CN115192207A

CN115192207A - Surgical robot, main operating table, control method and control device of surgical robot

Info

Publication number: CN115192207A
Application number: CN202110399026.8A
Authority: CN
Inventors: 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2022-10-18

Abstract

The invention relates to a surgical robot, a main operating platform, a control method and a control device thereof. The main operating platform comprises a display part and an operating part, the display part is provided with an imaging part for final imaging, the operating part is provided with a base and an input part which is connected with the base and can move relative to the base to generate an operating instruction, and the control method comprises the following steps: acquiring respective postures of the base and the imaging part; calculating a first deviation between the attitude of the base and the attitude of the imaging section; judging whether the first deviation reaches a first deviation threshold value; when the first deviation reaches a first deviation threshold value, compensating the first deviation to enable the base to be basically parallel to the imaging part; after the base is substantially parallel to the imaging portion, the control input portion generates operating instructions for controlling movement of the tip instrument. The control method is beneficial to realizing the intuitive control of the input part based on the imaging part.

Description

Surgical robot, main operating table, control method and control device of surgical robot

Technical Field

The invention relates to the field of medical instruments, in particular to a surgical robot, a main operating platform, a control method and a control device of the surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small trauma, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The surgical robot includes a master console and a slave operation device including a plurality of operation arms including a camera arm having an image end instrument and a surgical arm having an operation end instrument. The main console comprises a display and a handle. The physician operates the handle to control the camera arm or surgical arm movement under the field of view provided by the camera arm as displayed by the display.

In the prior art, the movement of the operation arm is usually presented based on a coordinate system of a display, the control of the handle on the movement of the operation arm is presented based on another coordinate system, however, the two coordinate systems are usually not uniform, so that the control of the doctor on the movement of the operation arm through the handle and the movement of the operation arm presented on the operation image by the movement of the operation arm seen by the doctor are not uniform, which is not beneficial to realizing intuitive control.

Disclosure of Invention

In view of the above, it is necessary to provide a surgical robot, a main console, a control method thereof, and a control device, which are easy to realize intuitive control.

In one aspect, the present invention provides a control method of a main console including a display portion having an imaging portion for final imaging and an operating portion having a base and an input portion connected to the base and movable relative to the base to generate operating instructions for controlling movement of a tip instrument, the control method comprising: acquiring respective postures of the base and the imaging part; calculating a first deviation between the attitude of the base and the attitude of the imaging section; judging whether the first deviation reaches a first deviation threshold value; compensating for the first deviation to make the base substantially parallel to the imaging portion when the first deviation reaches the first deviation threshold; after the base is substantially parallel to the imaging portion, controlling the input portion to generate operating instructions for controlling movement of the end instrument.

Wherein said compensating for said first deviation to substantially parallel said base to said imaging portion comprises: coordinate rotation is performed on a first coordinate system defined on the base and/or a second coordinate system defined on the imaging portion based on the first deviation such that the first coordinate system and the second coordinate system are substantially parallel.

Wherein the main operating table includes a first adjusting mechanism for adjusting an attitude of the imaging section, the compensating for the first deviation so that the base is substantially parallel to the imaging section includes: controlling the first adjusting mechanism to adjust the posture of the imaging part based on the first deviation so that a reference surface defined on the base is substantially parallel to an imaging surface defined on the imaging part; and/or the main operating table comprises a second adjusting mechanism for adjusting the posture of the base, and the compensating the first deviation to make the base and the imaging part be substantially parallel comprises: and controlling the second adjusting mechanism to adjust the posture of the base based on the first deviation so that the reference surface of the base is substantially parallel to the imaging surface of the imaging part.

Wherein the operation instruction generated by the input part is used for controlling the following movement of the terminal instrument in the operation device, and the control method further comprises the following steps: controlling the input to decouple from the tip instrument when the first deviation reaches the first deviation threshold; and/or, when the first deviation does not reach the first deviation threshold, controlling the input to be coupled with the end instrument.

Wherein after the compensating for the first deviation to make the base substantially parallel to the imaging part, the control method further comprises: acquiring respective postures of the input part and the tip instrument; calculating a second deviation in pose between the input and the tip instrument; judging whether the second deviation is smaller than a second deviation threshold value; when the second deviation is less than the second deviation threshold, sending a follow signal to initiate the tip instrument to enter a follow state following the movement of the input portion; and/or, when the second deviation reaches the second deviation threshold, compensating for the second deviation to substantially align the input and the tip instrument in pose.

Wherein the input is a linked input having a plurality of motor-driven active joints, and wherein compensating for the second offset to substantially positionally align the input and the tip instrument comprises: acquiring incremental joint variables of each of the active joints in the input portion using inverse kinematics on the basis of the second deviation while maintaining the position of the input portion; controlling the respective active articulation motions based on each of the incremental articulation variables and with positive kinematics to substantially gestionally align the input and the tip instrument.

Wherein the main operation table further includes an observation portion that provides a window to observe an image formed by the imaging portion, postures of the observation portion and the imaging portion are independently adjustable, the control method includes: acquiring a posture included angle between a visual axis of the observation part and the imaging part; calculating a third deviation between the attitude included angle and a preset attitude included angle; judging whether the third deviation reaches a third deviation threshold value; and when the third deviation reaches the third deviation threshold value, adjusting the posture of the observation part and/or the imaging part based on the third deviation so as to enable the posture included angle between the visual axis of the observation part and the imaging part to be basically the same as the preset posture included angle.

Wherein the main console comprises two diopter adjustment assemblies for correcting left and right eye vision, the diopter adjustment assemblies comprising two lenses arranged in parallel and having an adjustable distance therebetween, the control method further comprising: acquiring a target diopter; matching a target distance between two lenses from a relation table according to the target diopter number, wherein the relation table has an incidence relation between the target diopter number and the target distance; acquiring a current spacing between two of the lenses; controlling the two lenses to adjust from the current pitch to the target pitch based on a difference between the target pitch and the current pitch.

Wherein the main console comprises two diopter adjustment assemblies for correcting left and right eye vision, the diopter adjustment assemblies comprising two lenses arranged in parallel and having an adjustable distance therebetween, the control method further comprising: acquiring a target diopter; determining a combined focal length between the two lenses from the target refractive power; determining a target separation distance between the two lenses according to the determined combined focal length; acquiring a current spacing between two of the lenses; controlling the two lenses to adjust from the current pitch to the target pitch based on a difference between the target pitch and the current pitch.

In another aspect, the present invention provides a main console including a display portion and an operation portion, the display portion having an imaging portion for final imaging, the operation portion having a base and an input portion connected to the base and movable relative to the base to generate an operation instruction, the main console further including: a controller coupled with the display portion and the operation portion, configured to perform: acquiring respective postures of the base and the imaging part; calculating a first deviation between the pose of the base and the pose of the imaging portion; judging whether the first deviation reaches a first deviation threshold value; compensating for the first deviation to make the base substantially parallel to the imaging portion when the first deviation reaches the first deviation threshold; after the base is substantially parallel to the imaging portion, controlling the input portion to generate operating instructions for controlling movement of the end instrument.

Wherein the display portion comprises a display, the imaging portion is a solid display surface of the display, and the display is provided with a sensor coupled with the controller for sensing a posture of the display.

Wherein the display portion includes a display and a mirror assembly, the imaging portion is a virtual display surface formed by the mirror assembly, the display portion has a sensor coupled with the controller for sensing a posture of the display or the mirror assembly, and the controller determines the posture of the imaging portion based on the sensed posture of the display and the posture of the mirror assembly and according to a relative positional relationship between the display and the mirror assembly.

The mirror surface assembly comprises a plane mirror, an included angle is formed between the display and the plane mirror, and the plane mirror is positioned between the display and the imaging part, so that the input part can be superposed with the imaging part to carry out intuitive control.

The mirror assembly comprises a convex lens, the convex lens is arranged in parallel with the display, and the display is located between the convex lens and the imaging part, so that the input part can be superposed on the imaging part for intuitive control.

Wherein the base is defined to have a first coordinate system and the imaging portion is defined to have a second coordinate system, and the compensating for the first deviation to make the base substantially parallel to the imaging portion comprises: coordinate rotating the first coordinate system and/or the second coordinate system based on the first offset such that the first coordinate system and the second coordinate system are substantially parallel.

