current console and the starting signal output by the new console are received, switching the control authority of the mechanical arm system from the current console to the new console.
Specifically, the clutch signal is output by the current console when a clutch pedal of the current console is pressed, and the starting signal is output by the new console when a safety switch of the new console is triggered.
In the optional embodiment, when a clutch pedal of the current console is pressed down by a user, a clutch signal output by the current console is received, and the current console is disconnected from controlling the mechanical arm system; when a starting signal output by a user when triggering a safety switch of a new console is received, the control of the new console on the mechanical arm system is established, so that the switching from the current console to the new console is completed, and the control authority of the mechanical arm system is switched to the new console. Only when the current controller disconnects the control of the mechanical arm system, the control authority is switched, the control authority of the mechanical arm system is avoided from being possessed by a plurality of control consoles, the mechanical arm system is prevented from being harmed by the control of the plurality of control consoles to the patient, and the safety of console switching is improved.
Optionally, the performing console switching further includes: and if at least two starting signals are received, outputting a device locking instruction and error prompt information, wherein the device locking instruction is used for locking the console corresponding to the starting signals so that the corresponding console does not respond to the operation instruction input by the user.
Specifically, when two or more activation signals are received, it indicates that at least two consoles are establishing control over the robot system. In order to avoid the situation that the mechanical arm track is abnormal due to the fact that a plurality of control consoles control the mechanical arm system, and further damage is caused to a patient, the output equipment locking instruction is used for locking the corresponding control consoles, and the corresponding control consoles cannot operate. Meanwhile, error prompt information is output to prompt a user that the condition that a plurality of control consoles control the mechanical arm system at the same time is caused, and the adjustment operation is needed, for example, the hand is withdrawn from the safety switch, so that the safety switch is not triggered any more.
In this optional embodiment, when multiple consoles establish control contact with the arm system at the same time, the corresponding console is locked, and error prompt information is output to prompt a user, so that the security of console switching is improved.
Optionally, the method further comprises: and when the current console controls the mechanical arm system to move, outputting the equipment locking instruction to other consoles except the current console.
In the optional embodiment, when the existing console controls the mechanical arm system, in order to avoid the adverse effect of misoperation on other consoles on the surgical process and even harm to a patient, the output device locking instruction is used for locking other consoles, so that the safety in the surgical process can be improved.
Optionally, after the switching the control authority of the mechanical arm system from the current console to the new console, the method further includes: and outputting prompt information of releasing the clutch pedal.
Specifically, after the switching process of the control authority from the current console to the new console is completed, the original console is no longer required to continuously output the clutch signal, so that prompt information for releasing the clutch pedal is output to prompt a user at the original console to release the clutch pedal, and the switching operation of the console is finished.
As shown in fig. 3, an embodiment of the present invention provides a surgical robot console switching apparatus, including:
the acquisition module is used for executing the position acquisition step and comprises the steps of acquiring the position of a main manipulator of a current control console in real time and respectively sending the position to a mechanical arm system and other control consoles, wherein the current control console is the control console with the control authority of the mechanical arm system at the current moment, the mechanical arm system is used for controlling the movement of a mechanical arm according to the position, and the other control consoles are used for controlling the movement of the corresponding main manipulator according to the position;
the switching module is used for responding to an operation instruction input by a user and switching the console; and executing the position acquisition step by taking the switched new control console as the current control console.
On the basis of the foregoing embodiment, optionally, the switching module is specifically configured to switch the control authority of the robot arm system from the current console to the new console when receiving the clutch signal output by the current console and the start signal output by the new console.
Optionally, the clutch signal is output by the current console when its clutch pedal is depressed, and the enable signal is output by the new console when its safety switch is triggered.
Optionally, the switching module is further specifically configured to: and if at least two starting signals are received, outputting a device locking instruction and error prompt information, wherein the device locking instruction is used for locking the console corresponding to the starting signals so that the corresponding console does not respond to the operation instruction input by the user.
Optionally, the system further comprises a control module, wherein the control module is configured to: and when the current console controls the mechanical arm system to move, outputting the equipment locking instruction to other consoles except the current console.
Optionally, the switching module is further configured to: and outputting prompt information of releasing the clutch pedal.
