CN115887008A - Surgical robot system - Google Patents
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- CN115887008A CN115887008A CN202211442195.6A CN202211442195A CN115887008A CN 115887008 A CN115887008 A CN 115887008A CN 202211442195 A CN202211442195 A CN 202211442195A CN 115887008 A CN115887008 A CN 115887008A
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Abstract
The invention relates to the field of intelligent medical treatment, and discloses a surgical robot system which is used for realizing the automation of endoscopic surgery and improving the intelligence of the endoscopic surgery process. The surgical robot system includes: the system comprises an operation module and an intelligent endoscope control module; the operation module is used for: acquiring button operation data and generating a cavity mirror motion signal according to the button operation data; sending the cavity mirror motion signal to the intelligent cavity mirror control module; the intelligent cavity mirror control module is used for: responding to the endoscope motion signal, and performing endoscope motion control on the advancing process of the intelligent endoscope robot based on a preset target control mode; and acquiring abdominal cavity image data of a target operation position, and dynamically adjusting the operation visual field of the target operation position according to the abdominal cavity image data.
Description
Technical Field
The invention relates to the field of intelligent medical treatment, in particular to a surgical robot system.
Background
With the rapid development of medical technology, endoscopic surgery has become more and more favored by patients and gradually becomes the mainstream mode of surgery. However, endoscopic surgery is very diverse and different endoscopic surgeries require different technical and physical requirements on the surgeon. There are a lot of problems in traditional laparoscopic surgery: the difficulty and the risk of the endoscopic surgery are improved to different degrees due to the fact that hands and eyes of doctors are not coordinated, the flexibility is low, the operation is limited, fatigue and tremor are generated by long-time surgical operation, and the like.
The current endoscope surgical robot system has the problems of large volume, closed system, long learning curve, fussy preoperative debugging preparation, lack of process interaction between a doctor and an assistant and between the doctor and a patient, and the like, namely the intelligent degree of the existing scheme is low.
Disclosure of Invention
The invention provides a surgical robot system which is used for realizing the automation of endoscopic surgery and improving the intelligence of the endoscopic surgery process.
A first aspect of the present invention provides a surgical robotic system comprising: the system comprises an operation module and an intelligent endoscope control module; the operation module is used for: acquiring button operation data and generating an endoscope motion signal according to the button operation data; and sending the scope motion signal to the intelligent scope control module; the intelligent cavity mirror control module is used for: responding to the endoscope motion signal, and performing endoscope motion control on the advancing process of the intelligent endoscope robot based on a preset target control mode; and acquiring abdominal cavity image data of a target operation position, and dynamically adjusting the operation visual field of the target operation position according to the abdominal cavity image data.
In a first implementation form of the first aspect of the invention, the surgical robotic system further comprises: a traction module; the traction module is used for: calling a preset traction device to set a target fixed angle of the target operation position; and carrying out traction fixation on the target operation position according to the target fixed angle.
In a second implementation form of the first aspect of the invention, the surgical robotic system further comprises: an intelligent gas control module; the intelligent gas control module is used for: performing abdominal gas state analysis on the abdominal pressure data to obtain an abdominal gas state analysis result; generating an abdominal gas control strategy according to the abdominal gas state analysis result; and performing intelligent gas control on the target surgical site according to the abdominal gas control strategy.
In a third implementation manner of the first aspect of the invention, the intelligent cavity mirror control module includes: the system comprises an intelligent endoscope robot, an endoscope connecting piece, an endoscope, a display screen and a control unit; the intelligent endoscope robot is connected with the endoscope through the endoscope connecting piece; the endoscope is fixed on the endoscope connecting piece; the endoscope is used for: acquiring abdominal cavity image data of the target operation position, and transmitting the abdominal cavity image data to the display screen; the display screen is used for: and receiving the abdominal cavity image data, and carrying out visual display on the abdominal cavity image data.
In a fourth implementation form of the first aspect of the invention, the control unit further comprises: a target tracking subunit, a mode switching subunit and a motion control subunit; the target tracking subunit is connected with the endoscope; the mode switching subunit is connected with the operation module; the motion control subunit is connected with the intelligent cavity mirror robot.
In a fifth implementation manner of the first aspect of the present invention, the target tracking subunit is specifically configured to: acquiring an instrument head end identifier corresponding to the endoscope, and detecting and tracking the instrument head end identifier to obtain identifier information, wherein the identifier information comprises: the instrument number of the identification, the pixel coordinates of the central point of the identification and the pixel area information of the identification.