Wherein the main operating table includes a first adjusting mechanism for adjusting an attitude of the imaging section, the compensating for the first deviation so that the base is substantially parallel to the imaging section includes: controlling the first adjusting mechanism to adjust the posture of the imaging part based on the first deviation so that the reference surface of the base is substantially parallel to the imaging surface of the imaging part; and/or the main operation table includes a second adjustment mechanism for adjusting the attitude of the base, and the controller includes, when performing the compensation for the first deviation so that the base is substantially parallel to the imaging section: and controlling the second adjusting mechanism to adjust the posture of the base based on the first deviation so that the reference surface of the base is substantially parallel to the imaging surface of the imaging part.

Wherein the operation instruction generated by the input part is used for controlling the following movement of the terminal instrument in the operation device, and the controller is also configured to execute the following steps: controlling the input to decouple from the tip instrument when the first deviation reaches the first deviation threshold; and/or, control the input to couple with the tip instrument when the first deviation does not reach the first deviation threshold.

Wherein the controller is further configured to perform, after the compensating the deviation makes the base substantially parallel to the imaging section: acquiring respective postures of the input portion and the tip instrument; calculating a second deviation in pose between the input and the tip instrument; judging whether the second deviation is smaller than a second deviation threshold value; when the second deviation is less than the second deviation threshold, sending a follow signal to initiate the tip instrument to enter a follow state following the movement of the input portion; compensating for the second deviation to substantially positionally align the input and the tip instrument when the second deviation reaches the second deviation threshold.

Wherein the input is a linked input having a plurality of motor-driven active joints, the controller further configured to perform, when the compensating for the second deviation substantially aligns the input and the tip instrument in pose: acquiring incremental joint variables of each of the active joints in the input portion using inverse kinematics based on the second deviation while maintaining the position of the input portion; controlling the respective active articulation motions based on each of the incremental articulation variables and with positive kinematics to substantially gestionally align the input and the tip instrument.

Wherein the main console further includes a viewing portion that provides a window to view an image formed by the imaging portion, the viewing portion and the imaging portion being independently adjustable in attitude, the controller being further configured to perform: acquiring a posture included angle between a visual axis of the observation part and the imaging part; calculating a third deviation between the attitude included angle and a preset attitude included angle; judging whether the third deviation reaches a third deviation threshold value; and when the third deviation reaches the third deviation threshold value, adjusting the posture of the observation part and/or the imaging part based on the third deviation so as to enable the posture included angle between the visual axis of the observation part and the imaging part to be basically the same as the preset posture included angle.

In another aspect, the present invention also provides a computer-readable storage medium storing a computer program configured to be loaded by a processor and to execute steps implementing the control method according to any one of the above embodiments.

In another aspect, the present invention provides a control apparatus for a main console, including: a memory for storing a computer program; and a processor for loading and executing the computer program; wherein the computer program is configured to be loaded by the processor and to execute steps implementing the control method according to any of the embodiments described above.

In another aspect, the present invention further provides a surgical robot, including the main operating table according to any one of the embodiments.

The surgical robot, the main operating platform, the control method and the control device thereof have the following beneficial effects:

the posture compensation is carried out on the imaging part in the display part and the base in the operation part with larger deviation on the posture, so that the imaging part and the base are basically parallel on the posture, and further, when a doctor carries out operation by means of the input part, the intuitive control of the input part based on the imaging part is realized, and the operation is simple, convenient and intuitive.

Drawings

FIG. 1 is a schematic view of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a partial schematic view of an embodiment of the surgical robot of FIG. 1;

FIG. 3 is a flow chart of an embodiment of a method of controlling a surgical robot;

FIG. 4 is a schematic structural diagram of an embodiment of an operating arm and a power unit of the surgical robot;

FIG. 5 is a schematic view of a main console according to an embodiment of the present invention;

FIGS. 6 to 10 are schematic structural views of the main operating table in different embodiments;

FIG. 11 is a schematic view of a display portion of the main console shown in FIG. 10;

FIG. 12 is a schematic view of an embodiment of an adjustment mechanism in the main operating table;

FIG. 13 is a schematic view of an embodiment of an adjustment mechanism in the main operating table;

FIG. 14 is a flowchart illustrating an exemplary method of controlling the main console of the surgical robot according to the present invention;

FIG. 15 is a flowchart illustrating an exemplary method of controlling the main console of the surgical robot according to the present invention;

FIG. 16 is a flowchart illustrating an exemplary method of controlling the main console of the surgical robot according to the present invention;

FIG. 17 is a flowchart illustrating an exemplary method of controlling the main console of the surgical robot according to the present invention;

FIG. 18 is a flowchart of an embodiment of a method for controlling a main console of a surgical robot according to the present invention;

fig. 19 is a schematic structural diagram of a control device of a surgical robot according to an embodiment of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," and the like are for purposes of illustration only and are not intended to represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure. The terms "first/second" and the like as used herein denote one element and a class of two or more elements having common characteristics.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The term "each" as used in the present invention includes one or more than two.

Fig. 1 to 2 are schematic structural diagrams and partial schematic diagrams of a surgical robot according to an embodiment of the present invention.

The surgical robot includes a master console 2 and a slave operation device 3 controlled by the master console 2. The main operation table 2 has an operation unit 21 and a display unit 22, and the doctor operates the operation unit 21 to transmit a control command to the slave operation device 3 so that the slave operation device 3 performs a corresponding operation in accordance with the control command of the doctor operating the operation unit 21, and observes the operation region through the display unit 22. The slave manipulator 3 has a driving arm having a robot arm 30 and one or more manipulation arms 31 detachably attached to a distal end of the robot arm 30. The robot arm 30 includes a base and a connecting assembly connected in sequence, and the connecting assembly has a plurality of joint assemblies. The operating arm 31 comprises a connecting rod 32, a connecting component 33 and a terminal instrument 34 which are connected in sequence, wherein the connecting component 33 is provided with a plurality of joint components, and the posture of the terminal instrument 34 is adjusted by adjusting the joint components of the operating arm 31; end instrument 34 has an image end instrument 34A and an operating end instrument 34B. The image end instrument 34A is used to acquire an image within the field of view, and the display portion 22 is used to display the image. The operating tip instrument 34B is used to perform surgical operations such as cutting, stapling. The manipulator arm with the image end instrument 34A is referred to herein as a camera arm 31A, and the manipulator arm with the manipulation end instrument 34B is referred to as a surgical arm 31B.

The surgical robot shown in fig. 1 is a single-hole surgical robot, and each of the operation arms 31 is inserted into the patient through the same puncture instrument 4 installed at the distal end of the robot arm 30. In a single-bore surgical robot, the surgeon typically only controls manipulator arm 31 to complete the basic surgical procedure. At this time, the operation arm 31 of the single-hole surgical robot should have both a position degree of freedom (i.e. a positioning degree of freedom) and an attitude degree of freedom (i.e. a directional degree of freedom) to realize a change of the pose within a certain range, for example, the operation arm 31 has a horizontal movement degree of freedom x, a vertical movement degree of freedom y, a rotation degree of freedom α, a pitching degree of freedom β and a yawing degree of freedom γ, the operation arm 31 can also realize a forward and backward movement degree of freedom z (i.e. a feeding degree of freedom) under the driving of the distal joint component of the robot arm 30, i.e. the power mechanism 301, and in some embodiments, the operation arm 31 can also be provided with a redundant degree of freedom to realize more functions, for example, one, two or even more degrees of freedom can be additionally provided on the premise that 6 degrees of freedom can be realized. For example, the power mechanism 301 has a guide rail and a power portion slidably disposed on the guide rail, and the operation arm 31 is detachably mounted on the power portion, on one hand, the sliding of the power portion on the guide rail provides the forward and backward movement freedom z of the operation arm 31, and on the other hand, the power portion provides power for the joint components of the operation arm 31 to realize the remaining 5 degrees of freedom (i.e., [ x, y, α, β, γ ]).

The surgical robot also includes a controller. The controller may be integrated in the master console 2 or in the slave console 3. Of course, the controller may also be independent of the master console 2 and the slave console 3, which may be deployed locally, for example, or in the cloud, for example. The controller may be configured with one or more processors.

