CN116115354A - Control method and device of surgical robot system and surgical robot system - Google Patents

Control method and device of surgical robot system and surgical robot system Download PDF

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Publication number
CN116115354A
CN116115354A CN202310076683.8A CN202310076683A CN116115354A CN 116115354 A CN116115354 A CN 116115354A CN 202310076683 A CN202310076683 A CN 202310076683A CN 116115354 A CN116115354 A CN 116115354A
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CN
China
Prior art keywords
instrument
surgical
surgical instrument
distance
sliding table
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Pending
Application number
CN202310076683.8A
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Chinese (zh)
Inventor
郭宇航
庞海峰
战梦雪
肖嘉平
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Harbin Sagebot Intelligent Medical Equipment Co Ltd
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Harbin Sagebot Intelligent Medical Equipment Co Ltd
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Application filed by Harbin Sagebot Intelligent Medical Equipment Co Ltd filed Critical Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority to CN202310076683.8A priority Critical patent/CN116115354A/en
Publication of CN116115354A publication Critical patent/CN116115354A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Abstract

The disclosure relates to the technical field of medical instruments, and in particular relates to a control method and device of a surgical robot system and the surgical robot system. The surgical robot system comprises a slipway mechanism, which comprises a slipway and a slide rail, wherein the slipway can move along the slide rail, surgical instruments are arranged on the slipway, and the slipway can drive the surgical instruments to move, and the method comprises the following steps: when the first surgical instrument is arranged on the sliding table, responding to a first input of a user to acquire a first position, wherein the first position is the instrument tail end position of the first surgical instrument, and the sliding table is controlled to move to the top end of the sliding rail; acquiring the instrument lengths of the first and second surgical instruments under the condition that the first surgical instrument is replaced by the second surgical instrument; determining a first moving distance of the sliding table according to the instrument lengths of the first surgical instrument and the second surgical instrument and the moving distance of the sliding table to the top end of the sliding rail; the control sled moves a first travel distance such that the instrument tip of the second surgical instrument reaches the first position.

Description

Control method and device of surgical robot system and surgical robot system
Technical Field
The invention relates to the technical field of medical instruments, in particular to a control method and device of a surgical robot system, the surgical robot system and control processing equipment of the surgical robot system.
Background
Along with the progress of science and technology and the development of robot technology, medical robots capable of assisting doctors in performing operation are increasingly widely applied in the medical field, and the operation intensity and fatigue degree of the operators can be reduced while the operation precision and stability are improved, so that the operation safety is improved.
However, in the operation process of the laparoscopic surgery robot, due to complex and changeable conditions in the operation, corresponding surgical instruments are required to be used according to different conditions, at present, a traditional instrument replacement method also needs to manually control a sliding table to be lifted to a position which does not interfere with the operation of a patient to replace the surgical instruments, after the surgical instruments are pulled out, the replaced surgical instruments can be restored to the original position by manual operation after replacement, and the operation is continued.
Disclosure of Invention
The embodiment of the disclosure provides a control method and device of a surgical robot system, the surgical robot system and control processing equipment of the surgical robot system. Can solve the problems of reducing the operation efficiency and increasing the potential safety hazard when the instrument is replaced in the operation process.
In a first aspect, an embodiment of the present application provides a control method of a surgical robot system, the surgical robot system including a sliding table mechanism, where the sliding table mechanism includes a sliding table and a sliding rail, the sliding table can move along the sliding rail, a surgical instrument is disposed on the sliding table, the sliding table can drive the surgical instrument to move, and the method includes: when a first surgical instrument is arranged on the sliding table, responding to a first input of a user, acquiring a first position, wherein the first position is the instrument tail end position of the first surgical instrument, and controlling the sliding table to move to the top end position of the sliding rail; acquiring an instrument length of the first surgical instrument and an instrument length of the second surgical instrument with the first surgical instrument replaced with the second surgical instrument; determining a first moving distance of the sliding table according to the instrument length of the first surgical instrument, the instrument length of the second surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail; the sled is controlled to move a first travel distance such that an instrument tip of the second surgical instrument reaches the first position.
Optionally, the controlling the sliding table to move a first movement distance to enable the instrument end of the second surgical instrument to reach the first position includes: determining a distance between the instrument end of the second surgical instrument and the patient during controlling the sliding table to move by a first movement distance; and when the distance between the tail end of the second surgical instrument and the patient is smaller than the preset safety distance of the second surgical instrument, controlling the sliding table to stop moving.
