CN116327374A - Laparoscopic robot system and control method - Google Patents

Abstract

The invention discloses a laparoscope robot system and a control method, wherein the laparoscope robot system comprises a mechanical arm, a detection unit and a control device; the control device is in communication connection with the mechanical arm, controls the movement of the mechanical arm, and is provided with a laparoscope locking device; the detecting unit is used for detecting the length of the laparoscopic tube locked by the laparoscopic locking device and feeding back the detection result to the control device; the control device sets a limit value of a kinematic parameter according to the detection result, so that the mechanical arm does not exceed the limit value of the length direction of the lens tube in the process of controlling the mechanical arm to correspondingly adjust the limit value of the kinematic parameter of the laparoscope according to the lengths of the lens tubes of different laparoscopes, thereby being applicable to laparoscopes of different specifications and being convenient for the universality of the laparoscopes.

Description

Laparoscopic robot system and control method

Technical Field

The invention relates to the technical field of medical instruments, in particular to a laparoscopic robot system and a control method.

Background

With the development of telemedicine, laparoscopic robotic systems have been widely used. The laparoscopic robot system generally comprises a control device and a mechanical arm which are in communication connection, wherein the control device transmits operation information of a doctor to the mechanical arm, the mechanical arm simulates arm actions of the doctor, and a laparoscopic tube is inserted into a patient body, so that the control device is matched with the doctor to perform remote operation.

In the prior art, laparoscopes of different manufacturers cannot be commonly used because each manufacturer only stores the specifications and the models of the laparoscopes produced by the manufacturer in a control device, that is, each laparoscope robot can only identify the laparoscopes produced by the manufacturer and then control the mechanical arm to move. Because the lengths of the laparoscopic tubes produced by different manufacturers are different, even if the specifications and model detection of the laparoscope are avoided for realizing the universality, the different lengths of the laparoscopic tubes can bring great surgical risks when the laparoscopes of other manufacturers are replaced.

For example, the control device of the laparoscopic robot manufactured by manufacturer a stores the specification models of the two types A1 and A2 of laparoscopes, the lengths of the laparoscopic tubes of the two types A1 and A2 of laparoscopes are 20cm and 30cm respectively, the laparoscopes manufactured by manufacturer B have two types B1 and B2, and the lengths of the laparoscopic tubes are 40cm and 50cm respectively, after the laparoscopes B2 are forcibly mounted on the mechanical arm of the laparoscopic robot manufactured by manufacturer a, the model detection of the laparoscopes B2 by manufacturer a is shielded, so that the movement of the mechanical arm can be controlled, but if the motion control of the laparoscopes B2 is continuously performed by adopting the matched kinematic parameters of A1 or A2, the serious risk that the laparoscopes B2 are excessively inserted into a human body downwards due to misoperation in the operation process is caused, or the top end of the laparoscopes B2 cannot reach above the human body due to the fact that the laparoscopes B2 do not have enough upward backward travel before operation.

Disclosure of Invention

The invention aims to provide a laparoscope robot system and a control method, which aim to solve the technical problem that a laparoscope is difficult to be commonly used in the prior art.

According to one aspect of the present invention, there is provided a laparoscopic robot system including: the device comprises a mechanical arm, a detection unit and a control device;

the control device is in communication connection with the mechanical arm, controls the movement of the mechanical arm, and is provided with a laparoscope locking device;

the detecting unit is used for detecting the length of the laparoscopic tube locked by the laparoscopic locking device and feeding back the detection result to the control device;

and the control device sets a limit value of a kinematic parameter according to the detection result, so that the mechanical arm does not exceed the limit value in the length direction of the lens tube in the process of controlling the movement of the mechanical arm by the control device.

Optionally, the mechanical arm is connected with the control device through remote communication.

Optionally, the detecting unit is further configured to detect whether the laparoscopic locking device locks the laparoscope, and when the detection result is yes, the detecting unit sends a writable signal to the control device, and after the control device receives the writable signal, the control device allows resetting of the kinematic parameter limit value.