The surgical robot further includes an input. The input may be integrated into the main console 2. The input section may also be integrated in the slave operating device 3. Of course, the input unit may be independent of the master operating board 2 and the slave operating device 3. The input unit may be, for example, a mouse, a keyboard, a voice input device, or a touch panel. In one embodiment, a touch screen is used as the input unit, and the touch screen may be disposed on an armrest of the main console 2, for example.

The operating arm 31 also comprises sensors that sense joint variables of the joint assembly. The sensors include an angle sensor for sensing the rotational movement of the joint assembly and a displacement sensor for sensing the linear movement of the joint assembly, and the sensors can be adapted according to the type of the joint assembly.

A controller is coupled to the sensors.

For example, as shown in fig. 3, a storage unit 311 is installed on an abutting surface of the driving box 310 of the operation arm 31 abutting against the power portion 302 of the power mechanism 301, a reading unit 303 configured with the storage unit 311 is installed on an abutting surface of the power portion 302 abutting against the driving box 310, the reading unit 303 is coupled to the controller, when the operation arm 31 is installed on the power portion 302, the reading unit 303 communicates with the storage unit 311, and the reading unit 303 reads relevant information from the storage unit 311. The storage unit 311 is, for example, a memory or an electronic tag. The storage unit stores, for example, the type of the manipulation arm, the part of the manipulation arm that can be configured as the target portion, a kinematic model of the manipulation arm, and the like. For example, the storage unit 311 of the camera arm 31A additionally stores therein camera parameters.

Fig. 4 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention, and more specifically, fig. 4 is a schematic structural diagram of a multi-hole surgical robot according to an embodiment of the present invention. The difference between the multi-hole surgical robot shown in fig. 4 and the single-hole surgical robot shown in fig. 1 mainly resides in the difference between the slave operation devices of the two. The multi-hole surgical robot shown in fig. 4 has a robot arm 110, an adjusting arm 120, a manipulator 130, and an operating arm 150 connected in this order from the driving arm of the operating device. The number of the adjusting arms 120, the manipulator 130 and the operating arms 150 is the same, and is two or more, for example, four, the far end of the robot arm 110 has an orientation platform, the near ends of the adjusting arms 120 are all connected to the orientation platform, and the near end of the manipulator 130 is connected to the far end of the adjusting arm 120. The manipulator 130 is for detachably connecting the manipulation arm 150, and the manipulator 130 has a plurality of joint assemblies. Each manipulator 130 has a power mechanism, and the operating arm 150 is mounted on the power mechanism and is further driven by the power mechanism. In a multi-hole surgical robot, different operation arms 150 are inserted into a patient through different puncture instruments, the operation arm 150 of the multi-hole surgical robot generally has fewer degrees of freedom compared with the operation arm 31 of a single-hole surgical robot, and generally, the operation arm 150 only has a posture degree of freedom (i.e. a directional degree of freedom), although the change of the posture generally has an influence on the position, but can be ignored in some situations because the influence is small. The change of the position of the manipulator arm 150 can be generally realized by the aid of the manipulator 130, and since the manipulator 130 is linked with the manipulator arm 150 to realize the change of the pose, the two can be considered as a manipulator assembly, which is equivalent to the manipulator arm 31 in the single-hole surgical robot.

According to the configuration, the operation section 21 can input a posture instruction including a position instruction and a posture instruction to control the change of the distal end posture of the first portion in the drive arm. The distal end of the first portion is typically referred to as the end instrument and may be referred to as an articulation component associated with the end instrument, the change in the pose of the end instrument typically corresponding to the change in the pose of the articulation component.

In the surgical robot shown in fig. 1, the driving arm includes a robot arm and an operation arm, the proximal end of the operation arm is mounted at the distal end of the robot arm, and the distal end instrument is mounted at the distal end of the operation arm. According to a configuration, the first portion may be configured to be an operating arm; alternatively, the first portion may be configured as an integral part of the robotic arm and the handling arm.

Correspondingly, in the surgical robot shown in fig. 4, the driving arm includes a mechanical arm, an adjusting arm, a manipulator and an operating arm, the adjusting arm is mounted at the distal end of the mechanical arm at the proximal end, the manipulator is mounted at the distal end of the adjusting arm at the proximal end, the manipulator is mounted at the distal end of the manipulator at the proximal end, and the distal end instrument is mounted at the distal end of the operating arm. According to a configuration, the first portion may be configured to be an operating arm; alternatively, the first portion may be configured to be integral with the manipulator and the manipulator arm; alternatively, the first portion may be configured as an integral part of the robotic arm, the adjustment arm, the manipulator, and the handling arm.

It can be understood that, in both the single-hole surgical robot shown in fig. 1 and the multi-hole surgical robot shown in fig. 4, the mechanical arm is generally used to adjust the pose of the end instrument in a wide range, and the operation arm is used to finely adjust the pose of the end instrument, for example, the mechanical arm and the like are used to position before operation, and the operation is mainly performed by controlling the operation arm during operation. Of course, in some embodiments, the specific function may also be realized by combining the corresponding arm structures such as the mechanical arm and the operation arm to cooperatively move together. Depending on the configuration, one or more of the end instruments may be configured as a controlled end instrument to accept control of the operating portion.

In some embodiments, as shown in FIG. 5, the main operating table 2 includes a controller 20, and the controller 20 is coupled to a display portion 22 and an operating portion 21. As shown in fig. 6 to 10, the display unit 22 has an imaging unit 220 for final imaging, and it should be noted that the imaging unit 220 may be a physically existing component or a virtually existing component, which is a component where an image finally provided to a person is located. The operating unit 21 has a base 210 and another input unit 212, and the input unit 212 is connected to the base 210 and is movable relative to the base 210 to generate an operating command. The input 212 may be a wearable input such as a handle or a finger ring. Wherein the input portion 212 is connected to the base 210 by a wire, optionally, the input portion 212 may be flexibly connected to the base 210 by a cable to provide multiple degrees of freedom; alternatively, the input portion 212 and the base 210 may be mechanically interconnected to provide multiple degrees of freedom, such as by using multiple joint assemblies. Of course, the input unit 212 and the base 210 may be connected wirelessly, for example, by electromagnetic induction, or by 4G, 5G, bluetooth, wiFi, or the like. The base 210 defines a reference coordinate system, and the movement of the input unit 212 with respect to the base 210 is mainly movement performed with reference to the reference coordinate system.

The display unit 22 and the operation unit 21 are both provided on a stand 23 of the main console 2. The controller 20 may be configured to perform: acquiring respective postures of the base 210 and the imaging part 220; calculating a first deviation of the posture between the base 210 and the imaging part 220; judging whether the first deviation reaches a first deviation threshold value; compensating for the first deviation to make the base 210 substantially parallel to the imaging part 220 when the first deviation reaches a first deviation threshold; after base 210 is substantially parallel to imaging portion 220, control input 212 generates operating instructions for controlling the motion of the end instrument.

Wherein, when acquiring the respective postures of the base 210 and the imaging section 220, the controller 20:

in the main operation table in which the base 210 and the imaging unit 220 are adjusted in non-real time, the posture of the base 210 and the posture of the imaging unit 220 may be measured by sensors, or may be obtained by reading the posture of the base 210 and the posture of the imaging unit 220 in the current state stored in the storage device. The sensor may be a sensor disposed inside the main console. The sensor can also be a sensor which is not connected with the main operating platform outside the main operating platform and belongs to an independent measuring tool.

In some embodiments, base 210 and/or imaging portion 220 may be attitude adjustable in one or more of three degrees of freedom pitch, yaw, and roll. Accordingly, one or more sensors may be utilized to measure the pose in the corresponding degree of freedom. For example, an angle sensor may be used to measure the attitude of a degree of freedom corresponding to the attitude of the degree of freedom; the attitude in the corresponding degree of freedom may be measured by using a corresponding plurality of angle sensors, or may be measured in a plurality of degrees of freedom by using, for example, one gyroscope, corresponding to the attitude in the plurality of degrees of freedom.

The acquired posture of the base 210 generally refers to a posture of a specific point or a specific surface defined thereon, and the acquired posture of the imaging portion 220 generally refers to a posture of a specific point or a specific surface defined thereon. Typically, the pose is an angle corresponding to the associated coordinate axis.