Optionally, the second surgical instrument includes an instrument portion and a slider portion, the second surgical instrument is disposed on the sliding table through the slider portion, and determining a distance between an instrument end of the second surgical instrument and a patient includes: acquiring a first distance from the top end of the sliding table mechanism to a patient, a second distance from the sliding table to the top end of the sliding table mechanism and a third distance from the top end of the sliding block part to the instrument part; determining a fourth distance from the sled mechanism tip to an instrument end of the second surgical instrument, the fourth distance being a difference between a sum of the second distance and an instrument length of the second surgical instrument and a third distance; the distance of the instrument end of the second surgical instrument from the patient is determined as the difference of the first distance and the fourth distance.
Optionally, the surgical robot system further includes a mechanical arm, where the mechanical arm is connected to the sliding table mechanism, and the mechanical arm can drive the sliding table mechanism to move, and before the controlling the sliding table to move by the first moving distance, the method further includes: detecting whether the mechanical arm is located at an initial position or not, wherein the initial position is the position of the mechanical arm when the first position is acquired; and stopping the step of controlling the sliding table to move a first movement distance so that the instrument end of the second surgical instrument reaches the first position when the mechanical arm is not at the initial position.
Optionally, the surgical robot system further includes a mechanical arm, the mechanical arm is connected with a sliding table mechanism, the mechanical arm can drive the sliding table mechanism to move, control the sliding table to move a first moving distance, so that an instrument end of the second surgical instrument reaches the first position, including: detecting whether the mechanical arm is positioned at an initial position or not in the process of controlling the sliding table to move for a first moving distance, wherein the initial position is the position of the mechanical arm when the first position is acquired; and stopping the step of controlling the sliding table to move a first movement distance so that the instrument end of the second surgical instrument reaches the first position when the mechanical arm is not at the initial position.
Optionally, determining the first moving distance of the sliding table according to the instrument length of the first surgical instrument and the instrument length of the second surgical instrument includes: determining a first sum value, wherein the first sum value is a sum value of the instrument length of the first surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail; determining the first distance of movement, the first distance of movement being a difference in instrument length between the first sum and the second instrument.
Optionally, before the controlling the sled to move a first movement distance such that the instrument tip of the second surgical instrument reaches the first position, the method further comprises: and respectively determining the acceleration time of the acceleration stage, the deceleration time of the deceleration stage and the moving speed and the moving time of the uniform moving stage of the sliding table during moving according to the first moving distance and preset safety parameters, wherein the preset safety parameters comprise preset acceleration parameters and preset moving time parameters.
In a second aspect, an embodiment of the present application provides a control device of a surgical robot system, which is characterized in that, the surgical robot system includes a sliding table mechanism, wherein, the sliding table mechanism includes a sliding table and a sliding rail, the sliding table can be moved along the sliding rail, a surgical instrument is set on the sliding table, the sliding table can drive the surgical instrument moves, the device includes: the first control module is used for responding to a first input of a user when the first surgical instrument is arranged on the sliding table, acquiring a first position, wherein the first position is the instrument tail end position of the first surgical instrument, and controlling the sliding table to move to the top end position of the sliding rail; an acquisition module for acquiring an instrument length of the first surgical instrument and an instrument length of the second surgical instrument in a case where the first surgical instrument is replaced with the second surgical instrument; the determining module is used for determining a first moving distance of the sliding table according to the instrument length of the first surgical instrument, the instrument length of the second surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail; and the second control module is used for controlling the sliding table to move a first moving distance so that the instrument tail end of the second surgical instrument reaches the first position.
In a third aspect, embodiments of the present application provide a surgical robotic system, comprising: the surgical operation mechanical unit comprises a mechanical arm, a sliding table mechanism and surgical instruments, wherein the mechanical arm is connected with the sliding table mechanism, the mechanical arm can drive the sliding table mechanism to move, the sliding table mechanism comprises a sliding table and a sliding rail, the sliding table can move along the sliding rail, the surgical instruments are arranged on the sliding table, and the sliding table can drive the surgical instruments to move; an operation control unit; a control processing device that, when operated, can execute the control method of the surgical robot system according to the first aspect.
In a fourth aspect, embodiments of the present application provide a control processing device for a surgical robot system, including a processor and a memory, the memory storing instructions, and when the control processing device is operated, the instructions control the processor to perform the control method of the surgical robot system described in the first aspect.