In a sixth implementation manner of the first aspect of the present invention, the mode switching subunit is specifically configured to: responding to a mode switching signal, switching the operation mode of the intelligent endoscope robot to obtain a switched target operation mode, wherein the target operation mode comprises the following steps: an automatic tracking mode and a manual adjustment mode; and monitoring the operation state of the intelligent cavity mirror robot according to the target operation mode to obtain operation state information.
In a seventh implementation manner of the first aspect of the present invention, the motion control subunit is specifically configured to: receiving a target control instruction, and controlling the intelligent endoscope robot to move according to a preset movement direction according to the target control instruction and a preset movement control strategy, wherein the movement control strategy comprises the following steps: left, right, up, down, and well depth.
In an eighth implementation manner of the first aspect of the present invention, the operation module further includes: an all-angle surgical instrument; a plurality of control buttons are arranged in the full-angle surgical instrument; the full-angle surgical instrument is used for: acquiring button operation data based on the control buttons, and generating a cavity mirror motion signal according to the button operation data, wherein the cavity mirror motion signal comprises: a left motion signal, a right motion signal, an up motion signal, a down motion signal, and a well depth motion signal.
In a ninth implementation manner of the first aspect of the present invention, the operation module is specifically configured to: when the target operation mode is a manual adjustment mode, responding the button operation data in real time and generating a cavity mirror motion signal; and when the target operation mode is an automatic tracking mode, controlling the intelligent cavity mirror robot to automatically move.
In the technical scheme provided by the invention, aiming at the problems in the existing scheme, based on the deep learning technology and the robot technology, the invention provides a modularized integrated and portable surgical robot system scheme, and the system comprises: the operation module and the intelligent endoscope control module; the operation module is used for: acquiring button operation data and generating an endoscope motion signal according to the button operation data; sending the cavity mirror motion signal to the intelligent cavity mirror control module; the intelligent cavity mirror control module is used for: responding to the endoscope motion signal, and performing endoscope motion control on the advancing process of the intelligent endoscope robot based on a preset target control mode; the invention reduces the requirement of the endoscopic robot surgery on the surgery space, thereby reducing the manufacturing cost and the application cost, and realizes the automatic following of the surgery visual field by utilizing the deep learning image algorithm and the robot control technology, thereby reducing the learning curve and the surgery difficulty, further realizing the automation of the endoscopic surgery and improving the intelligence of the endoscopic surgery process.
Drawings
FIG. 1 is a schematic view of one embodiment of a surgical robotic system in accordance with embodiments of the present invention;
FIG. 2 is a schematic diagram of a surgical robotic system module configuration according to an embodiment of the present disclosure;
fig. 3 is a schematic structural view of a manual full-angle surgical instrument of an operation module according to an embodiment of the invention.
Detailed Description
The embodiment of the invention provides a surgical robot system which is used for realizing the automation of an endoscopic surgery and improving the intelligence of the endoscopic surgery process. The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, a detailed flow of an embodiment of the present invention is described below, with reference to fig. 1, an embodiment of a surgical robotic system in an embodiment of the present invention includes:
an operation module 101 and an intelligent cavity mirror control module 102; the operation module 101 is configured to: acquiring button operation data and generating a cavity mirror motion signal according to the button operation data; and sending the scope motion signal to the intelligent scope control module 102; the intelligent cavity mirror control module 102 is used for: responding to the endoscope motion signals, and carrying out endoscope motion control on the advancing process of the intelligent endoscope robot based on a preset target control mode; and acquiring abdominal cavity image data of a target operation position, and dynamically adjusting the operation visual field of the target operation position according to the abdominal cavity image data.
The operation module mainly comprises a full-angle surgical instrument module, a mode switching subunit and a manual control mode, wherein the mode switching subunit mainly has the function of sending a mode switching signal to the control unit of the intelligent endoscope control module. The manual control mode mainly has the function of sending signals with different movement directions to a control unit in the intelligent cavity mirror control module.
The hand-operated full-angle surgical instrument is a rope pulley structure with high degree of freedom based on motor control, the head end of the instrument has four degrees of freedom of deflection/pitching/opening/closing/autorotation, and a doctor can finish fine and flexible operation by holding the surgical instrument, thereby reducing the frequency of replacing the instrument by a main doctor in the surgical process. In addition, the head end of the apparatus is provided with an identifier for image recognition and tracking and control buttons of the intelligent endoscope control module in the well depth, up-down direction and left-right direction.