Optionally, the laparoscopic locking device comprises:

a knob, wherein a first thread is arranged on the inner side of the knob;

the positioning sleeve is detachably connected with the knob, one side of the positioning sleeve, which is connected with the knob, is provided with a binding opening structure, the inner side of the binding opening structure is provided with a containing cavity, and the containing cavity is used for penetrating the laparoscope; the outside of restraint mouthful structure is provided with the second screw thread, the second screw thread with screw thread cooperation between the first screw thread, so that can pass through the knob with restraint mouthful structure is to wearing to locate the laparoscopic system who holds the intracavity forms locking and unblock.

Optionally, upon rotation of the knob in a first direction, the collar structure is capable of collapsing until it abuts against the laparoscope in the receiving cavity to lock the laparoscope; when the knob is rotated in a second direction, the cinch structure can be deployed until separated from the laparoscope in the receiving cavity to unlock the laparoscope, the second direction being opposite to the first direction.

Optionally, the beam port structure is a cylindrical structure, the second thread is located on the periphery of the cylindrical structure, and the outer diameter of the cylindrical structure can be changed in the rotation process of the knob.

Optionally, the beam mouth structure includes two beam mouth parts, two beam mouth parts set up relatively and the lock forms hold the chamber, every beam mouth part's outside all is provided with the second screw thread.

Optionally, the beam mouth structure includes four beam mouth parts, four beam mouth parts two by two symmetry set up and the lock forms hold the chamber, every beam mouth part's outside all is provided with the second screw thread.

Optionally, the laparoscopic robot system further includes an adaptor, a mounting portion is provided on a side of the positioning sleeve away from the beam port structure, the adaptor is sleeved on the mounting portion, and a connecting portion is provided on the adaptor.

Optionally, a key is movably arranged on the positioning sleeve, and the key is positioned at one side of the mounting part far away from the beam port structure; the button includes button body and the first bulge that links to each other, the adaptor is close to one side of button has seted up first through-hole, first through-hole with first bulge position is relative, first bulge can wear to locate in the first through-hole, so that the locating sleeve with the adaptor forms the joint.

Optionally, a second through hole is formed on a side, opposite to the first protruding portion, of the mounting portion, and when the key is in a pressed state, the first protruding portion can be separated from the first through hole and move into the second through hole, so that the positioning sleeve and the adapter are released from clamping; when the key is in a release state, the first protruding part can penetrate through the first through hole, so that the positioning sleeve and the adapter form clamping connection.

Optionally, the number of button is two, two the button symmetry set up in on the positioning sleeve, every the button all includes first bulge, the adaptor is close to two the both sides of button have been seted up respectively first through-hole, every first bulge all can wear to locate relative one in the first through-hole, so that positioning sleeve can follow relative both sides with the adaptor forms the joint.

According to still another aspect of the present invention, there is provided a laparoscopic robot control method including:

detecting the length of a locked laparoscopic tube on a mechanical arm of the laparoscopic robot;

setting a limit value of a kinematic parameter of the mechanical arm according to the length of the lens tube;

and detecting whether the mechanical arm reaches the limit value of the kinematic parameter in the moving process, and stopping the movement of the mechanical arm in the length direction of the lens tube if the limit value of the kinematic parameter is reached.

Optionally, the laparoscopic robot control method further includes:

detecting whether the length of the lens tube is changed, and if so, resetting the limit value of the kinematic parameter of the mechanical arm.

The invention has the technical effects that the kinematic parameter limit value of the laparoscope can be correspondingly adjusted according to the lengths of the lens tubes of different laparoscopes by utilizing the matching of the detection unit and the control device so as to control the movement distance of the laparoscope, thereby being applicable to laparoscopes with different specifications and being convenient for the universality of the laparoscope.

Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, 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 invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic illustration of a laparoscopic robotic system according to an embodiment of the present invention;

FIG. 2 is a schematic view of a laparoscopic lock device according to an embodiment of the present invention;

FIG. 3 is another schematic view of a laparoscopic lock device according to an embodiment of the present invention;

FIG. 4 is a top view of a laparoscopic lock device according to an embodiment of the present invention;

FIG. 5 is an exploded view of a laparoscopic lock device according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a positioning sleeve according to an embodiment of the present invention.

Reference numerals illustrate:

100. a mechanical arm; 200. a detection unit; 300. a control device;

1. a knob; 2. positioning a sleeve; 21. a bundle port structure; 22. a mounting part; 221. a second through hole; 23. a key; 231. a key body; 232. a first projection; 3. an adapter; 31. a connection part; 32. a first through hole.