The surgical robot system in the embodiment of the disclosure can respond to the input of a user, determine the position of the instrument end of the first surgical instrument, control the sliding table to move to the top end position so that a doctor can replace the surgical instrument, acquire the lengths of the first surgical instrument and the second surgical instrument when the surgical instrument is replaced by the second surgical instrument, further determine the first moving distance of the sliding table according to the moving distance of the sliding table to the top end position, control the sliding table to move the first moving distance, and enable the instrument end of the second surgical instrument to reach the first position. By the mode, the replaced instrument can be returned to the original position without manual operation of doctors, the operation is continued, the labor intensity of the doctors is reduced, the operation efficiency is improved, and meanwhile, the potential safety hazard brought to patients due to misoperation of pulling out and inserting the instrument is reduced.
Other features of the disclosed embodiments and their advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.
Fig. 1 shows a block diagram of a surgical robotic system of an embodiment of the present disclosure.
Fig. 2 shows a schematic view of a surgical manipulator unit according to an embodiment of the present disclosure.
Fig. 3 shows a schematic view of a surgical instrument of an embodiment of the present disclosure.
Fig. 4 shows a flowchart of a control method of the surgical robotic system of an embodiment of the present disclosure.
Fig. 5 shows a schematic diagram of an example of a control method of the surgical robot system of an embodiment of the present disclosure.
Fig. 6 shows a block diagram of a control device of a surgical robotic system of an embodiment of the present disclosure.
Fig. 7 shows a block diagram of a control processing apparatus of the surgical robot system of an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
It should be noted that, all actions for acquiring signals, information or data in the present application are performed under the condition of conforming to the international corresponding data protection rule policy, and obtaining the authorization given by the corresponding device/account owner.
The embodiment of the application discloses a control method of a surgical robot system, which can be applied to the surgical robot system. In one example, a surgical robotic system may include a surgical manipulator unit including a robotic arm, a sled mechanism, and a surgical instrument, the robotic arm being coupled to the sled mechanism, the robotic arm being capable of moving the sled mechanism, the sled mechanism including a sled and a sled, the sled being capable of moving along the sled, the surgical instrument being disposed on the sled, the sled being capable of moving the surgical instrument. An operation control unit and a control processing apparatus.
In one example of the present embodiment, as shown in fig. 1, the surgical robot system includes a surgical operation mechanical unit 100, an operation control unit 300, and a control processing apparatus 200; wherein the control processing apparatus 200 receives an operation signal from the operation control unit 300 and controls the surgical operation machine unit 100 to perform a corresponding operation.
In one example of the present embodiment, the surgical manipulator mechanical unit is a slave part of the surgical robotic system, i.e. a robotic arm, a sled, and an instrument part. As shown in fig. 2, the mechanical arm includes mechanical structures of various joints, and may include a pitch joint structure, a rotation joint structure, a parallelogram joint structure, and the like, which are connected in sequence. The pitching joint structure can be used for controlling the mechanical arm to adjust the pitching direction, the rotating joint is used for controlling the mechanical arm to rotate in the rolling direction, the parallelogram joint comprises 3 joints, and the parts of the three joints, which are in contact with the instrument and the patient, always keep the parallelogram. The mechanical arm can be connected with the sliding table mechanism and drives the sliding table mechanism and the surgical instrument to move. The sliding table mechanism can be provided with different surgical instruments, and the up-and-down movement of the surgical instruments is realized through the up-and-down sliding of the sliding table mechanism.
In one example of this embodiment, the sled mechanism includes a sled and a slide rail, the sled is movable along the slide rail, the surgical instrument is disposed on the sled, and the sled is capable of moving the surgical instrument.
In one example of the present embodiment, as shown in fig. 3, the surgical instrument includes an instrument portion and a slider portion, and the surgical instrument is disposed on the slide table through the slider portion. The instrument part is a surgical instrument part and a connecting part in the surgical instrument, and the instrument part is connected with the sliding block part. The instrument tip is the foremost end of the surgical instrument, i.e., the foremost end that is released from the patient.
In one example of this embodiment, the operation control unit is the main hand portion of the surgical robot system, i.e., the portion of the doctor's operation control. The doctor controls the slave hand portion by controlling the operation control unit, and specifically, the doctor transmits a corresponding operation signal to a control processing device in the surgical robot system when controlling the operation control unit to perform an operation.