Wherein, when calculating the first deviation of the attitude between the base 210 and the imaging section 220, the controller 20:

the first deviation typically includes a posture deviation, i.e., an angular deviation, in each degree of freedom.

Wherein, when determining whether the first deviation reaches the first deviation threshold, the controller 20:

the first deviation threshold is set, for example, between-5 °, but may also be other larger or smaller ranges, such as-8 °, and, for example, 3 °. The first deviation threshold may be configured according to different preferences of different physicians. In use, the configuration associated with the first deviation threshold may be invoked differently depending on the logged-in physician.

Wherein, when the first deviation reaches the first deviation threshold, the controller 20 compensates for the first deviation such that the base is substantially parallel to the imaging portion:

wherein, when the first deviation is considered to be within the first deviation threshold, the pedestal 210 and the imaging part 220 are substantially parallel. In particular, when the first deviation is zero, the base 210 and the imaging unit 220 are absolutely parallel to each other. In step S14, the first deviation does not have to be zero as long as the first deviation is within the first deviation threshold. For example, where the first deviation threshold is [ -5 °,5 ° ], compensating the first deviation results in the first deviation being any of-5 °, -4 °, -3 °, -2 °, -1 °, 0 °, 1 °, 2 °,3 °, 4 °,5 °, or a value between any two adjacent values.

The imaging part 220 and the base 210 being parallel as referred to herein may mean that an imaging plane defined on the imaging part 220 and a reference plane defined on the base 210 are physically parallel, wherein the reference plane is, for example, a plane in the base 210, the reference plane may be, for example, a plane on a component in the base 210, and the reference plane may also be, for example, a cross section of a component in the base 210; the first coordinate system a defined on the imaging unit 220 and the second coordinate system B defined on the base 210 may be parallel to each other, and when the first coordinate system a and the second coordinate system B are parallel to each other, the x-axis, the y-axis, and the z-axis of the first coordinate system a may be parallel to the x-axis, the y-axis, and the z-axis of the second coordinate system B, respectively.

For the case where the input part 212 and the imaging part 220 are not adjustable at all times, the above-described steps S11 to S14 may be performed at once and curing may be performed when the main operation table is assembled.

In the case where either one of the input unit 212 and the imaging unit 220 is adjustable but not adjustable in real time, the above steps S11 to S14 may be triggered by the doctor to be executed at one time at the time of system startup, or the system may automatically execute the above steps S11 to S14 at one time at the time of initialization.

In the case where either one of the input unit 212 and the imaging unit 220 is adjustable and is adjustable in real time, the above steps S11 to S14 may be repeatedly executed in real time.

Wherein, after the base 210 is substantially parallel to the imaging portion 220, the controller 20 controls the input portion 212 to generate an operation command for controlling the movement of the tip instrument, and further, the tip instrument can move according to the operation command.

With the above-described embodiment, it is advantageous to realize intuitive control of the doctor operation input section 212 based on the operation image made by the imaging section 220. Here, the "intuitive control" means herein that the movement direction of the input section 212 completely coincides with the movement direction of the operation image made by the imaging section 220 by the operation distal end instrument controlled by the input section 212, and of course, the movement direction of the input section 212 completely coincides with the movement direction (i.e., the direction of change of field of view) of the operation image made by the imaging section 220 caused by the movement of the image distal end instrument controlled by the input section 212. Thus, when the surgeon controls the tip instrument to perform the surgical operation using the input unit 212, the movement direction of the input unit 212 can be made to coincide with the movement direction of the tip instrument in the operation image or the movement direction of the operation image itself viewed through the imaging unit 220, and the surgeon can feel the same hand and eye.

In some embodiments, as shown in fig. 6 and 7, the display portion 22 only includes a display, and the imaging portion 220 corresponds to a display surface of the display, that is, the imaging portion exists physically. To conveniently measure the posture of the imaging part 220, a sensor may be provided on the display, and the sensor is coupled with the controller 20.

In some embodiments, as shown in fig. 8 to 10, the display portion 22 includes not only the display 221 but also the mirror assembly 222. In this embodiment, the imaging portion 220 is not the display surface of the display 221, but the display surface formed by the mirror assembly 222, which may generally be considered not to be physically present but virtual, because the image formed by the mirror assembly is generally not on the corresponding mirror, for example, for a lens or a plane mirror, the image effectively visible by them is generally not on the mirror itself. A sensor coupled to the controller may be provided on the display 221 or the mirror assembly 222 in the display section 22 to detect the attitude of the display 221 or the mirror assembly 222, and the controller determines the attitude of the imaging section 220 based on the sensed attitude of the display 221 or the mirror assembly 222 and according to a relative positional relationship between the display 221 and the mirror assembly 222, which may be generally determined at the time of optical path design.

In one embodiment, as shown in fig. 8 and 9, the mirror assembly 222 is more than one flat mirror, and the imaging unit 220 is a display surface formed on one side of one flat mirror at the far end of the optical path. The support 23 is provided with a receiving cavity 24, at least the display portion 22 is disposed in the receiving cavity 24, more specifically, the display 221 and the mirror assembly 222 are received in the receiving cavity 24, and the virtual imaging portion can be located outside the receiving cavity 24. For example, the plane mirror 222 is a single piece, and an angle is formed between the display 221 and the plane mirror 222, and in this embodiment, the imaging unit 220 is a display surface of the plane mirror 222 on a side away from the display 221, and this arrangement allows the operation unit 21 to be superposed on the imaging unit 220 for more intuitive control, so that the doctor feels as if his hand is operating as if it were on the imaging unit 220 or the image formed on the imaging unit 220. In particular, such an arrangement may form the imaging portion 220 outside the accommodating cavity 24, so that the input portion 212 may overlap the imaging surface 220 to avoid physical obstruction of the accommodating cavity 24.

In one embodiment, as shown in fig. 10 and 11, the mirror assembly 222 is more than one convex lens, the convex lens 222 is disposed substantially parallel to the display 221, and the image plane 220 can be located on the same side or opposite side of the display 221. Preferably, the object distance between the convex lens 222 and the display 221 is set to be less than 1 times of the focal length of the convex lens 222, so that the imaging plane 220 is located on the same side of the display 221, and is further away from the convex lens 222 with respect to the display 221 and has an enlarged image with respect to the image displayed by the display 221, and such an arrangement also enables the operation portion 21 to be superposed on the imaging portion 220 for more intuitive control, so that the doctor feels that his hand appears to operate as if it were on the imaging portion 220 or the image formed on the imaging portion 220.

In other embodiments, the mirror assembly 222 may be formed by a combination of a flat mirror and a convex lens, with the mirror at the distal end of the mirror assembly in the optical path forming a virtual image plane.

As shown in fig. 10 and 11, in an embodiment in which the mirror assembly 222 includes a convex lens, the display section 22 in the main operating table 2 may be in the form of a head-mounted display section, such as VR glasses or AR glasses, so that the doctor can flexibly move the head. The sensor provided in the head-mounted display unit 22 is a gyroscope for directly or indirectly acquiring the posture of the imaging unit 220.

In some embodiments, with continued reference to FIG. 11, head mounted display 22 further includes a diopter adjustment mechanism 250 for correcting the vision of the surgeon. The diopter adjustment mechanism 250 may be a diopter adjustment mechanism formed of two or more concave lenses for correcting myopia, and the diopter adjustment mechanism 250 may be a diopter adjustment mechanism formed of two or more convex lenses for correcting hyperopia.

With continued reference to fig. 11, the refractive adjustment mechanism 250 includes two independent refractive adjustment assemblies 260, the two refractive adjustment assemblies 260 being used to correct the vision of the surgeon's left and right eyes, respectively. Each diopter adjustment assembly 260 comprises two of the lenses, the two lenses are arranged in parallel and have an adjustable distance, and the combined focal length of the two lenses can be adjusted by means of the change of the distance between the two mutually parallel lenses, so that the change of the diopter power can be realized according to the change of the combined focal length.

In one embodiment, the lenses may each be a convex lens, or may each be a concave lens, or may be a combination of convex and concave lenses. By selecting lenses of different materials, different transmittances and/or different focal lengths, adjustment of different diopter ranges can be achieved.

