CN114376734B

CN114376734B - Surgical robot system

Info

Publication number: CN114376734B
Application number: CN202011119688.7A
Authority: CN
Inventors: 史涛坪; 陈功; 何超
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2024-01-16
Anticipated expiration: 2040-10-19
Also published as: CN114376734A

Abstract

The present invention provides a surgical robotic system comprising: the device comprises an execution end, a control end and a control end, wherein the execution end comprises a patient operation trolley and a mechanical arm assembly, and the mechanical arm assembly is movably arranged on the patient operation trolley; the doctor terminal comprises a doctor console and a main operation assembly, wherein the main operation assembly is arranged on the doctor console and is used for receiving an operation input instruction of an operator; the control end comprises a control component which is in communication connection with the main operation component so as to control the main operation component to execute corresponding operation according to the operation input instruction; the mechanical arm linkage mode is adopted, so that a doctor can operate surgical instruments and auxiliary instruments simultaneously, the doctor can be assisted in performing various operations, and the workload of the assistant doctor is reduced.

Description

Surgical robot system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical robot system.

Background

The minimally invasive surgery is a new technology for performing the surgery in a human body through endoscopes such as laparoscopes, thoracoscopes and the like, has the advantages of small trauma, light pain, less bleeding and the like, and can effectively reduce the recovery time of patients, is inadaptation and avoids some harmful side effects of the traditional surgery.

The minimally invasive surgical robot system enables a doctor to observe tissue characteristics in a patient body at a main console through a two-dimensional or three-dimensional display device, and remotely control a mechanical arm and surgical tool instruments on a slave operating robot to complete operation of the surgery.

Currently, when a doctor performs a robot-assisted operation, some auxiliary operations need assistance of an assistant doctor. For example, during a surgical procedure, a doctor with a main knife manipulates two mechanical arms, assuming that the doctor uses a grasper in the left hand and uses arc scissors or an electric hook in the right hand to perform a peeling operation, and meanwhile, during the peeling operation, tissues may bleed or body fluid exudes, etc., in order to avoid excessive bleeding or body fluid accumulation, the existing surgical robot system needs a bedside nurse to support an aspirator from an auxiliary surgical hole into a cavity for flushing or rinsing during the use.

In addition, during the operation, the target organ is blocked by the peripheral organ, so as to accurately grasp the target organ, a bedside nurse is required to enter the cavity from the auxiliary operation hole by using the sector forceps in the conventional operation robot operation, and the organ is blocked from being displaced by using the sector forceps, so that a doctor of the main knife can smoothly grasp the target organ through the robot arm.

In the operation process, a doctor is required to hold and move the obstructed organ, grasp and peel the target organ, and simultaneously wash blood and body fluid which appear in the operation process, so that the existing operation robot cannot complete the actions at the same time, and a bedside nurse is required to assist operation. In the operation process, doctors need to communicate with assistants for many times, and occupation of medical care resources is increased.

Accordingly, there is a need to provide a new surgical robotic system that addresses the above-described problems in the prior art.

Disclosure of Invention

The invention aims to provide a surgical robot system which adopts a mechanical arm linkage mode to enable a doctor to operate surgical instruments and auxiliary instruments simultaneously, and can assist the doctor to perform various operations, so that the problems in the background technology are effectively solved.

To achieve the above object, the present invention provides a surgical robot system comprising:

the execution end comprises a mechanical arm assembly;

the robotic arm assembly includes at least two slave robotic arms, at least one of the slave robotic arms being configured to mount a surgical instrument for performing a surgical procedure and at least one of the slave robotic arms being configured to mount an auxiliary instrument for assisting the surgical procedure.

The invention has the beneficial effects that: the surgical operation process is completed by controlling the surgical instrument and the auxiliary instrument separately from the mechanical arm.

Further, the surgical robot system further includes:

the doctor end comprises a main operation component, and the main operation component is used for receiving an operation input instruction of an operator;

the control end comprises a control component which is in communication connection with the main operation component so as to control one or more of the main operation component, the surgical instrument and the auxiliary instrument to execute corresponding operation according to the operation input instruction;

the main operation assembly comprises a main operation arm, and the main operation arm and the auxiliary mechanical arm are configured into a master-slave control relationship so as to control the auxiliary mechanical arm and the surgical instrument or the auxiliary instrument mounted on the auxiliary mechanical arm to move through the main operation arm. The beneficial effects are that: the slave mechanical arm for mounting the surgical instrument and the slave mechanical arm for mounting the auxiliary instrument are controlled to move through the main operation arm respectively, so that the operation control of operators on the surgical instrument and the auxiliary instrument is conveniently realized, the workload of an assistant doctor is greatly reduced, and the continuity of the surgical operation process is improved.

Further, the main operation assembly further comprises a clutch adjusting piece, wherein the clutch adjusting piece is used for establishing or disconnecting the master-slave control relation. The beneficial effects are that: the master-slave control device is convenient for an operator to disconnect or establish master-slave control between the master operation arm and the slave mechanical arm so as to facilitate discontinuous adjustment of the master operation arm.

Further, the mechanical arm assembly comprises at least three slave mechanical arms, the master operation assembly further comprises a mechanical arm switching piece and a mechanical arm selecting piece, the mechanical arm switching piece and the mechanical arm selecting piece are in communication connection with the control assembly, the mechanical arm switching piece is used for starting a slave mechanical arm switching function and determining a slave mechanical arm which is selected to establish a master-slave control relation with the master operation arm, and the mechanical arm selecting piece is used for selecting the slave mechanical arm which is hoped to establish the master-slave control relation with the master operation arm. The beneficial effects are that: the manipulator is convenient for an operator to select the slave manipulator which needs to be controlled by the master manipulator through the manipulator switching piece and the manipulator selecting piece, and is convenient to select and operate.

Further, the main operation assembly further comprises a function piece, wherein the function piece is used for controlling the opening or closing of the executive function of the surgical instrument or the auxiliary instrument mounted on the slave mechanical arm. The beneficial effects are that: the function switch of the surgical instrument or the auxiliary instrument on the slave mechanical arm is convenient for an operator to directly control through the function piece.

Further, when the slave manipulator is switched by the manipulator switching member, the control unit determines the slave manipulator to be selected by the master manipulator corresponding to the manipulator selecting member according to the positions of the master manipulator corresponding to the manipulator switching member and the other master manipulator relative to the other master manipulator and the positions of the slave manipulator controlled by the other master manipulator, so that the relative positions between the slave manipulator controlled by the master manipulator corresponding to the manipulator selecting member and the slave manipulator controlled by the other master manipulator and the relative positions between the master manipulator corresponding to the manipulator selecting member and the other master manipulator are kept consistent. The beneficial effects are that: the position relationship between the slave mechanical arm controlled by each main operation arm and the slave mechanical arms controlled by other main operation arms is limited to be the same as the position relationship between each main operation arm and other main operation arms, so that the problem of reverse operation is effectively avoided, the whole surgical robot system is well protected, and the safety of operators in surgical operation is improved.