In one example of the present embodiment, the control processing device may receive an operation signal transmitted from the operation control unit, and control the surgical operation mechanical unit to perform a corresponding operation according to the operation signal. Specifically, the corresponding actions of the surgical operation mechanical unit corresponding to the operation signals of the operation control unit may be determined by a pre-stored mechanical model.
As shown in fig. 4, an embodiment of the present application discloses a control method of a surgical robot system, including steps S11 to S14.
S11, when the first surgical instrument is arranged on the sliding table, responding to first input of a user, acquiring a first position, wherein the first position is the instrument tail end position of the first surgical instrument, and controlling the sliding table to move to the top end position of the sliding rail.
In one example of the present embodiment, the first surgical instrument may be any surgical instrument that is set on the slide table in advance to operate. The first input of the user is an input that the user wants to replace the surgical instrument, for example, an operation control unit in the surgical robot system may be provided with a button, and the first input of the user may be an input to click the button.
In one example of this embodiment, after the first input is made by the user, the surgical robotic system may automatically record the position of the instrument tip of the first surgical instrument in the control, and after the position is recorded, the sliding table may be controlled to move to the top end position of the sliding rail to drive the first surgical instrument away from the patient or away from the patient, so that the medical staff has a larger space to replace the surgical instrument.
In one example of this embodiment, the mechanical arm may lock when the slide is controlled to move to the position of the slide rail tip in response to the first input, avoiding a safety risk due to the movement of the mechanical arm.
In step S12, in the case where the first surgical instrument is replaced with the second surgical instrument, the instrument length of the first surgical instrument and the instrument length of the second surgical instrument are acquired.
In one example of this embodiment, the surgical robotic system may obtain instrument lengths of the first and second surgical instruments when the first surgical instrument on the sled is removed and replaced with the second surgical instrument. In one example, when a surgical robotic surgical instrument is mounted on a sled, a user may enter the type of instrument and corresponding length and parameters in the surgical robotic system. In another example, the surgical robotic system may identify the type of instrument mounted to the sled and obtain the instrument length of the instrument from a database.
Step S13, determining a first moving distance of the sliding table according to the instrument length of the first surgical instrument, the instrument length of the second surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail.
In one example of this embodiment, determining the first distance of movement of the sled based on the instrument length of the first surgical instrument and the instrument length of the second surgical instrument includes: and determining a first sum value, wherein the first sum value is a sum value of the instrument length of the first surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail, and determining a first moving distance, and the first moving distance is a difference value between the first sum value and the instrument length of the second instrument.
In one example of this embodiment, the first distance of movement is the distance that the sled needs to be moved downward to reach the first position after the sled reaches the top end of the top end rail and the surgical instrument is replaced. Specifically, although the instrument length of the first surgical instrument and the instrument length of the second surgical instrument may be different, the first position and the slide rail top position are determined, and therefore, the sum of the length of the first surgical instrument and the movement distance of the slide rail top position to the position when the slide table acquires the first position can be calculated first, and the distance that the second surgical instrument end needs to move downward to reach the first position can be obtained by subtracting the length of the second surgical instrument from the sum.
Step S14, controlling the sliding table to move a first moving distance so that the instrument tail end of the second surgical instrument reaches the first position.
In this case, the surgical robot system in the embodiment of the present application may determine, in response to an input of a user, a position of an instrument end of the first surgical instrument, and control the sliding table to move to the tip position, so that a doctor may replace the surgical instrument, and when the surgical instrument is replaced with the second surgical instrument, may acquire lengths of the first surgical instrument and the second surgical instrument, and further determine, according to a movement distance of the sliding table to move to the tip position, a first movement distance of the sliding table, and control the sliding table to move the first movement distance, so that the instrument end of the second surgical instrument reaches the first position. By the mode, the replaced instrument can be returned to the original position without manual operation of doctors, the operation is continued, the labor intensity of the doctors is reduced, the operation efficiency is improved, and meanwhile, the potential safety hazard brought to patients due to misoperation of pulling out and inserting the instrument is reduced.
In one example of this embodiment, controlling the sled to move a first travel distance such that the instrument tip of the second surgical instrument reaches a first position includes: determining a distance between the instrument end of the second surgical instrument and the patient in the process of controlling the sliding table to move by the first moving distance; and when the distance between the instrument end of the second surgical instrument and the patient is smaller than the preset safety distance of the second surgical instrument, controlling the sliding table to stop moving.