The combined focal length of the lens may be determined according to equation (1):

f＝f1×f2/(f1+f2-S) (1)

wherein f is the combined focal length, f1 is the focal length of one lens, f2 is the focal length of the other lens, and S is the distance between the two lenses. The focal length of the convex lens is usually a positive value, and the focal length of the concave lens is usually a negative value.

Further, the refractive power of the lens may be determined according to equation (2):

D＝(1/f)×100 (2)

where D is the diopter number and the unit of the combined focal length f is m.

By selecting the lens and setting the distance between the lens and the lens, the myopia degree of 0-1000 degrees can be adjusted. The adjustment of the distance vision power of 0-500 degrees can be realized by the selection of the lens and the arrangement of the distance between the lens and the lens.

In one embodiment, the diopter adjustment mechanism 250 may be provided at the observation portion 240 of the main console 2.

In one embodiment, the diopter adjustment mechanism 250 described above may also be integrated into the head-mounted device 22.

In one embodiment, a relationship table may be established that correlates a target diopter power to a target distance between two lenses, and the diopter adjustment assembly 260 may be automatically adjusted according to the diopter power. Accordingly, the controller 20 may also be configured to perform: acquiring a target diopter; matching a target distance from the relation table according to the target diopter number; acquiring a current spacing between two lenses; and controlling the two lenses to be adjusted from the current spacing to the target spacing based on the difference between the target spacing and the current spacing.

In another embodiment, the controller 20 may be further configured to perform: acquiring a target diopter; determining a combined focal length between the two lenses according to the target diopter power; determining a target distance between the two lenses according to the determined combined focal length; acquiring a current distance between two lenses; and controlling the two lenses to be adjusted from the current spacing to the target spacing based on the difference between the target spacing and the current spacing.

Wherein the controller 20 is configured to determine the combined focal length between the two lenses according to the target diopter power, in particular, the combined focal length between the two lenses can be determined according to the above formula (1).

Wherein the controller 20 is configured to determine the target distance between the two lenses according to the determined combined focal length, in particular, the target distance between the two lenses can be determined according to the above formula (2).

In some embodiments, the controller 20 may be configured to, when performing acquiring the target diopter, specifically, perform: acquiring identity information of a doctor; and acquiring the diopter number of the doctor according to the identity information of the doctor, and taking the acquired diopter number as the target diopter number. In some embodiments, the target diopter may also be entered by the doctor in real time.

In some embodiments, the controller 20 may be configured to, when performing the acquiring of the current spacing between the two lenses, the current spacing being obtained from a distance sensor detection fixedly disposed relative to one of the two lenses. The current pitch may also be obtained from motor encoder detection of a linear motor or a rotary motor.

The identity information of the doctor comprises the diopter number of the doctor. The refractive power may be the one entered by the doctor or it may be the one recorded the last time the doctor used the refractive adjustment assembly. This information may be stored in memory on the main console or may be stored on a server, such as a cloud server, in communication with the main console.

The controller 20 can quickly prepare the environment with clear vision for the doctor according to different vision of the doctor through the automatic adjusting process, and the trouble of wearing glasses by the doctor is avoided.

In the above embodiments, the display may be a 2D display or a 3D display.

In some embodiments, when the controller 20 is configured to compensate the first deviation to make the base and the imaging portion substantially parallel, the first deviation may be: the first coordinate system and/or the second coordinate system is coordinate rotated based on the first deviation such that the first coordinate system and the second coordinate system are substantially parallel. As shown in fig. 6 and 8, a first coordinate system a is defined and fixed on the base 210, and a second coordinate system B is defined and fixed on the imaging part 220. This approach achieves compensation by way of coordinate rotation, which is particularly suitable for head-mounted displays in such a way that the first coordinate system a and the second coordinate system B are parallel, without requiring changes to the structure, and is easy to use.

In some embodiments, the main operating table 2 may include a first adjusting mechanism for directly or indirectly adjusting the attitude of the imaging portion, and the controller 20 may specifically be, when performing compensation for the first deviation so that the base is substantially parallel to the imaging portion: and controlling the first adjusting mechanism to adjust the posture of the imaging part based on the first deviation so that the base and the imaging part are basically parallel in physical space.

In some embodiments, the main operating table 2 may include a second adjusting mechanism for adjusting the posture of the base, and the controller 20 may specifically be, when performing compensation for the first deviation so that the base is substantially parallel to the imaging portion: and controlling the second adjusting mechanism to adjust the posture of the base based on the first deviation so that the base and the imaging part are basically parallel in physical space.

In other embodiments, the main operating table 2 may include both a first adjusting mechanism for directly or indirectly adjusting the attitude of the imaging portion and a second adjusting mechanism for adjusting the attitude of the base, and the controller 20 may specifically be configured to, when performing compensation for the first deviation so that the base is substantially parallel to the imaging portion: and controlling the first adjusting machine and the second adjusting mechanism to simultaneously adjust the postures of the imaging part and the base on the basis of the first deviation so that the base and the imaging part are basically parallel in a physical space.

Any one of the first adjusting mechanism and the second adjusting mechanism can be realized by adopting various structures, and the three attitude degrees of freedom of the corresponding object can be adjusted as an example.

Illustratively, as shown in fig. 12, the adjusting mechanism may be implemented by using a ball pair structure 40, which is mainly matched with a manual manner to adjust the posture of the corresponding object. The ball pair structure 40 includes a fixed portion 41 and a movable portion 42 movably disposed relative to the fixed portion 41, the movable portion 42 is further provided with a supporting portion 43 for supporting a corresponding object, and the posture of the corresponding object supported on the supporting portion 43 can be adjusted by adjusting the movement of the movable portion 42 relative to the fixed portion 41. For example, the fixed portion 41 is a spherical groove body, and the movable portion 42 is a spherical body. For another example, the fixed portion 41 is a sphere, and the movable portion 42 is a spherical groove. The components supported by the supporting portion 43 should generally be components having a solid structure, for example, when the imaging portion 220 virtually exists, the components supported by the supporting portion 43 are the display 221 and/or the mirror assembly 222. The sensor for detecting the posture of the corresponding object is usually provided fixedly with the corresponding object, and may be provided on the corresponding object or on the support portion 43.

Further, the ball pair structure 40 may further include a band-type brake, and the control portion is coupled to the ball pair structure 40 having the band-type brake, and more specifically, the control portion is coupled to the band-type brake. The band-type brake piece comprises a static friction plate and a dynamic friction plate which are mutually separated in a power-on state and mutually adsorbed in a power-off state. One of the static friction plates and the dynamic friction plates is provided in the fixed portion 41, and the other is provided in the movable portion 42. For example, the static friction plate is provided at the fixed portion 41, and the dynamic friction plate is provided at the movable portion 42. For example, a static friction plate may be provided on the surface of the fixed portion 41 on the side contacting the movable portion, and a dynamic friction plate may be provided on the surface of the movable portion 42 on the side contacting the fixed portion. Through the design of the contracting brake piece with power-on separation and power-off adsorption, the movable part can be powered on to unlock so as to adjust the posture of a corresponding object, and the movable part is powered off and locked after the adjustment is finished. This structural design is applicable even for the magnetically navigable operating portion 21, since the energization to generate the magnetic force is only triggered when the attitude of the base 210 of this type of operating portion 21 is adjusted, and this adjustment does not affect the normal use since the use of the input portion 212 to control the tip instrument is not possible or allowed.

The above-described band brake may be replaced. For example, one of the groove and the ball in the ball pair structure 40 is a member that generates magnetic force when energized, and the other is a member that is attracted by magnetic force. The control part is coupled with a component which can generate magnetic force when electrified. The parts which can generate magnetic force when electrified, or the finger parts are provided with films which can generate magnetic force when electrified. The magnetically attractable component may be a component which itself is magnetically attractable, or the component may be provided with a magnetically attractable film. For example, when the fixed portion 41 is a slot body and the movable portion 42 is a ball, the slot body is a slot body that can generate magnetic force when being powered, and correspondingly, the ball is a ball that can be absorbed by the magnetic force generated when the slot body is powered, for example, the ball is made of iron, iron-nickel alloy, or other materials. When the posture of the corresponding object needs to be adjusted, the control part controls the power to be cut off so as to lock the movable part, and when the posture of the corresponding object does not need to be adjusted, the control part controls the power to be restored so as to unlock the movable part.