Further, the surgical robot system further includes: an endoscope, the distal end of which enters the interior of the human body through a surface wound of the human body to acquire a video stream of operation information; the mechanical arm assembly comprises five slave mechanical arms, wherein two of the slave mechanical arms are used for mounting the surgical instrument, one of the slave mechanical arms is used for mounting the endoscope, and at least one of the slave mechanical arms is used for mounting the auxiliary instrument.

Further, the surgical robot system further comprises a controller for controlling the slave mechanical arm on which the auxiliary instrument is mounted to move in a movement state of the slave mechanical arm on which the surgical instrument is mounted. The beneficial effects are that: the slave mechanical arm for mounting the auxiliary instrument moves in a motion state corresponding to the motion state of the slave mechanical arm for mounting the surgical instrument, so that the slave mechanical arm which is required to be frequently switched and controlled when an operator operates the surgical robot system at the same time is effectively avoided.

Further, the motion state includes at least one of a motion path, a motion speed, and a motion acceleration.

Further, the controller is configured to obtain a real-time motion path of the slave manipulator on which the surgical instrument is mounted, and form a planned path according to the real-time motion path, a surgical operation type, a surgical instrument type, an auxiliary instrument type, a degree of freedom distribution of the slave manipulator on which the surgical instrument is mounted, and a degree of freedom distribution of the slave manipulator on which the auxiliary instrument is mounted, and control a slave manipulator on which the auxiliary instrument is mounted to move according to the planned path. The beneficial effects are that: the current state information of the surgical instrument is convenient for planning the motion path of the slave mechanical arm of the mounting auxiliary instrument.

Further, the controller obtains a preset motion path of the slave mechanical arm for mounting the auxiliary instrument according to the current operation type, the gesture and the type of the surgical instrument, the type of the auxiliary instrument, the degree of freedom distribution of the slave mechanical arm for mounting the surgical instrument and the degree of freedom distribution of the slave mechanical arm for mounting the auxiliary instrument, so as to control the slave mechanical arm for mounting the auxiliary instrument to independently move according to the preset motion path. The beneficial effects are that: the slave mechanical arm for mounting the auxiliary instrument moves directly according to the preset movement path, is irrelevant to the movement state of the slave mechanical arm for mounting the surgical instrument, not only can set different movement paths for the slave mechanical arm hung on the auxiliary instrument, but also can move according to the fixed movement paths so as to meet the requirements of different surgical operations, and simultaneously reduces the operation workload of an operator.

Further, the slave mechanical arm further comprises an instrument detection piece which is in communication connection with the controller and is used for detecting information of the surgical instrument or information of the auxiliary instrument mounted on the slave mechanical arm. The beneficial effects are that: the operator can conveniently know the instrument information, including the surgical instrument information and the auxiliary instrument information, mounted on the slave mechanical arm.

Further, the surgical robot system further comprises an operation interaction interface, wherein the controller is used for controlling the operation interaction interface to provide an input/output interface after receiving an instruction that the slave mechanical arm for mounting the auxiliary instrument moves according to the movement state of the slave mechanical arm for mounting the surgical instrument, and the input/output interface is used for receiving operation type information, slave mechanical arm information for mounting the auxiliary instrument and slave mechanical arm information for mounting the surgical instrument. The beneficial effects are that: and the input and output interfaces on the interactive interface are operated to acquire the information of the slave mechanical arm of the mounting auxiliary instrument and the information of the slave mechanical arm of the mounting surgical instrument, so that accurate control is realized.

Further, the slave mechanical arm of the auxiliary mounting instrument and the slave mechanical arm of the surgical mounting instrument can move mutually.

Further, the surgical robot system further comprises a control component, a first base coordinate system and a second base coordinate system, wherein the control component is used for acquiring the relative position relation between the slave mechanical arm for mounting the auxiliary instrument and the slave mechanical arm for mounting the surgical instrument so as to acquire the conversion relation between the first base coordinate system and the second base coordinate system, combining the pose of the auxiliary instrument under the second base coordinate system and acquiring the pose of the auxiliary instrument under the first base coordinate system, and the control component is further used for acquiring the pose of the surgical instrument under the first base coordinate system. The beneficial effects are that: the control component obtains the pose of the surgical instrument and the auxiliary instrument under the first base coordinate system through the conversion relation between the first base coordinate system and the second base coordinate system.

Further, the executing end further comprises a first patient operation trolley and a second patient operation trolley, the first patient operation trolley and the second patient operation trolley can move mutually, the first patient operation trolley is at least provided with a slave mechanical arm for mounting surgical instruments, and the second patient operation trolley is at least provided with a slave mechanical arm for mounting auxiliary instruments. The beneficial effects are that: by configuring two patient operation trolleys, the slave mechanical arm for mounting different operation instruments or auxiliary instruments can be independently arranged on the patient operation trolleys, so that an operator can operate conveniently.

Further, the control assembly is configured to obtain an initial positional relationship of the second patient surgical trolley relative to the first patient surgical trolley, and obtain a movement condition of the second patient surgical trolley, so as to obtain a current relative positional relationship between the second patient surgical trolley and the first patient surgical trolley. The beneficial effects are that: the position of the auxiliary surgical instrument of the second patient operation trolley under the base standard system of the first patient operation trolley is convenient to unify the position relation of the surgical instrument and the auxiliary instrument, and the whole operation robot system is convenient to control and adjust the slave mechanical arm.

Further, a first registration interface is arranged on the first patient operation trolley, a second registration interface is arranged on the second patient operation trolley, and the first registration interface is registered with the second registration interface to mark the initial position relation of the second patient operation trolley relative to the first patient operation trolley. The beneficial effects are that: and the accuracy of the registration of the first patient operation trolley and the second patient operation trolley is improved through the way that the first registration interface and the second registration interface are matched with each other.

Further, the first registration interface and the second registration interface are both mechanical interfaces or electrical interfaces.

Further, the first registration interface and the second registration interface are both communicatively coupled to the control assembly, which is configured to detect whether the second patient surgical trolley is registered with the first patient surgical trolley and to receive a movement status of the second patient surgical trolley relative to the first patient surgical trolley after determining that the second patient surgical trolley is registered with the first patient surgical trolley. The beneficial effects are that: the control assembly is used for knowing the registration condition of the first registration interface and the second registration interface, so that the movement state of the second patient operation trolley relative to the first patient operation trolley can be accurately controlled.

Further, the second patient operating trolley is provided with a castor, the castor has two degrees of freedom, the castor can rotate around a first axis parallel to a horizontal plane, the castor can also rotate around a second axis perpendicular to the horizontal plane, a position sensor is arranged on the castor and is in communication connection with the control assembly, the position sensor is used for detecting the rotation number of the castor around the first axis and the rotation angle around the second axis, the control assembly is used for obtaining the movement distance of the second patient operating trolley according to the rotation number and the size of the castor, obtaining the relative angle of the second patient operating trolley relative to the first patient operating trolley according to the rotation angle, and further obtaining the current relative position relationship between the second patient operating trolley and the first patient operating trolley. The beneficial effects are that: the casters with two degrees of freedom enable the second patient operation trolley to move more flexibly so as to meet different use requirements, and the current relative position relation between the second patient operation trolley and the first patient operation trolley is obtained through the movement distance and the relative angle, so that the position relation of the surgical instrument and the auxiliary instrument under the same coordinate system is obtained, and the surgical robot system can accurately control the surgical instrument and the auxiliary instrument to work cooperatively.