In one example of this embodiment, the surgical robotic system may predetermine the location where the patient is located. Specifically, for example, a cell phone robotic system may determine the patient position through patient position information entered in advance by a doctor, or the patient position through a transmitted image of a laparoscopic camera. Meanwhile, the surgical robot system can also determine the positions of various components in the system in the control at any time in operation, such as the position of the top end of the sliding table mechanism, the position of the sliding table, and the like.
In one example of this embodiment, a second surgical instrument includes an instrument portion and a sled portion, the second surgical instrument being disposed on a sled by the sled portion, determining a distance of an instrument tip of the second surgical instrument from a patient, comprising: the method comprises the steps of obtaining a first distance from the top end of the sliding table mechanism to a patient, a second distance from the sliding table to the top end of the sliding table mechanism and a third distance from the top end of the sliding block part to the instrument part, determining a fourth distance from the top end of the sliding table mechanism to the instrument end of the second surgical instrument, wherein the fourth distance is a difference between a sum value of the second distance and the instrument length of the second surgical instrument and the third distance, determining a distance between the instrument end of the second surgical instrument and the patient, and the distance between the instrument end of the second surgical instrument and the patient is a difference value between the first distance and the fourth distance.
In one example of the present embodiment, as shown in fig. 5, the surgical robot system may acquire a first distance L from the slide mechanism tip to the patient by the acquired position of the patient and the position of the slide mechanism tip, and acquire a second distance Q from the slide to the slide mechanism tip by the position of the slide and the position of the slide mechanism tip. In one example, the first distance may be a distance from the top end of the slipway mechanism to the patient along the slipway movement direction. It should be noted that the human body part in the figures is only schematic, and in actual practice, the human body part may be a part of a body surface or a part of a body.
In one example of this embodiment, the third distance from the tip of the slider portion to the instrument portion is the height H of the slider portion 2 . The height of the sled portion may be entered by the physician at the time of instrument replacement or may be retrieved from a database after the surgical instrument is identified after replacement is complete. And are not limited herein.
In one example of this embodiment, the distance H from the slip mechanism tip position to the instrument end of the second instrument 3 The determination may be made according to the following equation:
H 3 ＝Q+H 1 -H 2
at a distance H from the tip of the slide mechanism to the end of the second instrument 3 Thereafter, the distance L from the tip of the sled mechanism to the patient and the distance L from the tip of the sled mechanism to the instrument end of the second instrument may be determinedFrom H 3 And determining the distance X of the instrument tip of the second instrument from the patient, as specified by the formula:
X＝L-H 3 ＝L-Q+H 2 -H 1
in one example of this embodiment, different preset safety distances may be set for different types of surgical instruments, for example, when the surgical instrument is a knife-type surgical instrument, the preset safety distance may be set larger to ensure patient safety. In addition, in the process of controlling the sliding table to move downwards by the first moving distance, the distance between the tail end of the second instrument and the patient can be continuously determined, and when the distance between the tail end of the second instrument and the patient is smaller than the preset safety distance, the sliding table is controlled to stop moving downwards.
In one example of this embodiment, the surgical robot system further includes a mechanical arm, the mechanical arm being connected to the slide mechanism, the mechanical arm being capable of driving the slide mechanism to move, the method further comprising, prior to controlling the slide to move the first movement distance: detecting whether the mechanical arm is located at an initial position, wherein the initial position is a position of the mechanical arm when the mechanical arm is located at a first position, and stopping executing the step of controlling the sliding table to move a first moving distance so that the instrument tail end of the second surgical instrument reaches the first position under the condition that the mechanical arm is not located at the initial position.
In one example of this embodiment, after the first position is recorded, the mechanical arm portion may be locked, avoiding mishandling of the main hand portion of the surgical robotic system, which may pose a risk to the safety of the patient. The locked position is the initial position at this time. Before the control slip table removes, surgical robot system can also detect the arm earlier, detects whether it moves the position in the in-process of changing the apparatus. If the mechanical arm is not at the initial position, the mechanical arm can definitely drive the sliding table to move, and if the sliding table is moved downwards at the moment, the risk can be caused to a patient. Therefore, whether the mechanical arm moves or not can be detected in advance, so that the surgical risk caused by the fact that medical staff mistakenly touch the mechanical arm when replacing surgical instruments and the position of the mechanical arm moves can be avoided. If the robotic arm is in the initial position, a further operation may be performed to bring the instrument tip of the second surgical instrument to the first position.