The surgical robotic system further comprises: a traction module 103; the traction module 103 is configured to: calling a preset traction device to set a target fixed angle of the target operation position; and carrying out traction fixation on the target operation position according to the target fixed angle.
The surgical robotic system further comprises: an intelligent gas control module 104; the smart gas control module 104 is configured to: analyzing the abdominal gas state of the abdominal pressure data to obtain an abdominal gas state analysis result; generating an abdominal gas control strategy according to the abdominal gas state analysis result; and performing intelligent gas control on the target surgical site according to the abdominal gas control strategy.
Fig. 2 is a schematic diagram of a surgical robot system module collocation, and the endoscope connecting piece mainly functions to connect the intelligent endoscope robot and the endoscope, and the endoscope is driven to move by the movement of the intelligent endoscope robot, so that the function of adjusting the view angle is achieved. The endoscope is secured to the endoscope attachment member to primarily capture the actual surgical scene within the endoscope's field of view. The display screen exposes the actual surgical scene in the endoscope field of view to the surgeon. The control unit further includes: the endoscope comprises a target tracking subunit, a mode switching subunit and a motion control subunit, wherein the target tracking subunit mainly detects and tracks the instrument head end identifier in the visual field exposed by the endoscope, and it should be noted that the operation module is used for: the control device clamp head has the functions of direction deflection, rotation and clamping, and the operating module is provided with a button for operating the intelligent endoscope control module so that a doctor can control the intelligent endoscope control module, and the operating module comprises a characteristic mark for capturing and identifying the intelligent endoscope control module so that the intelligent endoscope control module can realize active following.
It should be noted that the input end of the endoscope is obtained as a real operation scene in the visual field of the endoscope, the output end is a picture of the real operation scene, the input end of the target tracking subunit in the control unit is connected with the output end of the endoscope, the output end is the number of the instrument identified in the picture, the corresponding central point pixel coordinate and the identified pixel area information, the input end of the mode switching subunit is a mode switching button in the operation module, the output end is an intelligent endoscope control module control mode, namely an automatic control mode state or a manual control mode state, the input end of the motion control subunit in the control unit and the output end of the target tracking subunit in the control unit, the output end of the mode switching subunit and the motion button information of the operation module are obtained, and the output end is a motion instruction of the intelligent endoscope robot.
The intelligent cavity mirror control module 102 comprises: the system comprises an intelligent endoscope robot, an endoscope connecting piece, an endoscope, a display screen and a control unit; the intelligent endoscope robot is connected with the endoscope through the endoscope connecting piece; the endoscope is fixed on the endoscope connecting piece; the endoscope is used for: acquiring abdominal cavity image data of the target operation position, and transmitting the abdominal cavity image data to the display screen; the display screen is used for: and receiving the abdominal cavity image data, and carrying out visual display on the abdominal cavity image data.
The control unit further includes: a target tracking subunit, a mode switching subunit and a motion control subunit; the target tracking subunit is connected with the endoscope; the mode switching subunit is connected with the operation module 101; the motion control subunit is connected with the intelligent endoscope robot.
The target tracking subunit is used for realizing a functional module of an automatic tracking mode, the mode switching subunit comprises an automatic control mode and a manual control mode, the automatic control mode is the automatic tracking mode, the manual control mode is the manual regulation mode, and the motion control subunit mainly controls the motion of the intelligent endoscope robot through a control instruction. The input end of the endoscope is used for acquiring a real operation scene in the visual field of the endoscope, and the output end of the endoscope is used for acquiring a picture of the real operation scene. Fig. 3 is a schematic structural diagram of a manual-control full-angle surgical instrument of an operation module according to an embodiment of the present invention, where an input end of the acquisition target tracking subunit is connected to an output end of an endoscope, and an output end of the acquisition target tracking subunit is an instrument number identified in a picture, and a pixel coordinate of a central point and pixel area information of the identification. The input end of the acquisition mode switching subunit is a mode switching button in the operation module, and the output end of the acquisition mode switching subunit is an intelligent endoscope control module control mode, namely an automatic control mode state or a manual control mode state. The motion control method comprises the steps of obtaining information of an input end of a motion control subunit, an output end of a target tracking subunit, an output end of a mode switching subunit and a motion button of an operation module, wherein the output end is a motion instruction of the intelligent endoscope robot.