Further, the execution end further comprises a visual tracking device, the visual tracking device comprises an optical tracker and a plurality of targets, the targets are respectively arranged on the first patient operation trolley and the second patient operation trolley, the optical tracker is used for detecting the pose of the targets under the coordinate system of the optical tracker so as to obtain the pose of the first patient operation trolley and the second patient operation trolley under the coordinate system of the optical tracker, and the control component obtains the current relative position relation of the second patient operation trolley relative to the first patient operation trolley according to the pose of the first patient operation trolley and the second patient operation trolley under the coordinate system of the optical tracker.

Drawings

FIG. 1 is an overall schematic view of a surgical robotic system of the present invention in an operating room;

FIG. 2 is a schematic view of the overall structure of the patient table of the present invention;

FIG. 3 is a schematic view of the overall structure of a physician console according to the present invention;

FIG. 4 is a schematic view of a patient table in a first configuration of the robotic arm system of the present invention disposed on each end of the column;

FIG. 5 is a schematic view of a patient table in a second configuration of the robotic arm system of the present invention disposed on each end of the column;

FIG. 6 is a schematic view of the mounting of the slave robotic arm of the auxiliary instrument on the surgical trolley of the present invention;

FIG. 7 is a schematic overall structure of the first and second patient carts of the present invention in registration;

FIG. 8 is a schematic view of the A-amp configuration of FIG. 7 in accordance with the present invention;

FIG. 9 is a schematic cross-sectional view of the mechanical interface of the present invention with shaft holes;

FIG. 10 is a schematic cross-sectional view of a mechanical interface of the present invention with spherical mating;

FIG. 11 is a schematic view of a mechanical interface of the present invention with a tapered fit;

FIG. 12 is a schematic view of the structure of the position sensor mounted on the casters on the first patient table of the present invention;

FIG. 13 is a schematic view of the first and second patient carts of the present invention after registration;

FIG. 14 is a schematic view of the coordinate calculation of the end of the instrument mounted on the first patient table of the present invention;

FIG. 15 is a schematic view of the structure of a patient table with the support device of the present invention in a linear configuration;

fig. 16 is a schematic diagram of coordinate transformation at the time of carriage alignment according to the present invention.

Reference numerals in the drawings:

1-an execution end;

10-patient operating trolley;

101-a base; 102-stand columns;

11-a first patient surgical trolley; 12-a second patient surgical trolley;

110-a first registration interface; 120-a second registration interface; 121-casters; a 111-position sensor;

13-a robotic arm assembly;

131—slave robotic arm; 1311-a first slave mechanical arm; 1312-a second slave mechanical arm; 1313-a third slave robotic arm; 1314-fourth slave robotic arm; 1315-fifth slave robotic arm;

132-supporting means;

14-surgical instruments;

15-auxiliary equipment;

2-a control end;

20-a control assembly;

3-doctor end;

30-doctor console;

31-a main operating component;

311-a main operating arm;

3111-a first main operating arm; 3112-a second primary operating arm;

312-clutch adjuster; 313-robotic arm selection;

314—function; 3141—a first functional element; 3142-a second functional element.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items.

In view of the problems with the prior art, embodiments of the present invention provide a surgical robotic system comprising:

the execution end comprises a mechanical arm assembly;

the mechanical arm assembly comprises at least two slave mechanical arms, wherein at least one slave mechanical arm is used for mounting surgical instruments to execute surgical operations, and at least one slave mechanical arm is used for mounting auxiliary instruments to assist the surgical operations.

An exemplary description of a surgical robot having five slave robotic arms is provided below.

As shown in fig. 1 and 2, the surgical robot includes an execution end 1, and the execution end 1 is used for performing a surgical operation on a patient. Specifically, the execution end 1 includes a patient operation trolley 10 and a mechanical arm assembly 13. The mechanical arm assembly 13 is movably arranged on the patient operation trolley 10.

Further, the patient operation trolley 10 includes a base 101 and a column 102, the base 101 is mounted at the bottom end of the column 102, and the slave mechanical arm 131 is mounted at the column 102. Preferably, the patient operation trolley 10 is movable by casters 121, and the casters 121 are mounted on the bottom of the base 101.

The robot arm assembly 13 includes at least two slave robot arms 131. In this embodiment, the slave mechanical arms 131 are five, i.e., a first slave mechanical arm 1311, a second slave mechanical arm 1312, a third slave mechanical arm 1313, a fourth slave mechanical arm 1314, and a fifth slave mechanical arm 1315. Five slave mechanical arms 131 are movably provided on one patient operation cart 10. The slave manipulator 131 is adapted to be coupled to the surgical instrument 14 or the auxiliary instrument 15, respectively, for driving the surgical instrument 14 or the auxiliary instrument 15 in motion within the patient. As shown in fig. 4 and 5, four slave mechanical arms 131 are respectively disposed on the side surfaces of the upright post 102, and a fifth slave mechanical arm 131 is disposed on the top end surface of the upright post 102. In this way, the patient operation trolley 10 has a compact structure, saves the space of an operating room, and the slave mechanical arm 131 on the top end surface of the upright post 102 can reduce the probability of collision with the slave mechanical arm 131 on the other side surfaces, and increases the space available for the slave mechanical arm 131.

Preferably, the mechanical arm assembly 13 further includes a supporting device 132, where the supporting device 132 is respectively connected with the slave mechanical arm 131 and the upright post 102 to drive all the slave mechanical arms 131 to move together, so as to increase the movement space of the slave mechanical arm 131 and enrich the adjustment means of the slave mechanical arm 131. The shape of the support 132 is preferably rectangular or arc-shaped. As shown in fig. 15, five slave mechanical arms 131 are uniformly distributed on the upper surface of the supporting device 132.

The specific kind of surgical instrument in this embodiment is not particularly limited. The surgical instrument 14 is illustratively an active instrument such as an electrical hook, an electrical knife, or an ultrasonic knife. The surgical instrument 14 is illustratively a passive instrument such as a stapler, scissors, forceps, grasper, tube clamp, or scalpel. Also, the present embodiment is not particularly limited in the specific kind of the auxiliary device 15. The operator can determine the appropriate auxiliary instrument 15 according to the kind of the operation, the surgical instrument 14 used during the operation, the position of the affected tissue, etc. The auxiliary device 15 is illustratively a segment forceps for separating patient tissue from surrounding tissue. For another example, the auxiliary device 15 is an irrigation aspirator for irrigating a target area and aspirating liquid from the target area.

With continued reference to fig. 1, the surgical robot further includes a control end 2 and a doctor end 3. The doctor terminal 3 includes a doctor console 30 and a main operating assembly 31. The main operation component 31 is disposed on the doctor console 30, and is configured to receive an operation input command of an operator, such as a hand motion command, a foot motion command, an eye motion command, an expression motion command, a voice command, and the like. The control terminal 2 includes a control module 20, where the control module 20 is communicatively connected to the main operation module 31, so as to execute a corresponding operation according to the received operation input instruction. The control assembly 20 includes one or more controllers. The controller can be arranged independently or at the doctor end 3 and/or the executive end 1.