In one example of this embodiment, a robotic arm is coupled to the sled mechanism, the robotic arm capable of driving the sled mechanism to move, the control sled to move a first distance of movement such that an instrument tip of a second surgical instrument reaches a first position, comprising: detecting whether the mechanical arm is located at an initial position or not in the process of controlling the sliding table to move by a first moving distance, wherein the initial position is the position of the mechanical arm when the first position is acquired, and stopping executing the step of controlling the sliding table to move by the first moving distance so that the instrument tail end of the second surgical instrument reaches the first position when the mechanical arm is not located at the initial position.
In an example of this embodiment, when controlling the slip table and moving down, can detect whether the arm is located the home position all the time, if the machinery is not in the home position, indicate that in the decline in-process, medical personnel probably hit the arm by mistake and lead to the arm to remove, at this moment, can stop controlling the slip table and move down, avoid the security risk.
In one example of this embodiment, before controlling the sled to move the first travel distance such that the instrument tip of the second surgical instrument reaches the first position, the method further comprises: according to the first moving distance and preset safety parameters, respectively determining the acceleration time of the acceleration stage, the deceleration time of the deceleration stage and the moving speed and the moving time of the uniform moving stage when the sliding table moves, wherein the preset safety parameters comprise preset acceleration parameters and preset moving time parameters.
In one example of this embodiment, a different second surgical instrument may set different preset safety parameters. The preset safety parameters may include preset acceleration parameters and preset movement time parameters. In order to avoid the safety risk of the patient caused by too fast acceleration or deceleration of the sliding table, the preset acceleration parameter may be a maximum acceleration parameter for controlling the acceleration and deceleration of the sliding table, and the movement time parameter may be a minimum value for controlling the movement time of the sliding table from the top end position to the first movement distance, and the movement speed of the sliding table is indirectly limited through the preset time parameter. In one example, the surgical robot system may determine the acceleration time of the acceleration stage, the deceleration time of the deceleration stage, and the movement speed and movement time of the uniform movement stage of the slide table when moving, with the preset acceleration parameter and the preset movement time parameter as definitions. And controlling the sliding table to move according to the determined acceleration time, deceleration time and uniform moving speed and time.
Corresponding to the above-described embodiments, referring to fig. 6, an embodiment of the present application further provides a control device 1000 of a surgical robot system, including: the surgical robot system includes slip table mechanism, and wherein, slip table mechanism includes slip table and slide rail, and the slip table can follow the slide rail and remove, and surgical instruments is set up on the slip table, and the slip table can drive surgical instruments and remove, and the device includes: the first control module 1001 is configured to, when the first surgical instrument is disposed on the sliding table, obtain a first position in response to a first input of a user, where the first position is an instrument end position of the first surgical instrument, and control the sliding table to move to a top end position of the sliding rail. An obtaining module 1002 is configured to obtain an instrument length of the first surgical instrument and an instrument length of the second surgical instrument in a case where the first surgical instrument is replaced with the second surgical instrument. The determining module 1003 is configured to determine a first moving distance of the sliding table according to an instrument length of the first surgical instrument, an instrument length of the second surgical instrument, and a moving distance of the sliding table to a top end position of the sliding rail. The second control module 1004 is configured to control the sled to move a first movement distance such that the instrument tip of the second surgical instrument reaches the first position.
Optionally, the second control module is specifically configured to determine a distance between the instrument end of the second surgical instrument and the patient during the process of controlling the sliding table to move by the first movement distance; and when the distance between the instrument end of the second surgical instrument and the patient is smaller than the preset safety distance of the second surgical instrument, controlling the sliding table to stop moving.
Optionally, the second surgical instrument includes an instrument portion and a sled portion, and the second surgical instrument is disposed on the sled through the sled portion, determines a distance between an instrument end of the second surgical instrument and the patient, and includes: acquiring a first distance from the top end of the sliding table mechanism to a patient, a second distance from the sliding table to the top end of the sliding table mechanism and a third distance from the top end of the sliding block part to the instrument part; determining a fourth distance from the top end of the sliding table mechanism to the instrument end of the second surgical instrument, wherein the fourth distance is a difference between a sum of the second distance and the instrument length of the second surgical instrument and the third distance; the distance of the instrument end of the second surgical instrument from the patient is determined as the difference of the first distance and the fourth distance.
Optionally, the surgical robot system further includes a mechanical arm, the mechanical arm is connected with the sliding table mechanism, the mechanical arm can drive the sliding table mechanism to move, before controlling the sliding table to move the first moving distance, the device further includes: the first detection module is used for detecting whether the mechanical arm is located at an initial position or not, wherein the initial position is the position of the mechanical arm when the first position is acquired; and the first stopping module is used for stopping executing the step of controlling the sliding table to move a first moving distance so that the instrument tail end of the second surgical instrument reaches the first position under the condition that the mechanical arm is not at the initial position.