The endoscope sends a picture of a real surgical scene obtained by shooting to a target tracking subunit in the control unit in real time, the target tracking subunit detects and tracks the identifier of the head end of an instrument in the picture, and sends the obtained identifier number, pixel coordinate and pixel area information of the identifier to a motion control subunit in the control unit, the motion control subunit converts the identified pixel coordinate information and the identified pixel area information into pose information and well depth information in a coordinate system of the intelligent endoscope robot, when the coordinate position of the identifier and the current coordinate position of the intelligent endoscope robot are greater than a threshold value in an automatic control mode state or the well depth of the intelligent endoscope robot is greater than the threshold value, or when the intelligent endoscope control module receives button information of a user in a manual control mode state, the motion control subunit sends a corresponding control instruction to the intelligent endoscope robot, and the intelligent endoscope robot drives the endoscope to move, so that the timeliness and the stability of a surgical field are maintained. In the process, the display screen displays the real operation scene shot by the endoscope in real time.
The target tracking subunit is specifically configured to: acquiring an instrument head end identifier corresponding to the endoscope, and detecting and tracking the instrument head end identifier to obtain identifier information, wherein the identifier information comprises: the instrument number of the identification, the pixel coordinates of the central point of the identification and the pixel area information of the identification.
The mode switching subunit is specifically configured to: responding to a mode switching signal, switching the operation mode of the intelligent endoscope robot to obtain a switched target operation mode, wherein the target operation mode comprises the following steps: an automatic tracking mode and a manual adjustment mode; and monitoring the operation state of the intelligent cavity mirror robot according to the target operation mode to obtain operation state information.
Specifically, the endoscope sends a picture of a real surgical scene obtained by shooting to the target tracking subunit in real time, the target tracking subunit detects and tracks the identifier of the head end of an instrument in the picture, and sends the obtained identifier number, pixel coordinate and pixel area information of the identifier to the motion control subunit, the motion control subunit converts the pixel coordinate information and the pixel area information of the identifier into pose information and well depth information in a coordinate system of the intelligent endoscope robot, when the coordinate position of the identifier and the current coordinate position of the intelligent endoscope robot are larger than a threshold value or the well depth of the intelligent endoscope robot is larger than the threshold value in an automatic control mode state of the intelligent endoscope control module, or when the intelligent endoscope control module receives button information of a user in a manual control mode state of the intelligent endoscope control subunit, the motion control subunit sends a corresponding control instruction to the intelligent endoscope robot, and the intelligent endoscope robot drives the endoscope to move, so that the timeliness and the stability of a surgical field of view are maintained. In the process, the display screen displays the real operation scene shot by the endoscope in real time.
The motion control subunit is specifically configured to: receiving a target control instruction, and controlling the intelligent endoscope robot to move according to a preset movement direction according to the target control instruction and a preset movement control strategy, wherein the movement control strategy comprises the following steps: left, right, up, down, and well depth.
The operation module 101 further includes: a full-angle surgical instrument; a plurality of control buttons are arranged in the full-angle surgical instrument; the full-angle surgical instrument is used for: acquiring button operation data based on the control buttons, and generating a cavity mirror motion signal according to the button operation data, wherein the cavity mirror motion signal comprises: a left motion signal, a right motion signal, an up motion signal, a down motion signal, and a well depth motion signal.
The operation module 101 is specifically configured to: when the target operation mode is a manual adjustment mode, responding the button operation data in real time and generating a cavity mirror motion signal; and when the target operation mode is an automatic tracking mode, controlling the intelligent cavity mirror robot to automatically move.
It should be noted that, when there is a manual operated full-angle surgical instrument in the surgical procedure, the identifier of the instrument tip is identified by using the image tracking algorithm of semantic segmentation, and the pixel coordinate position and the pixel area of the center of the instrument are obtained. When two manual full-angle surgical instruments exist in the surgical process, the identifiers of the head ends of the two manual full-angle surgical instruments are marked as No. 1 and No. 2 respectively by using a semantic segmentation image tracking algorithm, and the pixel coordinate positions of the middle points of the two identifier centers and the pixel areas of the identifiers of No. 1 are obtained. And when the coordinate position of the identification central point/intermediate point and the current coordinate position of the intelligent endoscope robot are greater than a threshold value P epsilon, the intelligent endoscope robot automatically moves to the coordinate position of the identification central point, so that the intelligent endoscope robot follows left, right, up and down. The relation d = F (a) of the camera well depth and the pixel area identified in the image is obtained by testing (d: camera well depth, a: pixel area identified in the image). And setting a fixed well depth D, calculating to obtain an intelligent endoscope robot pose coordinate T which moves to the well depth D and the pose R under the current state of the intelligent endoscope robot according to the current pose R and the well depth difference value | D-D | when | D-D | is larger than D epsilon in the operation process, and automatically moving the intelligent endoscope robot back and forth to the pose T to realize the back and forth following of the intelligent endoscope robot.