Because the groove body and the ball body in the ball pair structure 40 can be unlocked or locked when being powered on, and correspondingly, the groove body and the ball body can be locked or unlocked when being powered off, the posture of the attachment supported on the supporting part connected with one of the groove body and the ball body can be easily adjusted, so that the individual requirements of different doctors on different postures of the attachment can be met, wherein when the posture of the attachment needs to be adjusted, the posture of the attachment can be adjusted by controlling the unlocking of the ball pair structure 40, and when the posture of the attachment does not need to be adjusted, the posture of the attachment can be kept by controlling the locking of the ball pair structure, so that the ball pair structure is simple and easy to use. The attached matter here may be the base 210 of the operation portion 21 or the imaging portion 220 of the display portion 22.

Illustratively, as shown in fig. 13, the adjusting mechanism may also be implemented by a multi-pose freedom robot arm 50, which may cooperate with manual and/or automatic adjustment of the pose of the corresponding object. The mechanical arm 50 at least includes a base 51, a first link 52, a second link 53, and a third link 54, the first link 52 is movably connected to the base 51 and is adjustable in a first posture, the second link 53 is movably connected to the first link 52 and is adjustable in a second posture, the third link 54 is movably connected to the second link 53 and is adjustable in a third posture, the movable connection between adjacent components is realized by a rotary joint, the third link 54 is provided with a support portion for supporting a corresponding object, and further, the posture of the corresponding object supported on the support portion can be adjusted, wherein the support portion may be the third link 54 itself. For example, the first attitude is rotation, the second attitude is yaw, and the third attitude is pitch. Of course, other combinations are also possible, and are not described in detail here. In one embodiment, the first link 52 and the base 51, the second link 53 and the first link 52, and the third link 54 and the second link 53 may be driven manually without providing a rotating motor, or a rotating motor may be provided to automatically drive the rotary joint. In other embodiments, when the adjustable postures of the corresponding objects are less, the adjustable postures can be realized by using a simpler structure, or the adjustable postures can be realized by simply improving the mechanical arm based on the ball pair structure or the multi-posture freedom degree, and the details are not repeated here.

In some embodiments, the manipulation instructions generated by the movement of the input portion 212 relative to the base 210 are used to control the following movement of the distal end instrument from the manipulation device, and more particularly, the manipulation instructions are used to control the movement of the first portion of the proximal end arrangement of the distal end instrument to effect the movement of the distal end instrument. The controller 20 may be further configured to control the input 212 to decouple from the end instrument upon determining that the first deviation has reached a first deviation threshold. The manner in which the end instrument is decoupled can be achieved, for example, by decoupling the entire slave operating device or only the first part.

In some embodiments, the controller 20 may be further configured to control the input 212 to couple with the end instrument upon determining that the first deviation does not meet the first deviation threshold. Wherein the coupling with the end instrument may be realized, for example, by coupling with the entire slave operating device or with the first part.

Whether the input part and the terminal instrument are coupled or not is determined according to whether the first deviation reaches the first deviation threshold value or not, and the occurrence of unexpected movement caused by the change of the posture of the terminal instrument due to the relative change of the posture of the base can be avoided. That is, it is ensured that the input part is coupled to the distal instrument, which does not cause undesired movements of the distal instrument, only if the first deviation does not reach the first deviation threshold, i.e. does not change the pose of the base with respect to the imaging part.

In some embodiments, when the tip instrument is manipulated using the operating portion 212, it is generally desirable that both change in agreement with substantially the same initial posture within the same reference coordinate system, and since the deviation between the posture of the base and the posture of the imaging portion is compensated for, it is easy to cause the deviation between the posture of the operating portion and the posture of the tip instrument to become large to be disadvantageous for intuitive manipulation, the controller 20 may be further configured to perform, after compensating for the first deviation so that the base and the imaging portion are substantially parallel to each other: acquiring respective poses of the input portion 212 and the tip instrument; calculating a second deviation of the pose between the input 212 and the tip instrument; judging whether the second deviation is smaller than a second deviation threshold value; when the second deviation is less than a second deviation threshold, sending a follow signal to initiate the tip instrument into a follow state to follow the movement of the input 212; and compensating for the second deviation to substantially positionally align the input 212 and the distal instrument when the second deviation is greater than or equal to a second deviation threshold.

Wherein, the controller 20, in performing the acquiring of the respective postures of the input portion 212 and the tip instrument:

the pose of the end instrument may be determined using positive kinematics based on joint variables of the respective joint components driving the first portion of the end instrument motion. When the input portion is a non-link input portion such as a magnetic navigation input portion, the attitude of the input portion can be obtained by a gyroscope, and when the input portion is a link input portion, it can also be determined using positive kinematics based on joint variables of respective joint components in the input portion.

Wherein the controller 20, in performing the calculating of the second deviation of the pose between the input and the tip instrument:

in general, it is necessary to calculate the deviation of the posture between the two under the same coordinate system.

Wherein, when performing the determination whether the second deviation is smaller than the second deviation threshold, the controller 20:

when the second deviation is less than a second deviation threshold, it is indicative that the input and the tip instrument are substantially aligned in pose.

When the input portion 212 is a non-linked input portion such as a magnetic navigation input portion, the controller 20 may perform maintaining the attitude of the distal instrument and adjusting the attitude of the input portion to align toward the attitude of the distal instrument while performing compensating for the second deviation to substantially align the input portion 212 and the distal instrument in attitude. Wherein a first coordinate image may be generated according to the posture of the input section and a second coordinate image may be generated according to the posture of the tip instrument, the two coordinate images may be disposed with the origin coincident for easy observation. The pose of the input portion can be conveniently adjusted to align to the pose of the distal instrument based on the relationship between the two coordinate images.

When the input 212 is a linked input having a plurality of active joints driven by a rotating motor, the controller 20 is further configured to perform, while compensating for the second deviation to substantially align the input and the distal instrument in pose: acquiring incremental joint variables of each active joint in the input part by inverse kinematics based on the second deviation under the condition of keeping the position of the input part; the respective active articulation is controlled using positive kinematics based on the incremental articulation variables to substantially gestionally align the input and the tip instrument.

The main operating board 2 further includes an observation portion 240, the observation portion 240 may be disposed on the accommodating chamber 24, the observation portion 240 provides a window to observe an image formed by the imaging portion 220, the postures of the observation portion 240 and the imaging portion 220 are independently adjustable, the observation portion 240 may be manually adjusted or automatically adjusted, and the observation portion 240 is provided with a posture sensor such as a gyroscope to sense the posture thereof. The controller 20 may also be configured to perform: acquiring a posture included angle between a visual axis of the observation part 240 and the imaging part 220; calculating a third deviation between the attitude included angle and a preset attitude included angle; when the third deviation reaches a third deviation threshold, the posture of the observation part 240 and/or the imaging part 220 is adjusted based on the third deviation so that the posture angle between the visual axis of the observation part 240 and the imaging part 220 is substantially the same as the preset posture angle.

The attitude angle may be obtained based on the attitude detected by the attitude sensor provided in the observation unit 240.

Wherein the preset attitude included angle is 85-95 degrees, such as 90 degrees.

According to this embodiment, when the third deviation between the posture angle between the observation part 240 and the imaging part 220 and the preset posture angle reaches the third deviation threshold, the posture of the observation part 240 and/or the imaging part 220 may be adjusted to ensure that the posture angle is always within the preset posture angle, so as to have a good observation effect. Especially, the compensation base 210 and the imaging part 220 are combined to be arranged basically in parallel, so that the observation effect can be improved on one hand, and the vivid intuition control can be realized on the other hand.

Further, the diopter adjustment mechanism described above may be provided at the viewing portion 240 to eliminate the annoyance of a myopic or hyperopic doctor wearing glasses.

The above-mentioned "electrically adjustable rotation portion" means that the rotation portion can rotate through electrical control to realize posture adjustment, and such a rotation portion can be realized by using, for example, the structure and principle of the active joint of the mechanical arm in the industrial robot, and can also be realized by using, for example, the structure of the common motor driving gear rotation and the like, as long as the electrical control rotation can be realized, and there is no need to exemplify one another.