Optionally, the surgical robot system further includes a mechanical arm, the mechanical arm is connected with the sliding table mechanism, the mechanical arm can drive the sliding table mechanism to move, the second control module includes: the first detection sub-module is used for detecting whether the mechanical arm is located at an initial position or not in the process of controlling the sliding table to move by a first moving distance, and the initial position is the position of the mechanical arm when the first position is acquired. And the first stopping sub-module is used for stopping executing the step of controlling the sliding table to move a first moving distance so that the instrument tail end of the second surgical instrument reaches the first position under the condition that the mechanical arm is not at the initial position.
Optionally, the first determining module is specifically configured to: determining a first sum value, wherein the first sum value is a sum value of the instrument length of the first surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail; a first travel distance is determined, the first travel distance being a difference between the first sum and an instrument length of the second instrument.
Optionally, before the control sled moves the first movement distance such that the instrument tip of the second surgical instrument reaches the first position, the apparatus further comprises: the motion parameter module is used for respectively determining the acceleration time of the acceleration stage, the deceleration time of the deceleration stage and the moving speed and the moving time of the uniform moving stage of the sliding table during moving according to the first moving distance and preset safety parameters, wherein the preset safety parameters comprise preset acceleration parameters and preset moving time parameters.
The embodiment of the application also provides a surgical robot system, which comprises: the surgical operation mechanical unit comprises a mechanical arm, a sliding table mechanism and surgical instruments, wherein the mechanical arm is connected with the sliding table mechanism, the mechanical arm can drive the sliding table mechanism to move, the sliding table mechanism comprises a sliding table and a sliding rail, the sliding table can move along the sliding rail, the surgical instruments are arranged on the sliding table, and the sliding table can drive the surgical instruments to move; an operation control unit; the control processing device, when the control processing device is operated, may execute the control method of the surgical robot system in the foregoing embodiment.
Referring to fig. 7, the present embodiment provides a control processing apparatus 200 for a surgical robot system, including a processor 201 and a memory 202, the memory 202 storing instructions, and when the control processing apparatus is operated, the instruction control processor 201 performs the control method of the surgical robot system in the foregoing embodiment.
The various embodiments in this disclosure are described in a progressive manner, and identical and similar parts of the various embodiments are all referred to each other, and each embodiment is mainly described as different from other embodiments. In particular, for the apparatus, device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, as relevant to see the section description of the method embodiments.
The foregoing has described certain embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Embodiments of the present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of embodiments of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for performing the operations of embodiments of the present disclosure may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of embodiments of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which may execute the computer readable program instructions.
Various aspects of embodiments of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A control method of a surgical robot system, the surgical robot system comprising a slide table mechanism, wherein the slide table mechanism comprises a slide table and a slide rail, the slide table is movable along the slide rail, a surgical instrument is disposed on the slide table, and the slide table is capable of driving the surgical instrument to move, the method comprising:
when a first surgical instrument is arranged on the sliding table, responding to a first input of a user, acquiring a first position, wherein the first position is the instrument tail end position of the first surgical instrument, and controlling the sliding table to move to the top end position of the sliding rail;
Acquiring an instrument length of the first surgical instrument and an instrument length of the second surgical instrument with the first surgical instrument replaced with the second surgical instrument;
determining a first moving distance of the sliding table according to the instrument length of the first surgical instrument, the instrument length of the second surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail;
the sled is controlled to move a first travel distance such that an instrument tip of the second surgical instrument reaches the first position.
2. The control method of claim 1, wherein the controlling the sled to move a first travel distance such that an instrument tip of the second surgical instrument reaches the first position comprises:
determining a distance between the instrument end of the second surgical instrument and the patient during controlling the sliding table to move by a first movement distance;
and when the distance between the tail end of the second surgical instrument and the patient is smaller than the preset safety distance of the second surgical instrument, controlling the sliding table to stop moving.