Specifically, the master manipulator assembly 31 includes a master manipulator arm 311, and the master manipulator arm 311 is configured to control movement of the slave manipulator arm 131 and the mounted surgical instrument 14 or auxiliary instrument 15. Further, the master manipulator 311 is in a master-slave control relationship with the slave manipulator 131 and the surgical instrument 14.

I.e. the controller comprises a preset master-slave mapping. The slave arm 131 and the surgical instrument 14 mounted thereon, and the master arm 311 are connected to the controller in a communication manner. The controller receives an operation input instruction of an operator, and controls the slave mechanical arm 131 and the surgical instrument 14 to execute corresponding actions according to a preset master-slave mapping, so as to realize teleoperation of the slave mechanical arm 131 and the surgical instrument 14 by the operator to perform surgical operation on a patient. In the present embodiment, the number of the main operation arms 311 is two, that is, a first main operation arm 3111 and a second main operation arm 3112.

Further, the master manipulator 311 may also be used to control the slave manipulator 131 and the mounted auxiliary instrument 15. Correspondingly, the slave mechanical arm 131 and the auxiliary device 15 and the master operation arm 311 mounted on the slave mechanical arm are in communication connection with the controller. The controller receives an operation input instruction of an operator, and controls the slave mechanical arm 131 and the auxiliary instrument 15 to execute corresponding actions according to a preset master-slave mapping, so as to realize teleoperation of the slave mechanical arm 131 and the auxiliary instrument 15 by the operator to perform auxiliary operation on a patient.

As shown in fig. 3, the main operating assembly 31 includes a clutch adjuster 312, and the clutch adjuster 312 is configured to establish or disconnect the above-described master-slave control relationship to facilitate discontinuous adjustment of the main operating arm 311. At this time, the controller determines whether to control the movement of the slave manipulator 131 and the surgical instrument 14 or the auxiliary instrument 15 according to the instruction inputted from the clutch adjuster 312. For example, when the master operation arm 311 moves to the limit position and the slave arm 131 has not yet reached the ideal position, a command is input through the clutch adjuster 312, and the master-slave control relationship between the master operation arm 311 and the slave arm 131 is disconnected. During the process of moving the master manipulator 311 to the proper position, the slave manipulator 311 and the mounted surgical instrument 14 or auxiliary instrument 15 do not follow. The slave manipulator 131 on the patient table can be continuously adjusted by inputting the command again through the clutch adjuster 312 and reestablishing the master-slave control relationship. In this embodiment, the clutch adjuster 312 is provided in the form of a pedal at the lower portion of the doctor console 30 so that the operator inputs the operation input command through the foot or leg. At this time, the operator inputs the operation input command in the form of stepping or pressing.

As shown in fig. 3, the master operation assembly 31 further includes a robot arm switching member for switching on a slave robot arm switching function and determining a slave robot arm 131 selected to establish a master-slave control relationship with the master operation arm, and a robot arm selecting member 313. The arm selector 313 is used to select the slave arm 131 that desires to establish a master-slave control relationship with the master manipulator 311. The controller disconnects the master-slave control relationship with the current slave manipulator according to the input command of the manipulator switching part and the manipulator selecting part 313, and controls the pose of the corresponding master manipulator 311 according to the pose of the slave manipulator 131 controlled by the master manipulator 311 and the preset master-slave mapping, thereby establishing the master-slave control relationship. Since there are only two master operation arms 311, there are at least two slave mechanical arms 131, for example, five in the present embodiment. Therefore, the operator can control only the movement of the two slave mechanical arms 131 simultaneously by the master operation arm 311. When it is necessary to control the other slave robot 131, this is achieved by a robot switching and robot selecting part 313. For example, when an operator controls the surgical instrument 14 to perform a cutting surgical procedure, other tissue obstructions are encountered and it is necessary to separate other tissue using the segment forceps. At this time, the switching function of the slave arm is turned on by the arm switching member, and the arm selecting member 313 selects the slave arm 131 on which the segment forceps are mounted. After selecting a proper slave mechanical arm 131, the master operation arm 311 and the slave mechanical arm 131 establish a master-slave control relationship through the mechanical arm switching member. The operator controls the sector forceps to separate other tissues through the main operation arm 311, and then selects the original slave mechanical arm 131 through the mechanical arm switching part and the mechanical arm selecting part 313 to perform the cutting operation. In this embodiment, the mechanical arm switching member is provided on the main operation arm 311. When there are a plurality of main operation arms 311, the number of the mechanical arm switching pieces is the same as that of the main operation arms, so that one mechanical arm switching piece is arranged on each main operation arm 311. The arm selector 313 is provided in the form of a pedal at the lower portion of the doctor console 30 so that the operator inputs the operation input command through the foot or leg. At this time, the operator inputs the operation input command in the form of stepping or pressing. The robot arm selector 313 performs selection of the slave robot arm 131 by traversing the slave robot arm 131.

The main operation module 31 further includes an operation interaction interface for displaying the surgical robot system information and receiving an operation input command input by an operator. The mechanical arm switching part and the mechanical arm selecting part 313 are arranged in the operation interaction interface. In an alternative embodiment, the mechanical arm switching part and the mechanical arm selecting part 313 are physical keys; in another alternative embodiment, the mechanical arm switch and mechanical arm selector 313 is a virtual key.

Further, in order to prevent the reverse operation, a limitation is made on the distribution of the controllable slave manipulator 131 of the master manipulator 311, that is, the relative positions of the slave manipulator 131 controlled by the second master manipulator 3112 and the slave manipulator 131 controlled by the first master manipulator 3111, and the relative positions of the second master manipulator and the first master manipulator remain the same. The controller is configured to determine, when the selected slave manipulator 131 is received (i.e., when the slave manipulator 131 desired to be controlled by the master manipulator 311 is received), whether or not the position of the selected slave manipulator 131 relative to the slave manipulator 131 controlled by the other master manipulator 311 corresponds to the relative position of the master manipulator 311 corresponding to the selected slave manipulator 131 and the other master manipulator 311. Or, when the controller is configured to receive that the mechanical arm switching piece starts the slave mechanical arm switching function, the slave mechanical arm which can be selected by the mechanical arm selecting piece 313 is determined according to the position of the master operation arm corresponding to the mechanical arm switching piece relative to other master operation arms and according to the slave mechanical arms controlled by other master operation arms.

For example, as shown in fig. 3, the first main operation arm 3111 is located on the left side of the second operation arm 3112; as shown in fig. 2, the first slave arm 1311, the second slave arm 1312, the third slave arm 1313, the fourth slave arm 1314, and the fifth slave arm 1315 are sequentially distributed from left to right. The two slave mechanical arms simultaneously controlled by the first master operation arm 3111 and the second master operation arm 3112 need to satisfy: the slave manipulator controlled by the first master manipulator 3111 needs to be located on the left side of the slave manipulator controlled by the second master manipulator 3112. Thus, the first master manipulator controllable slave manipulator includes a first slave manipulator 1311, a second slave manipulator 1312, a third slave manipulator 1313, a fourth slave manipulator 1314; and the second master manipulator controllable slave manipulator comprises a second slave manipulator 1312, a third slave manipulator 1313, a fourth slave manipulator 1314, and a fifth slave manipulator 1315.