In the embodiment of the invention, aiming at the problems in the existing scheme, the invention provides a scheme of a modularized integrated and portable surgical robot system based on a deep learning technology and a robot technology, and the system comprises: the system comprises an operation module and an intelligent endoscope control module; the operation module is used for: acquiring button operation data and generating an endoscope motion signal according to the button operation data; sending the cavity mirror motion signal to the intelligent cavity mirror control module; the intelligent cavity mirror control module is used for: responding to the endoscope motion signals, and carrying out endoscope motion control on the advancing process of the intelligent endoscope robot based on a preset target control mode; the invention reduces the requirement of the endoscopic robot surgery on the surgery space, thereby reducing the manufacturing cost and the application cost, and realizes the automatic following of the surgery visual field by utilizing the deep learning image algorithm and the robot control technology, thereby reducing the learning curve and the surgery difficulty, further realizing the automation of the endoscopic surgery and improving the intelligence of the endoscopic surgery process.
Wherein, intelligence chamber mirror control module mainly has two kinds of control mode: an automatic mode and a manual mode. The automatic mode is that the head end of the manual control all-angle surgical instrument is used as a tracking identifier, the automatic adjustment of the surgical field of vision is realized based on an image tracking algorithm of semantic segmentation, and the manual mode is that a main doctor can manually control the field of vision direction through up-down, left-right and well depth buttons on the manual control all-angle surgical instrument, so that the clear, stable and timely surgical field of vision is provided for the main doctor. The operation control strategy between the intelligent cavity mirror control module and the operation module in the manual mode is as follows, for example: receiving key information of a user to generate a control instruction, controlling the intelligent endoscope control module to collect up-down, left-right operation visual fields and the like according to the control instruction, if the current intelligent endoscope control module is in an automatic mode state, when the user presses a mode switching button on the operation module for more than 3s (seconds), a motion control subunit in the control unit converts the control mode from the automatic mode state to a manual mode state, otherwise, the control subunit converts the control mode from the manual mode state to the automatic mode state, and when the user presses a left/right/up/down/well depth +/well depth-key on the operation module in the manual control state, the motion control subunit receives the key information and generates a motion instruction of the intelligent robot, and the intelligent endoscope is driven by the intelligent robot to move in the left/right/up/down/well depth +/well depth-direction, so that the position of the operation visual fields is adjusted.
Preferably, the specific implementation method of the automatic mode may include: when the control mode is in an automatic control state, a user presses a left/right/up/down/well depth +/well depth-key on the operation module, key information is received but is not processed, and when a manual control full-angle surgical instrument exists in the surgical process, the identifier of the head end of the instrument is identified by using a semantic segmentation image tracking algorithm, and the pixel coordinate position and the pixel area of the center of the instrument are obtained. When two manual control full-angle surgical instruments exist in the surgical process, the identifiers of the head ends of the two manual control full-angle surgical instruments are marked as numbers 1 and 2 respectively by using a semantic segmentation image tracking algorithm, the pixel coordinate positions of the middle points of the two identifiers and the pixel areas of the identifiers of the numbers 1 are obtained, the pixel coordinates of the identifiers of the central points/the middle points are converted into the coordinates under the coordinate system of the intelligent endoscope robot by using a coordinate system conversion related algorithm, when the coordinate positions of the identifiers of the central points/the middle points and the current coordinate position of the intelligent endoscope robot are larger than a threshold value P epsilon, the intelligent endoscope robot automatically moves to the coordinate position of the identifiers of the central points, so that the intelligent endoscope robot follows left and right and up and down, and the relation d = F (A) (d: the depth of the camera well and the pixel areas of the identifiers in the image) is obtained through testing. And setting a fixed well depth D, calculating to obtain an intelligent endoscope robot pose coordinate T which moves to the well depth D and the pose R under the current state of the intelligent endoscope robot according to the current pose R and the well depth difference value | D-D | when | D-D | is larger than D epsilon in the operation process, and automatically moving the intelligent endoscope robot back and forth to the pose T to realize the back and forth following of the intelligent endoscope robot.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A surgical robotic system, comprising: the system comprises an operation module and an intelligent endoscope control module;
the operation module is used for: acquiring button operation data and generating a cavity mirror motion signal according to the button operation data; sending the cavity mirror motion signal to the intelligent cavity mirror control module;
the intelligent cavity mirror control module is used for: responding to the endoscope motion signals, and carrying out endoscope motion control on the advancing process of the intelligent endoscope robot based on a preset target control mode; and acquiring abdominal cavity image data of a target operation position, and dynamically adjusting the operation visual field of the target operation position according to the abdominal cavity image data.