The invention also provides a control method of the main operating platform. In one embodiment, as shown in fig. 14, the control method includes:

step S11, acquiring respective postures of the base and the imaging part.

Step S12, calculating a first deviation of the posture between the base and the imaging part.

Step S13, it is determined whether the first deviation reaches a first deviation threshold.

And S14, when the first deviation reaches a first deviation threshold value, compensating the first deviation to enable the base to be basically parallel to the imaging part.

And S15, after the base is basically parallel to the imaging part, controlling the input part to generate an operation instruction for controlling the movement of the end instrument.

According to the above steps S11 to S15, it is advantageous to realize intuitive control of the doctor operation input section based on the operation image formed by the imaging section.

In the step S14, compensating the first deviation to make the base and the imaging portion substantially parallel may perform coordinate rotation on the first coordinate system defined on the base and/or the second coordinate system defined on the imaging portion based on the first deviation so that the first coordinate system and the second coordinate system are substantially parallel.

In step S14, the first deviation is compensated to make the base and the imaging portion substantially parallel, and the first adjusting mechanism is controlled to adjust the posture of the imaging portion based on the first deviation and/or the second adjusting mechanism is controlled to adjust the base so that the reference plane defined on the base and the imaging plane defined on the imaging portion are substantially parallel in physical space.

In an embodiment, the control input may be decoupled from the tip instrument when the first deviation reaches a first deviation threshold. Further, the control input may be coupled with the tip instrument when the first deviation does not reach a first deviation threshold.

In some embodiments, based on a configuration in which the distance between the two lenses is electrically adjustable by the driving part, as shown in fig. 15, the control method may include:

in step S211, the target diopter is acquired.

And step S212, matching a target distance from the relation table according to the target diopter number.

Wherein the relation table is preset, and the relation table is related to the target diopter power and the target distance between the two lenses, namely the relation table has the relation between the target diopter power and the target distance.

In step S213, the current pitch between the two lenses is acquired.

In step S214, the driving unit is controlled to operate to adjust the two lenses from the current pitch to the target pitch based on the difference between the target pitch and the current pitch.

In some embodiments, based on a configuration in which the distance between the two lenses is electrically adjustable by the driving part, as shown in fig. 16, the control method may include:

step S221, a target diopter is acquired.

In step S222, a combined focal length between the two lenses is determined according to the target diopter power.

Wherein the combined focal length between the two lenses can be determined according to the above formula (1).

In step S223, a target distance between the two lenses is determined according to the determined combined focal length.

Wherein the target separation between the two lenses can be determined according to the above formula (2).

In step S224, the current pitch between the two lenses is acquired.

In step S225, the driving part is controlled to operate based on the difference between the target pitch and the current pitch so that the two lenses are adjusted from the current pitch to the target pitch.

According to the steps S211 to S214 or the automatic adjustment process of the steps S221 to S225, the environment with clear vision can be quickly prepared for the doctor according to the difference of the vision of the doctor, and the trouble of wearing glasses by the doctor is avoided.

The step S211 and the step S221 may be to acquire the target diopter, which may be the target diopter input by the doctor, or may be acquired by: acquiring identity information of a doctor; and acquiring the diopter number of the doctor according to the identity information of the doctor, and taking the acquired diopter number as the target diopter number.

Wherein the identity information of the doctor is editable. Illustratively, when a doctor logs in the user interface of the surgical robot, the identity information of the doctor is automatically associated. The doctor can log in by typing in an account and a password, can also log in by fingerprint identification, can log in by face identification and even can log in by voice identification.

In some embodiments, as shown in fig. 17, after step S14, that is, after compensating the first deviation to make the base and the imaging part substantially parallel, the method further includes:

step S31, the respective postures of the input unit and the distal end instrument are acquired.

Step S32 calculates a second deviation of the posture between the input portion and the distal end instrument.

Step S33 determines whether the second deviation is smaller than a second deviation threshold.

When the second deviation is smaller than the second deviation threshold value, the input part and the terminal instrument are basically aligned in posture, and the step S34 is carried out; when the second deviation is equal to or greater than the second deviation threshold, the process proceeds to step S35.

Step S34, a follow signal is sent to start the tip instrument into a follow state following the movement of the input portion.

Step S35, compensating for the second deviation to substantially align the input portion and the tip instrument in the posture, and proceeding to step S31 described above again.

In one embodiment, in the case where the input unit is a link-type input unit having a plurality of active joints driven by a rotating motor, the step S35 of compensating for the second deviation to substantially align the input unit and the distal end instrument in posture may be performed by:

acquiring incremental joint variables of each active joint in the input part by using inverse kinematics based on the second deviation under the condition of keeping the position of the input part;

based on each incremental joint variable and using positive kinematics, a respective active joint motion is controlled to substantially align the input and the tip instrument in pose.

In some embodiments, based on the configuration of the main operation table 2 shown in fig. 8, simply, the postures of the observation portion 240 and the imaging portion 220 are independently adjustable, the observation portion 240 may be manually adjusted or automatically adjusted, and the observation portion 240 is provided with a posture sensor such as a gyroscope that senses the posture thereof. As shown in fig. 18, the control method further includes:

step S41, an attitude angle between the visual axis of the observation portion and the imaging portion is acquired.

And S42, calculating a third deviation between the attitude angle and the preset attitude angle.

Wherein the predetermined attitude angle is 85 ° to 95 °, for example, 90 °.

Step S43, determining whether the third deviation reaches a third deviation threshold.

And S44, when the third deviation reaches a third deviation threshold value, adjusting the posture of the observation part and/or the imaging part based on the third deviation so as to enable the posture included angle between the visual axis of the observation part and the imaging part to be basically the same as the preset posture included angle.

Through the steps S41 to S44, when the third deviation between the posture included angle between the observation portion and the imaging portion and the preset posture included angle reaches the third deviation threshold, the posture of the observation portion and/or the imaging portion can be adjusted to ensure that the posture included angle is always within the preset posture included angle, so that a good observation effect is achieved. Particularly, when the method is used in combination with the steps S11 to S14, on the one hand, the observation effect can be improved, and on the other hand, more realistic intuitive control can be realized.

It is to be noted that, for the sake of brevity, the steps related to the embodiments of the control method are not set forth in the description of the control method. In fact, reference may be made to the various embodiments of the main console described above, so that the implementation of the relevant steps of the various embodiments of the control method may be more easily understood.

In another aspect, the present invention further provides a surgical robot including a main operating table according to any one of the embodiments described above.

In one embodiment, a control device for a surgical robot is provided. As shown in fig. 19, the control device may include: a processor (processor) 501, a Communications Interface (Communications Interface) 502, a memory (memory) 503, and a Communications bus 504.

The processor 501, the communication interface 502, and the memory 503 communicate with each other via a communication bus 504.

A communication interface 502 for communicating with other devices such as various sensors or rotating electrical machines or solenoid valves or other network elements of clients or servers and the like.

The processor 501 is configured to execute the program 505, and may specifically perform relevant steps in the foregoing method embodiments.

In particular, program 505 may include program code comprising computer operating instructions.

The processor 505 may be a central Processing Unit CPU, or an Application Specific Integrated Circuit ASIC (Application Specific Integrated Circuit), or one or more Integrated circuits configured to implement embodiments of the present invention, or a Graphics Processing Unit (GPU). The control device includes one or more processors, which may be the same type of processor, such as one or more CPUs, or one or more GPUs; or may be different types of processors, such as one or more CPUs and one or more GPUs.

The memory 503 stores a program 505. The memory 503 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The program 505 may specifically be configured to cause the processor 501 to perform the following operations: acquiring respective postures of the base and the imaging part; calculating a first deviation of the posture between the base and the imaging part; judging whether the first deviation reaches a first deviation threshold value; when the first deviation reaches a first deviation threshold value, compensating the first deviation to enable the base to be basically parallel to the imaging part; after the base is substantially parallel to the imaging portion, the control input generates operating instructions for controlling the movement of the tip instrument.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A control method of a main console, the main console including a display portion having an imaging portion for final imaging and an operating portion having a base and an input portion connected to the base and movable relative to the base to generate operating instructions for controlling movement of a tip instrument, the control method comprising:

acquiring respective postures of the base and the imaging part;

calculating a first deviation between the attitude of the base and the attitude of the imaging section;

judging whether the first deviation reaches a first deviation threshold value;

compensating for the first deviation to make the base substantially parallel to the imaging portion when the first deviation reaches the first deviation threshold;

after the base is substantially parallel to the imaging portion, controlling the input portion to generate operating instructions for controlling movement of the tip instrument.