Illustratively, the first master manipulator 3111 controls the second slave manipulator 1312, and the second master manipulator 3112 controls the fifth slave manipulator 1315. After pressing the arm switching element on the first main operating arm 3111, the controller obtains that the arm switching element on the first main operating arm 3111 starts the slave arm switching function, and determines the slave arm to be selected by the arm selecting element 313 as the first slave arm 1311, the third slave arm 1313, and the fourth slave arm 1314 according to the first main operating arm 3111 being located on the left side of the second main operating arm 3112 and the slave arm controlled by the second main operating arm 3112 being the fifth arm 1315. The first slave arm 1311, the third slave arm 1313, and the fourth slave arm 1314 are traversed by stepping on the arm selector 313. After the first slave arm 1311 is selected, the arm switching piece on the first master arm 3111 is pressed again, and the first master arm 3111 is confirmed to control the first slave arm 1311, and the slave arm switching function is turned off.

When the arm switching member on the second main operating arm 3112 is pressed, the controller obtains that the arm switching member on the second main operating arm 3112 starts the slave arm switching function, and determines the slave arm controlled by the first main operating arm 3111 as the first slave arm 1311, and the slave arm selectable by the arm selecting member 313 as the second slave arm 1312, the third slave arm 1313, and the fourth slave arm 1314 according to the first main operating arm 3111 being located on the left side of the second main operating arm 3112. The arm selector 313 is depressed, and the second slave arm 1312, the third slave arm 1313, and the fourth slave arm 1314 are traversed. After the fourth slave arm 1314 is selected, the arm switching member on the second master arm 3112 is pressed again, and the slave arm corresponding to the control of the second master arm 3112 is confirmed to be switched to the fourth slave arm 1314, and the slave arm switching function is exited.

In addition, the surgical robotic system includes an endoscope assembly for acquiring surgical information (e.g., lesion morphology, and blood vessels, tissue morphology, pose of surgical instruments, etc.) from within the body and displaying it in the form of a video stream. The endoscope assembly includes an endoscope, an image processor, and a stereoscopic display. The endoscope is mounted on the slave mechanical arm 131, and the distal end enters the inside of the human body through the surface wound of the human body to acquire a video stream of operation information. The image processor is used for performing processing such as noise elimination, image enhancement and the like on the video stream. The stereoscopic display is used for displaying the processed video stream.

Alternatively, the slave manipulator 131 for mounting the auxiliary instrument 15 may be moved by a movement of the slave manipulator 131 applied to the mounted surgical instrument 14, i.e. the surgical robot system has a following mode.

Since the operation paths of the auxiliary instruments are identical to those of the surgical instruments and are predictable when the surgical operation is specifically performed, the slave mechanical arm 131 on which the surgical instrument 14 is to be mounted is moved by moving the slave mechanical arm 131 on which the auxiliary instrument 15 is to be mounted, thereby facilitating control of the surgical instruments 14 or the auxiliary instruments 15 on the plurality of slave mechanical arms 131, avoiding the need of frequently switching the slave mechanical arms 131 controlled by the master operation arm 311 during the surgical operation, and reducing the complexity of the surgical operation process.

In some embodiments, the slave manipulator 131 carrying the auxiliary instrument 15 moves in a motion state corresponding to the motion state of the slave manipulator 131 carrying the surgical instrument 14. The "motion state" herein includes one or more of a motion path, a motion speed, and a motion acceleration.

Illustratively, after receiving the follow-up mode instruction, the controller acquires a real-time motion path of the slave manipulator 131 for mounting the surgical instrument, and then forms a planned path according to the real-time motion path, the surgical instrument type, the auxiliary instrument type, and the degree of freedom distribution of the slave manipulator for mounting the surgical instrument and the slave manipulator for mounting the auxiliary instrument, and controls the slave manipulator 131 for mounting the auxiliary instrument 15 to move according to the planned path. That is, when the master manipulator 301 teleoperatively mounts the slave manipulator 131 of the surgical instrument 14, the slave manipulator 131 mounting the auxiliary instrument follows the movement along the corresponding planned path, so that the auxiliary instrument 15 follows the movement of the surgical instrument 14 to move, and thus, when the doctor performs control, the doctor does not need to separately control the movement of the slave manipulator 131 mounting the auxiliary instrument 15, and the operation is convenient. In order to make the slave robotic arm 131 movement of the mounting aid 15 more accurate, the controller also references the speed and/or acceleration of the slave robotic arm 131 of the mounting aid when forming the planned path.

For example, the doctor performs a grasping operation on the target organ by the first main operation arm 3111 in the left hand, and peels off the lesion or blood vessel by the fourth main operation arm 3114 in the right hand, and simultaneously, the intra-lumen is required to be irrigated or aspirated during the peeling-off. At this point, after the surgeon triggers the surgical robotic system to enter the follow-up mode, the fifth slave robotic arm 1315 to which the aspirator is mounted may follow the fourth slave robotic arm 1314 to which the surgical instrument (e.g., arc shears or electric hooks, etc.) is mounted to a proper position. Thus, the intelligent operation of the auxiliary device 15 can be realized, and the labor of the operator can be reduced.

Further, the slave mechanical arm 131 further includes an instrument detecting member. The instrument detecting member is in communication connection with the controller, and is configured to detect instrument information mounted on the slave mechanical arm 131, including information of the surgical instrument 14 and information of the auxiliary instrument 15. The specific type of the instrument detecting member is not particularly limited in this embodiment, and may be implemented in a wired manner, for example, a pin array, or may be implemented in a wireless manner, for example, near field communication.

Further, the controller is configured to control the slave manipulator 131 of the mounting auxiliary device 15 to follow the slave manipulator 131 of the mounting surgical device, but the movement (e.g. telescopic, pitching, deflecting movement) of the distal end of the auxiliary device 15 still needs to be controlled remotely by the operator after the slave manipulator 131 of the mounting auxiliary device 15 is activated, so as to ensure that the local operation of the auxiliary device 15 is accurately controllable. Thus, in the exemplary embodiment described above, after the fourth slave arm 1314 is moved to the proper position, the operator activates the fourth slave arm 1314 and then controls the movement of the aspirator tip through the second master manipulator arm 3112.

In other embodiments, the slave robotic arm 131 carrying the auxiliary instrument moves independently in accordance with a predetermined path of movement as the slave robotic arm 131 of the carried surgical instrument 14 moves. I.e. the movement of the slave manipulator 131 of the mounting aid 15 is independent of the current state of movement of the slave manipulator 131 of the mounting aid 14. After receiving the command of opening the follow-up mode, the controller obtains a motion path according to the operation type, the posture of the surgical instrument, the type of the auxiliary instrument, the degree of freedom distribution of the slave mechanical arm for mounting the surgical instrument and the slave mechanical arm for mounting the auxiliary instrument, and controls the slave mechanical arm 131 for mounting the auxiliary instrument 15 to move according to the motion path.