3. The control method according to claim 2, wherein the second surgical instrument includes an instrument portion and a slider portion, the second surgical instrument being disposed on the sled via the slider portion, the determining a distance of an instrument tip of the second surgical instrument from a patient comprising:
Acquiring a first distance from the top end of the sliding table mechanism to a patient, a second distance from the sliding table to the top end of the sliding table mechanism and a third distance from the top end of the sliding block part to the instrument part;
determining a fourth distance from the sled mechanism tip to an instrument end of the second surgical instrument, the fourth distance being a difference between a sum of the second distance and an instrument length of the second surgical instrument and a third distance;
the distance of the instrument end of the second surgical instrument from the patient is determined as the difference of the first distance and the fourth distance.
4. The control method of claim 1, wherein the surgical robotic system further comprises a robotic arm coupled to a sled mechanism, the robotic arm operable to move the sled mechanism, the method further comprising, prior to said controlling the sled to move a first movement distance:
detecting whether the mechanical arm is located at an initial position or not, wherein the initial position is the position of the mechanical arm when the first position is acquired;
and stopping the step of controlling the sliding table to move a first movement distance so that the instrument end of the second surgical instrument reaches the first position when the mechanical arm is not at the initial position.
5. The control method of claim 1, wherein the surgical robotic system further comprises a robotic arm coupled to a sled mechanism, the robotic arm capable of moving the sled mechanism, the controlling the sled to move a first movement distance such that an instrument tip of the second surgical instrument reaches the first position, comprising:
detecting whether the mechanical arm is positioned at an initial position or not in the process of controlling the sliding table to move for a first moving distance, wherein the initial position is the position of the mechanical arm when the first position is acquired;
and stopping the step of controlling the sliding table to move a first movement distance so that the instrument end of the second surgical instrument reaches the first position when the mechanical arm is not at the initial position.
6. The control method according to claim 1, wherein determining the first movement distance of the sled according to the instrument length of the first surgical instrument and the instrument length of the second surgical instrument comprises:
determining a first sum value, wherein the first sum value is a sum value of the instrument length of the first surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail;
Determining the first distance of movement, the first distance of movement being a difference in instrument length between the first sum and the second instrument.
7. The control method of claim 1, wherein prior to said controlling the sled to move a first travel distance such that an instrument tip of the second surgical instrument reaches the first position, the method further comprises:
and respectively determining the acceleration time of the acceleration stage, the deceleration time of the deceleration stage and the moving speed and the moving time of the uniform moving stage of the sliding table during moving according to the first moving distance and preset safety parameters, wherein the preset safety parameters comprise preset acceleration parameters and preset moving time parameters.
8. The utility model provides a controlling means of surgical robot system, its characterized in that, surgical robot system includes slip table mechanism, wherein, slip table mechanism includes slip table and slide rail, the slip table can follow the slide rail and remove, and surgical instrument is set up on the slip table, the slip table can drive surgical instrument removes, the device includes:
the first control module is used for responding to a first input of a user when the first surgical instrument is arranged on the sliding table, acquiring a first position, wherein the first position is the instrument tail end position of the first surgical instrument, and controlling the sliding table to move to the top end position of the sliding rail;
An acquisition module for acquiring an instrument length of the first surgical instrument and an instrument length of the second surgical instrument in a case where the first surgical instrument is replaced with the second surgical instrument;
the determining module is used for determining a first moving distance of the sliding table according to the instrument length of the first surgical instrument, the instrument length of the second surgical instrument and the moving distance of the sliding table to the top end position of the sliding rail;
and the second control module is used for controlling the sliding table to move a first moving distance so that the instrument tail end of the second surgical instrument reaches the first position.
9. A surgical robotic system, comprising:
the surgical operation mechanical unit comprises a mechanical arm, a sliding table mechanism and surgical instruments, wherein the mechanical arm is connected with the sliding table mechanism, the mechanical arm can drive the sliding table mechanism to move, the sliding table mechanism comprises a sliding table and a sliding rail, the sliding table can move along the sliding rail, the surgical instruments are arranged on the sliding table, and the sliding table can drive the surgical instruments to move;
an operation control unit;
a control processing device which, when operated, can execute the control method of the surgical robot system according to claims 1 to 7.
10. A control processing device for a surgical robotic system, comprising a processor and a memory, the memory storing instructions, and the instructions control the processor to perform the control method of the surgical robotic system of claims 1-7 when the control processing device is running.
CN202310076683.8A 2023-01-29 2023-01-29 Control method and device of surgical robot system and surgical robot system Pending CN116115354A (en)

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Application Number Priority Date Filing Date Title
CN202310076683.8A CN116115354A (en) 2023-01-29 2023-01-29 Control method and device of surgical robot system and surgical robot system

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