2. The control method according to claim 1, wherein the compensating for the first deviation so that the base is substantially parallel to the imaging section includes:

coordinate rotation is performed on a first coordinate system defined on the base and/or a second coordinate system defined on the imaging portion based on the first deviation such that the first coordinate system and the second coordinate system are substantially parallel.

3. The control method according to claim 1, wherein the main operation table includes a first adjustment mechanism for adjusting an attitude of the imaging section, and the compensating for the first deviation so that the base is substantially parallel to the imaging section includes: controlling the first adjusting mechanism to adjust the posture of the imaging part based on the first deviation so that a reference surface defined on the base is substantially parallel to an imaging surface defined on the imaging part; and/or the main operating table comprises a second adjusting mechanism for adjusting the posture of the base, and the compensating the first deviation to make the base and the imaging part be substantially parallel comprises: and controlling the second adjusting mechanism to adjust the posture of the base based on the first deviation so that the reference surface of the base is substantially parallel to the imaging surface of the imaging part.

4. The control method according to claim 1, wherein the operation instruction generated by the input portion is used to control a tip instrument following motion from an operation device, the control method further comprising:

controlling the input to decouple from the tip instrument when the first deviation reaches the first deviation threshold;

and/or, control the input to couple with the tip instrument when the first deviation does not reach the first deviation threshold.

5. The control method according to claim 1, wherein after the compensating for the first deviation to make the pedestal substantially parallel to the imaging part, the control method further comprises:

acquiring respective postures of the input portion and the tip instrument;

calculating a second deviation in pose between the input and the tip instrument;

judging whether the second deviation is smaller than a second deviation threshold value;

when the second deviation is less than the second deviation threshold, sending a follow signal to initiate the tip instrument to enter a follow state following the movement of the input portion;

and/or, when the second deviation reaches the second deviation threshold, compensating for the second deviation to substantially gesturally align the input and the distal instrument.

6. The control method of claim 5, wherein the input is a linked input having a plurality of motor-driven active joints, and wherein compensating for the second deviation to substantially align the input and the tip instrument in pose comprises:

acquiring incremental joint variables of each of the active joints in the input portion using inverse kinematics based on the second deviation while maintaining the position of the input portion;

controlling the respective active articulation motions based on each of the incremental articulation variables and with positive kinematics to substantially gestionally align the input and the tip instrument.

7. The control method according to claim 1, wherein the main operating table further includes an observation portion providing a window to observe an image formed by the imaging portion, the postures of the observation portion and the imaging portion being independently adjustable, the control method including:

acquiring an attitude included angle between a visual line axis of the observation part and the imaging part;

calculating a third deviation between the attitude included angle and a preset attitude included angle;

judging whether the third deviation reaches a third deviation threshold value;

and when the third deviation reaches the third deviation threshold value, adjusting the posture of the observation part and/or the imaging part based on the third deviation so as to enable the posture included angle between the visual axis of the observation part and the imaging part to be basically the same as the preset posture included angle.

8. The control method of claim 1, wherein the main console comprises two refractive adjustment assemblies for correcting left and right eye vision, the refractive adjustment assemblies comprising two lenses arranged in parallel and having an adjustable separation distance, the control method further comprising:

acquiring a target diopter;

matching a target distance between two lenses from a relation table according to the target diopter number, wherein the relation table has an incidence relation between the target diopter number and the target distance;

acquiring a current spacing between two of the lenses;

controlling the two lenses to adjust from the current pitch to the target pitch based on a difference between the target pitch and the current pitch.

9. The control method of claim 1, wherein the master console comprises two refractive adjustment assemblies for correcting left and right eye vision, the refractive adjustment assemblies comprising two parallel arranged and spaced apart lenses, the control method further comprising:

acquiring a target diopter;

determining a combined focal length between the two lenses from the target refractive power;

determining a target separation distance between the two lenses according to the determined combined focal length;

acquiring a current spacing between two of the lenses;

10. A main console comprising a display section having an imaging section for final imaging and an operating section having a base and an input section connected to and movable relative to the base to generate operating instructions, the main console further comprising:

a controller coupled with the display portion and the operation portion, configured to perform:

acquiring respective postures of the base and the imaging part;

calculating a first deviation between the pose of the base and the pose of the imaging portion;

judging whether the first deviation reaches a first deviation threshold value;

after the base is substantially parallel to the imaging portion, controlling the input portion to generate operating instructions for controlling movement of the end instrument.

11. The main operating table according to claim 10, characterized in that the display portion comprises a display, the imaging portion being a solid display surface of the display, the display being provided with sensors coupled with the controller for sensing the attitude of the display.

12. The main console according to claim 10, wherein the display section includes a display and a mirror assembly, the imaging section is a virtual display surface formed by the mirror assembly, the display section has a sensor coupled to the controller for sensing a posture of the display or the mirror assembly, and the controller determines the posture of the imaging section based on the sensed posture of the display and the posture of the mirror assembly and according to a relative positional relationship between the display and the mirror assembly.

13. The main operating table of claim 12, wherein the mirror assembly comprises a flat mirror, the display being angled with respect to the flat mirror, the flat mirror being positioned between the display and the imaging section such that the input section is coincident with the imaging section for intuitive control.

14. The master console of claim 12, wherein the mirror assembly comprises a convex lens disposed parallel to the display, the display being positioned between the convex lens and the imaging portion such that the input portion can be coincident with the imaging portion for intuitive control.

15. The main operating table of claim 10, wherein the base is defined with a first coordinate system and the imaging portion is defined with a second coordinate system, the compensating for the first offset such that the base is substantially parallel to the imaging portion comprising:

coordinate rotation of the first coordinate system and/or the second coordinate system based on the first deviation such that the first coordinate system and the second coordinate system are substantially parallel.

16. The main operating table of claim 10, wherein the main operating table includes a first adjustment mechanism for adjusting a pose of the imaging portion, the compensating for the first offset to bring the base substantially parallel to the imaging portion comprising: controlling the first adjusting mechanism to adjust the posture of the imaging part based on the first deviation so that the reference surface of the base is substantially parallel to the imaging surface of the imaging part; and/or the main operation table includes a second adjustment mechanism for adjusting the attitude of the base, and the controller includes, when performing the compensation for the first deviation so that the base is substantially parallel to the imaging section: and controlling the second adjusting mechanism to adjust the posture of the base based on the first deviation so that the reference surface of the base is substantially parallel to the imaging surface of the imaging part.

17. The main operating table according to claim 10, wherein the operating instructions generated by the input are used to control the following movement of the end instrument from the operating device, the controller being further configured to perform:

and/or, when the first deviation does not reach the first deviation threshold, controlling the input to be coupled with the end instrument.

18. The main operating table of claim 10, wherein the controller is further configured, after the compensating the deviation to substantially parallel the base and the imaging portion, to perform:

acquiring respective postures of the input portion and the tip instrument;

compensating for the second deviation to substantially align the input and the tip instrument in a pose when the second deviation reaches the second deviation threshold.

19. The main operating table of claim 10, wherein the input is a linked input having a plurality of motor-driven active joints, the controller further configured to perform, when the compensating for the second deviation substantially aligns the input and the tip instrument in pose:

controlling the respective active articulation motions based on each of the incremental articulation variables and with positive kinematics to substantially align the input and the tip instrument in a pose.

20. The main console of claim 10, further comprising a view portion providing a window to view an image formed by the imaging portion, the view portion and the imaging portion being independently adjustable in pose, the controller being further configured to perform:

judging whether the third deviation reaches a third deviation threshold value;

21. A computer-readable storage medium, characterized in that it stores a computer program configured to be loaded by a processor and to execute the steps of implementing a control method according to any one of claims 1 to 9.

22. A control device for a main operating table, comprising:

a memory for storing a computer program;

and a processor for loading and executing the computer program;

wherein the computer program is configured to be loaded by the processor and to execute steps implementing a control method according to any one of claims 1 to 9.

23. A surgical robot comprising a main console according to any of claims 10 to 20.