Illustratively, the second slave arm 1312 mounts the tube clamp, the fourth slave arm 1314 mounts the surgical knife, and the fifth slave arm 1315 mounts the aspirator. After receiving the command of opening the follow-up mode, the controller knows that the surgical instrument is a pipe wrench, the surgical knife is an aspirator, the surgical operation is to cut tissues, after the postures of the second slave mechanical arm 1312 and the fourth slave mechanical arm 1314 are obtained, a motion path is obtained, and the fifth slave mechanical arm 1315 on which the aspirator is mounted is controlled to move to a proper position according to the motion path.

Further, after receiving the command of starting the follow-up mode, the controller controls the operation interaction interface to provide an input/output interface of the follow-up mode. The input/output interface is used for receiving operation type information, slave mechanical arm information for mounting the auxiliary instrument, slave mechanical arm information for mounting the surgical instrument and the like. Of course, the input/output interface of the follow-up mode may be a physical button or a virtual button.

In the above surgical robot system, a doctor can move the slave mechanical arm 131 of the slave mechanical arm 131 on which the surgical instrument 14 is mounted by the slave mechanical arm 131 of the mounting auxiliary instrument 15 under the control action of the controller through the following mode, so that the doctor can independently complete the whole control process, and can complete the surgical process without assistance of an assistant, thereby facilitating the doctor to perform the surgical operation.

As shown in fig. 2, the main operating assembly 31 further includes a function 314. The function unit 314 is used to control the opening of the execution function of the surgical instrument 14 or the auxiliary instrument 15 mounted on the slave arm 131 in the currently activated state. The number of functional elements 314 may be varied to meet the function opening requirements of the surgical instrument 14 or the auxiliary instrument 15 having a plurality of functions.

Further, the instrument detecting member mounted on the slave arm 131 is further used for acquiring the execution function of the surgical instrument or the auxiliary instrument according to the specific type of the surgical instrument or the auxiliary instrument. The controller maps the current activation status to the function 314 according to the function performed by the surgical instrument 14 or the auxiliary instrument 15 mounted from the robot arm 131. For example, the number of the functional members 314 is two, that is, a first functional member 3141 and a second functional member 3142. The irrigation aspirator has an irrigation function of irrigating a target area and a suction function of sucking a liquid of the target area. When the slave arm 131 mounting the irrigation aspirator is activated (i.e., selected as being controlled by a master arm 3111), the controller maps the two execution functions of the irrigation aspirator to the first and second functional members 3141, 3142, respectively. When the first functional member 3141 is pressed, the flushing aspirator performs a flushing function to flush the target area; when the second functional member 3142 is pressed, the irrigation aspirator performs a suction function to aspirate the target area liquid. The function 314 may also have other functions, such as controlling the following mode to be turned on as described above. In this embodiment, the function 314 is provided in the form of a pedal at the lower portion of the doctor console 30 so that the operator inputs the operation input command through the foot or leg. At this time, the operator inputs the operation input command in the form of stepping or pressing.

In this embodiment, the controller may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors 301, digital signal processors 301 (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center of the electronic device, connecting various parts of the overall electronic device using various interfaces and lines. In this embodiment, the control unit 20 may include a controller to implement centralized control; the control assembly 20 may include a plurality of controllers to implement distributed control.

In an alternative embodiment, the slave manipulator 131 for mounting the auxiliary instrument 15 may be movable relative to the slave manipulator 131 for mounting the surgical instrument 14, so that the relative position between the slave manipulator 131 for mounting the auxiliary instrument 15 and the slave manipulator 131 for mounting the surgical instrument 14 may be set more flexibly. For example, the slave arm 131 for mounting the surgical instrument 14 is movably provided on one patient operation trolley 10, and the slave arm 131 for mounting the auxiliary instrument 15 is movably provided on the ceiling. The slave arm 131 for mounting the surgical instrument 14 may be movably provided on one patient operating trolley 10, while the slave arm 131 for mounting the auxiliary instrument 15 may be provided on another patient operating trolley 10. That is, the surgical robot system includes a plurality of patient operation carts 10, and the patient operation carts 10 may be connected to each other as a whole or may be movable with each other. In this way, on the one hand, the probability of collision between the slave mechanical arm 131 for mounting the auxiliary instrument 15 and other slave mechanical arms 131 can be reduced, and on the other hand, the working space of the auxiliary instrument 15 in the operation process can be flexibly adjusted.

As shown in fig. 6, the patient operation cart 10 is provided in two, that is, a first patient operation cart 11 and a second patient operation cart 12. Wherein, a slave mechanical arm 131 for mounting auxiliary equipment 15 is movably arranged on the second patient operation trolley 12; while the remaining four slave robotic arms 131 are movably arranged on said first patient trolley 11. Similar to the above description, the four slave mechanical arms 131 may also be connected to the upright 102 by support means 131.

In operation, the first patient operating trolley 11 and the second patient operating trolley 12 may be connected to form a whole or may be moved separately from each other. Therefore, the surgical robot system has a dual patient surgical trolley mode, and when the dual patient surgical trolley mode is opened, the second patient surgical trolley 12 is moved to a more appropriate surgical position with respect to the first patient surgical trolley 11.

In the surgical procedure, the auxiliary instrument 15 and the surgical instrument 14 need to cooperate, and thus the auxiliary instrument 15 and the surgical instrument 14 need to be unified in one coordinate system. The surgical robot system further comprises a first base coordinate system and a second base coordinate system, the control component obtains the pose of the surgical instrument under the first base coordinate system on one hand, and obtains the relative position relationship between the slave mechanical arm for mounting the auxiliary instrument and the slave mechanical arm for mounting the surgical instrument on the other hand, so as to obtain the conversion relationship between the first base coordinate system and the second base coordinate system, and the pose of the auxiliary instrument under the second base coordinate system is combined, so that the pose of the auxiliary instrument under the first base coordinate system is obtained. Generally, the first base coordinate system is a first patient surgical trolley base coordinate system and the second base coordinate system is a second patient surgical trolley base coordinate system. Thus, this requires obtaining the current relative positional relationship between the second patient operating cart 12 and the first patient operating cart 11. A current relative positional relationship between the second patient operating table 12 and the first patient operating table 11 is obtained to determine a conversion relationship between the first patient operating table base coordinate system and the second patient operating table base coordinate system. The controller obtains the pose of the auxiliary instrument 15 under the base coordinates of the first patient operation trolley 11 according to the pose of the auxiliary instrument 15 on the second patient operation trolley 12 under the base coordinates of the second patient operation trolley. The present embodiment is not particularly limited as to the pose of the auxiliary instrument 15 in the second patient operation table base coordinate system and the pose of the surgical instrument 14 in the first patient operation table base coordinate system, and can be obtained by using a robot kinematics equation such as D-H method. Of course, the surgical robot system may unify the surgical instrument 14 and the auxiliary instrument 15 in other coordinate systems. The specific method is similar to the above and will not be repeated.

In one embodiment, the two patient operating carts are registered first to index an initial positional relationship of the second patient operating cart 12 with respect to the first patient operating cart 11, and then a movement condition of the second patient operating cart 12 is obtained, so as to obtain a current relative positional relationship between the second patient operating cart 12 and the first patient operating cart 11. In this embodiment, registration between patient procedure carts is achieved by means of a registration interface.