A surgical robot console switching apparatus provided in another embodiment of the present invention includes a memory and a processor; the memory for storing a computer program; the processor is configured to implement the surgical robot console switching method as described above when executing the computer program. The device can comprise equipment such as an industrial personal computer, a server and the like.
A further embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the surgical robot console switching method as described above.
The surgical robot provided by another embodiment of the present invention is characterized by comprising a manipulator system, a plurality of control consoles, and the surgical robot console switching device described above, wherein the surgical robot console switching device is respectively in communication connection with the manipulator system and each of the control consoles.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like. In this application, the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A surgical robot console switching method is characterized by comprising the following steps:
the method comprises the steps of executing a position obtaining step, wherein the position obtaining step comprises the steps of obtaining the position of a main operating hand of a current console in real time and sending the position to a mechanical arm system and other consoles respectively, the current console is the console with the control authority of the mechanical arm system at the current moment, the mechanical arm system is used for controlling the movement of a mechanical arm according to the position, and the other consoles are used for controlling the movement of the corresponding main operating hand according to the position;
responding to an operation instruction input by a user, and switching consoles;
and executing the position acquisition step by taking the switched new control console as the current control console.
2. The surgical robot console switching method according to claim 1, wherein the performing of the console switching in response to the operation instruction input by the user includes:
and when the clutch signal output by the current console and the starting signal output by the new console are received, switching the control authority of the mechanical arm system from the current console to the new console.
3. The surgical robot console switching method according to claim 2, wherein the clutch signal is output by the current console when a clutch pedal thereof is depressed, and the start signal is output by the new console when a safety switch thereof is triggered.
4. The surgical robot console switching method according to claim 2 or 3, wherein the performing of the console switching further includes: and if at least two starting signals are received, outputting a device locking instruction and error prompt information, wherein the device locking instruction is used for locking the console corresponding to the starting signals so that the corresponding console does not respond to the operation instruction input by the user.
5. The surgical robot console switching method according to claim 4, further comprising: and when the current console controls the mechanical arm system to move, outputting the equipment locking instruction to other consoles except the current console.
6. The surgical robot console switching method according to any one of claims 1 to 3, wherein after the switching of the control authority of the robot arm system from the current console to the new console, further comprising: and outputting prompt information of releasing the clutch pedal.
7. A surgical robotic console switching apparatus, comprising:
the acquisition module is used for executing the position acquisition step and comprises the steps of acquiring the position of a main manipulator of a current control console in real time and respectively sending the position to a mechanical arm system and other control consoles, wherein the current control console is the control console with the control authority of the mechanical arm system at the current moment, the mechanical arm system is used for controlling the movement of a mechanical arm according to the position, and the other control consoles are used for controlling the movement of the corresponding main manipulator according to the position;
the switching module is used for responding to an operation instruction input by a user and switching the console; and executing the position acquisition step by taking the switched new control console as the current control console.
8. A surgical robot console switching device is characterized by comprising a memory and a processor;
the memory for storing a computer program;
the processor, when executing the computer program, for implementing the surgical robot console switching method of any of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the surgical robot console switching method according to any one of claims 1 to 6.
10. A surgical robot comprising an arm system, a plurality of control consoles, and a surgical robot control console switching arrangement according to claim 8 communicatively coupled to the arm system and each of the control consoles, respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210014843.1A CN114343856A (en) | 2022-01-07 | 2022-01-07 | Surgical robot control console switching method and device and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210014843.1A CN114343856A (en) | 2022-01-07 | 2022-01-07 | Surgical robot control console switching method and device and surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115969524A (en) * | 2022-12-27 | 2023-04-18 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Operation control system, control method and electronic equipment |
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| US20060149418A1 (en) * | 2004-07-23 | 2006-07-06 | Mehran Anvari | Multi-purpose robotic operating system and method |
| CN109219413A (en) * | 2016-06-03 | 2019-01-15 | 柯惠Lp公司 | Multi input robotic surgical system control program |
| US20200281675A1 (en) * | 2019-03-04 | 2020-09-10 | Covidien Lp | Low cost dual console training system for robotic surgical system or robotic surgical simulator |
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| US5609560A (en) * | 1992-08-19 | 1997-03-11 | Olympus Optical Co., Ltd. | Medical operation device control system for controlling a operation devices accessed respectively by ID codes |
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