2. The surgical robotic system of claim 1, further comprising: a traction module; the traction module is used for: calling a preset traction device to set a target fixed angle of the target operation position; and carrying out traction fixation on the target operation position according to the target fixed angle.
3. A surgical robotic system as claimed in claim 1 or 2, further comprising: an intelligent gas control module; the intelligent gas control module is used for: carrying out abdominal pressure state analysis on the abdominal pressure data to obtain an abdominal pressure state analysis result; generating an abdominal gas control strategy according to the analysis result of the abdominal pressure state; and performing intelligent gas control on the target surgical site according to the abdominal gas control strategy.
4. A surgical robotic system as claimed in claim 1, wherein the smart scope control module comprises: the system comprises an intelligent endoscope robot, an endoscope connecting piece, an endoscope, a display screen and a control unit; the intelligent endoscope robot is connected with the endoscope through the endoscope connecting piece; the endoscope is fixed on the endoscope connecting piece; the endoscope is used for: acquiring abdominal cavity image data of the target operation position, and transmitting the abdominal cavity image data to the display screen; the display screen is used for: and receiving the abdominal cavity image data, and carrying out visual display on the abdominal cavity image data.
5. The surgical robotic system as claimed in claim 4, wherein the control unit further comprises: a target tracking subunit, a mode switching subunit and a motion control subunit; the target tracking subunit is connected with the endoscope; the mode switching subunit is connected with the operation module; the motion control subunit is connected with the intelligent cavity mirror robot.
6. The surgical robotic system of claim 5, wherein the target tracking subunit is specifically configured to: acquiring an instrument head end identifier corresponding to the endoscope, and detecting and tracking the instrument head end identifier to obtain identifier information, wherein the identifier information comprises: the instrument number of the identification, the pixel coordinates of the central point of the identification and the pixel area information of the identification.
7. The surgical robotic system of claim 5, wherein the mode switching subunit is specifically configured to: responding to a mode switching signal, switching the operation mode of the intelligent endoscope robot to obtain a switched target operation mode, wherein the target operation mode comprises the following steps: an automatic tracking mode and a manual adjustment mode; and monitoring the operation state of the intelligent cavity mirror robot according to the target operation mode to obtain operation state information.
8. A surgical robotic system as claimed in claim 5, wherein the motion control subunit is specifically configured to: receiving a target control instruction, and controlling the intelligent endoscope robot to move according to a preset movement direction according to the target control instruction and a preset movement control strategy, wherein the movement control strategy comprises the following steps: left, right, up, down, and well depth.
9. The surgical robotic system of claim 1, wherein the operation module further comprises: an all-angle surgical instrument; a plurality of control buttons are arranged in the full-angle surgical instrument; the full-angle surgical instrument is used for: acquiring button operation data based on the control buttons, and generating a cavity mirror motion signal according to the button operation data, wherein the cavity mirror motion signal comprises: a left motion signal, a right motion signal, an up motion signal, a down motion signal, and a well depth motion signal.
10. The surgical robotic system of claim 7, wherein the operation module is specifically configured to: when the target operation mode is a manual adjustment mode, responding to the button operation data in real time and generating a cavity mirror motion signal; and when the target operation mode is an automatic tracking mode, controlling the intelligent endoscope robot to automatically move.
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| CN202211442195.6A CN115887008A (en) | 2022-11-17 | 2022-11-17 | Surgical robot system |
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| CN202211442195.6A CN115887008A (en) | 2022-11-17 | 2022-11-17 | Surgical robot system |
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