As shown in fig. 7 and 8, the first patient operation cart 11 is provided with a first registration interface 110, the second patient operation cart 12 is provided with a second registration interface 120, and the first registration interface 110 and the second registration interface 120 are matched. The first registration interface 110 and the second registration interface 120 are mechanical interfaces or electrical interfaces.

Preferably, the first registration interface 110 is disposed on a side of the base 101 of the first patient table 11, and the second registration interface 120 is disposed in a corresponding location on the second patient table 12. The first registration interface 110, the second registration interface 120 are determined at the time of patient table cart manufacture. Thus, the initial positional relationship of the first patient operating cart 11 and the second patient operating cart 12 has been determined prior to surgery.

As shown in fig. 9 to 11, the first registration interface 110 and the second registration interface 120 are both mechanical interfaces. Specifically, one of the first registration interface 110 and the second registration interface 120 is a hole, the other is a shaft, and the two are in shaft hole matching; one of the first registration interface 110 and the second registration interface 120 is a cone, and the other is a groove, so that the two are in conical surface fit; one of the first registration interface 110 and the second registration interface 120 is a circular table, and the other is a groove, so that the two interfaces are in curved surface matching.

In an alternative, the first registration interface and the second registration interface are electrical interfaces. Specifically, one of the first registration interface 110 and the second registration interface 120 is a laser generator, and the other is a laser sensor; one of the first registration interface 110 and the second registration interface 120 is a proximity sensor, and the other is a distance sensor; one of the first registration interface 110 and the second registration interface 120 is an electromagnetic relay, and the other is a magnet. It should be noted that, the first registration interface 110 and the second registration interface 120 in this embodiment include, but are not limited to, the above registration interfaces, and any interface feature capable of implementing cooperation between the first registration interface 110 and the second registration interface 120 may be applied to this technical solution, which is not described herein.

Further, the first registration interface 110 and the second registration interface 120 are respectively communicatively connected to the controller. The controller is configured to detect whether the second patient surgical trolley 12 is in registry with the first patient surgical trolley 11 when an instruction to turn on the dual patient surgical trolley mode is received. Upon detecting that the second patient surgical trolley is in registration with the first patient surgical trolley 11, the controller receives a movement status of the second patient surgical trolley relative to the first patient surgical trolley 11.

In the present embodiment, the method of how the second patient operation cart 12 moves to the desired operation position is not particularly limited. Illustratively, the second patient trolley 12 is manually moved to the desired surgical site. Illustratively, the second patient trolley 12 has a drive device that is remotely moved to a desired surgical site. Illustratively, the controller, upon receiving an instruction to turn on the dual patient surgical trolley mode, obtains a desired auxiliary instrument pose and a corresponding desired surgical position of the second patient surgical trolley 12 based on the type of surgery, pose of the surgical instrument, type of auxiliary instrument, etc., and controls movement of the second patient surgical trolley 12 to the desired surgical position.

The controller sends out a warning message if it is detected that the second patient trolley is not in registration with the first patient trolley 11. For the second patient trolley 12 controlled by the controller, the controller also controls the second patient trolley 12 to be in a stationary state.

The second patient operation trolley 12 is further provided with a position sensor 207, and the position sensor 207 is in communication connection with the controller and is used for detecting movement information of the second patient operation trolley 12.

As shown in fig. 12, the casters 121 of the second patient trolley 12 have two degrees of freedom, namely, rotation about a first axis L1 parallel to the horizontal plane and rotation about a second axis L2 perpendicular to the horizontal plane. The position sensor 207 is disposed on the caster of the second patient operation cart 12, and is configured to detect the number of rotations of the caster around the first axis L1 and the angle of rotation around the second axis L2. The controller obtains the distance of movement of the second patient table trolley 12 based on the number of turns and the size of the casters; the angle of the second patient operating trolley 12 with respect to the first patient operating trolley 11 is obtained from the angle of rotation about the second axis L2, whereby the current relative positional relationship between the second patient operating trolley 12 and the first patient operating trolley 11 can be obtained.

Since the floors of hospitals are all horizontal, the Z-axis (height information) in the coordinate system of the first patient operation cart 11 and the second patient operation cart 12 is always on the same height plane, and the difference in the Z-axis (height information) direction between the two carts is ignored. As shown in fig. 16, the base coordinate system of the first patient trolley 11 is characterized by X-O-Y and the base coordinate system of the second patient trolley 12 is characterized by α -O1- β. The transformation relation of the two relative coordinate systems when the two trolleys are aligned is known according to factory design. As shown in fig. 13, when the second patient operation table 12 is moved to a desired operation position while being separated from the first patient operation table 11, the positional relationship between the second patient operation table base coordinate system at the operation position with respect to the first patient operation table base coordinate system can be calculated by obtaining the movement direction and distance of the second patient operation table 12 and the conversion relationship of the two base coordinate systems at the time of registration. As shown in fig. 14, the slave manipulator 131 includes five joints and joint sensors, and the joint sensors record the rotation angle of each joint, so as to obtain the pose of the auxiliary instrument 15 in the second patient operation table base coordinate system according to the robot kinematics. After the description of the pose of the auxiliary instrument 15 in the second patient operation table base coordinate is acquired, the pose of the auxiliary instrument 15 in the first patient operation table base coordinate is acquired according to the positional relationship between the second patient operation table base coordinate system and the first patient operation table base coordinate system. In this way, the auxiliary instrument 15 and the surgical instrument 14 are unified under the first patient operation table base coordinates, so that the auxiliary instrument 15 and the surgical instrument 14 can work cooperatively.

In another embodiment, the executing end further comprises a visual tracking device. The vision tracking device is used for observing the relative position relation of the first patient operation trolley 11 and the second patient operation trolley 12. The visual tracking device includes an optical tracker and a plurality of targets. The targets are provided to the first patient operating cart 11 and the second patient operating cart 12, respectively. The optical tracker is used for detecting the pose of the fixed target under the optical tracker coordinate system so as to acquire the pose of the first patient operation trolley 11 and the second patient operation trolley 12 under the optical tracker coordinate system. The controller obtains a positional relationship of the second patient operation cart 12 with respect to the first patient operation cart 11 according to the pose of the first patient operation cart 11 and the second patient operation cart 12 in the optical tracker coordinate system. Accordingly, registration of the first patient trolley 11 with the second patient trolley 12 may no longer be required prior to surgery. The remainder is similar to the above embodiment and will not be described again.

While embodiments of the present invention have been described in detail hereinabove, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. It is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention described herein is capable of other embodiments and of being practiced or of being carried out in various ways.

Claims

1. A surgical robotic system, comprising:

the execution end comprises a mechanical arm assembly; the mechanical arm assembly comprises at least two slave mechanical arms, at least one of the slave mechanical arms is used for mounting surgical instruments to execute surgical operations, and at least one of the slave mechanical arms is used for mounting auxiliary instruments to assist the surgical operations;

a controller for controlling the slave robotic arm on which the auxiliary instrument is mounted to move in response to a movement state of the slave robotic arm on which the surgical instrument is mounted; the controller is further configured to obtain a real-time motion path of the slave mechanical arm on which the surgical instrument is mounted, and form a planned path according to the real-time motion path, a type of surgical operation, a type of surgical instrument, a type of auxiliary instrument, a degree of freedom distribution of the slave mechanical arm on which the surgical instrument is mounted, and a degree of freedom distribution of the slave mechanical arm on which the auxiliary instrument is mounted, and control the slave mechanical arm on which the auxiliary instrument is mounted to move according to the planned path.

2. The surgical robotic system of claim 1, wherein the surgical robotic system further comprises:

the main operation assembly comprises a main operation arm, and the main operation arm and the auxiliary mechanical arm are configured into a master-slave control relationship so as to control the auxiliary mechanical arm and the surgical instrument or the auxiliary instrument mounted on the auxiliary mechanical arm to move through the main operation arm.

3. The surgical robotic system of claim 2, wherein the primary operating assembly further comprises a clutch adjuster for establishing or disconnecting the master-slave control relationship.

4. A surgical robotic system as claimed in claim 2, wherein the robotic arm assembly includes at least three slave robotic arms, the master operating assembly further including a robotic arm switch and a robotic arm selector, both in communication with the control assembly, the robotic arm switch for switching on a slave robotic arm switching function and determining a slave robotic arm selected to establish a master-slave control relationship with the master operating arm, the robotic arm selector for selecting the slave robotic arm desired to establish a master-slave control relationship with the master operating arm.

5. The surgical robotic system of claim 2, wherein the primary operating assembly further comprises a function for controlling the turning on or off of the executive function of the surgical instrument or the auxiliary instrument mounted on the slave robotic arm.

6. The surgical robot system according to claim 4, wherein when the slave manipulator is switched by the manipulator switching member, the control unit determines the slave manipulator selectable by the master manipulator corresponding to the manipulator selection member based on a position of the master manipulator corresponding to the manipulator switching member with respect to the other master manipulator and a position of the slave manipulator controlled by the other master manipulator, so that a relative position between the slave manipulator controlled by the master manipulator corresponding to the manipulator selection member and the slave manipulator controlled by the other master manipulator is kept uniform with a relative position between the master manipulator corresponding to the manipulator selection member and the other master manipulator.

7. The surgical robotic system of claim 1 or 2, wherein the surgical robotic system further comprises: an endoscope, the distal end of which enters the interior of the human body through a surface wound of the human body to acquire a video stream of operation information; the mechanical arm assembly comprises five slave mechanical arms, wherein two of the slave mechanical arms are used for mounting the surgical instrument, one of the slave mechanical arms is used for mounting the endoscope, and at least one of the slave mechanical arms is used for mounting the auxiliary instrument.

8. The surgical robotic system of claim 1, wherein the motion state comprises at least one of a motion path, a motion velocity, and a motion acceleration.

9. The surgical robot system according to claim 8, wherein the controller obtains a preset motion path of the slave manipulator on which the slave manipulator is mounted according to a current surgical operation type, a posture and type of the surgical instrument, a type of the slave instrument, a degree of freedom distribution of the slave manipulator on which the surgical instrument is mounted, and a degree of freedom distribution of the slave manipulator on which the slave instrument is mounted, to control the slave manipulator on which the slave instrument is mounted to independently move according to the preset motion path.

10. The surgical robotic system of claim 1 or 9, wherein the slave robotic arm further comprises an instrument detection member communicatively coupled to the controller for detecting information of a surgical instrument or information of an auxiliary instrument mounted on the slave robotic arm.

11. The surgical robot system according to claim 9, further comprising an operation interaction interface, wherein the controller is configured to control the operation interaction interface to provide an input/output interface for receiving operation type information, slave arm information for mounting the auxiliary instrument, slave arm information for mounting the surgical instrument, and an instruction for moving the slave arm on which the auxiliary instrument is mounted in response to a movement state of the slave arm on which the surgical instrument is mounted.

12. A surgical robotic system as claimed in claim 1, wherein the slave robotic arm of the mounting aid and the slave robotic arm of the mounting aid are movable relative to each other.

13. The surgical robotic system of claim 12, further comprising a control assembly, a first base coordinate system and a second base coordinate system, wherein the control assembly is configured to obtain a relative positional relationship between the slave robotic arm on which the auxiliary instrument is mounted and the slave robotic arm on which the surgical instrument is mounted, to obtain a conversion relationship between the first base coordinate system and the second base coordinate system, and to obtain a pose of the auxiliary instrument in the first base coordinate system in combination with a pose of the auxiliary instrument in the second base coordinate system, and wherein the control assembly is further configured to obtain a pose of the auxiliary instrument in the first base coordinate system.

14. The surgical robotic system of claim 13, wherein the effector further comprises a first patient surgical trolley and a second patient surgical trolley, the first patient surgical trolley and the second patient surgical trolley being movable relative to each other, the first patient surgical trolley being provided with at least a slave robotic arm to mount surgical instruments, the second patient surgical trolley being provided with at least a slave robotic arm to mount auxiliary instruments.

15. The surgical robotic system of claim 14, wherein the control assembly is configured to obtain an initial positional relationship of the second patient surgical trolley relative to the first patient surgical trolley and to obtain a movement of the second patient surgical trolley to obtain a current relative positional relationship between the second patient surgical trolley and the first patient surgical trolley.

16. The surgical robotic system of claim 15, wherein the first patient surgical trolley is provided with a first registration interface and the second patient surgical trolley is mounted with a second registration interface through which the second patient surgical trolley is registered with the second registration interface to index an initial positional relationship of the second patient surgical trolley relative to the first patient surgical trolley.

17. The surgical robotic system of claim 16, wherein the first registration interface and the second registration interface are both mechanical interfaces or electrical interfaces.

18. The surgical robotic system of claim 17, wherein the first registration interface and the second registration interface are each communicatively coupled to the control assembly, the control assembly being configured to detect whether the second patient surgical trolley is registered with the first patient surgical trolley and to receive a motion status of the second patient surgical trolley relative to the first patient surgical trolley after determining that the second patient surgical trolley is registered with the first patient surgical trolley.

19. The surgical robotic system of claim 14, wherein the second patient trolley is provided with casters having two degrees of freedom, the casters being rotatable about a first axis parallel to a horizontal plane, the casters being further rotatable about a second axis perpendicular to the horizontal plane, the casters being provided with position sensors in communication with the control assembly for detecting a number of turns of the casters about the first axis and an angle of rotation about the second axis, the control assembly for obtaining a distance of movement of the second patient trolley as a function of the number of turns of the casters and a size of the casters, obtaining a relative angle of the second patient trolley with respect to the first patient trolley as a function of the angle of rotation, and obtaining a current relative positional relationship between the second patient trolley and the first patient trolley.

20. The surgical robotic system of claim 14, wherein the execution end further comprises a vision tracking device comprising an optical tracker and a plurality of targets, the plurality of targets being disposed on the first and second patient surgical carts, respectively, the optical tracker being configured to detect a pose of the targets in a coordinate system of the optical tracker to obtain a pose of the first and second patient surgical carts in the coordinate system of the optical tracker, the control assembly being configured to obtain a current relative positional relationship of the second patient surgical cart with respect to the first patient surgical cart based on the pose of the first and second patient surgical carts in the coordinate system of the optical tracker.