Detailed Description

Various exemplary embodiments of the present invention 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 and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but should be considered 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.

The present invention provides a laparoscopic robot system, which generally includes a control device 300 and a robot arm 100 which are connected in communication, the control device 300 transmits operation information of a doctor to the robot arm 100, the robot arm 100 simulates arm movements of the doctor, and a laparoscopic tube is inserted into a patient's body, thereby enabling a remote operation to be performed in cooperation with the doctor. On the basis, the invention also introduces the detection unit 200, and the detection unit 200 can identify the specific information of the laparoscope in the laparoscopic robot system, so as to guide the control device 300 to adjust relevant motion parameters, thereby improving the safety of the operation.

The laparoscopic robot system provided by the embodiment of the invention comprises: a robot arm 100, a detection unit 200, and a control device 300;

the control device 300 is in communication connection with the mechanical arm 100, the control device 300 controls the movement of the mechanical arm 100, and the mechanical arm 100 is provided with a laparoscope locking device;

the control device 300 may be a commonly used MCU (Microcontroller Unit, micro control device 300), and the control device 300 is connected with the mechanical arm 100 in a communication manner, so that the control device 300 can control the mechanical arm 100 to simulate the arm motion of a doctor according to the operation information of the doctor, and thus can cooperate with the doctor to perform a remote operation.

Moreover, the mechanical arm 100 can be further provided with a laparoscopic locking device, the laparoscopic locking device is used as a separate structure independent of the laparoscope, the laparoscope can be installed and disassembled in a portable mode by utilizing the related structure inside the laparoscopic locking device, laparoscopes of different types and sizes can be matched through the laparoscopic locking device, and the assembly applicability of the laparoscope is improved. In addition, the laparoscope and the mechanical arm 100 can be connected through the laparoscope locking device, so that the switching function of the laparoscope is realized, the switching function is separated from the laparoscope, the arrangement of related parts of the laparoscope can be reduced, and the structural complexity of the laparoscope is reduced.

The detecting unit 200 is configured to detect a length of a laparoscopic tube locked by the laparoscopic locking device, and feed back a detection result to the control device 300;

the detecting unit 200 may be a sensor, or an image recognition technology is used to detect the length of the lens tube, and the specifications (such as the lens tube length, the diameter, etc.) of the laparoscope manufactured by different manufacturers are generally different. After the laparoscope is mounted to the laparoscopic robotic system by the laparoscopic locking device, the detection unit 200 can detect the length of the mounted laparoscopic tube and transmit the length information of the laparoscopic tube to the control device 300 so that the control device 300 can control according to the information.

The control device 300 automatically sets a limit value of a kinematic parameter according to the length of the lens tube according to the detection result, so that the mechanical arm 100 does not exceed the limit value of the lens tube in the length direction during the control process of the mechanical arm 100 by the control device 300.

After the detecting unit 200 detects the length of the mounted laparoscopic tube and transmits the length of the laparoscopic tube to the control device 300, the control device 300 can set the limit value of the kinematic parameter corresponding to the laparoscopic tube according to the detection result, that is, limit the highest position and the lowest position of the motion of the laparoscopic tube on the mechanical arm 100, so as to guide the motion process of the mechanical arm 100, and avoid the surgical risk caused by exceeding the limit value of the kinematic parameter in the motion process of the mechanical arm 100.

For example, for a laparoscope with a short length of the scope, since the length of the laparoscope is short, a sufficient movement distance is required in the operation, after the detection unit 200 detects the length information of the scope and transmits the length information to the control device 300, the control device 300 can correspondingly adjust to a larger limit value of the movement parameter so as to meet the movement distance requirement in the operation. For the laparoscope with a longer length of the tube, because the length of the laparoscope is longer, the motion distance needs to be controlled in the operation, after the detection unit 200 detects the length information of the tube and transmits the length information to the control device 300, the control device 300 can correspondingly adjust the motion distance to a smaller limit value of the kinematic parameter so as to control the motion distance of the laparoscope and avoid the operation risk caused by the overlarge motion distance of the laparoscope.

Therefore, the laparoscopic robot system provided by the embodiment of the invention can adapt to laparoscopes with different specifications through the cooperation of the detection unit 200 and the control device 300, and the limit value of the kinematic parameters of the laparoscope can be correspondingly adjusted according to the lengths of the laparoscopic tubes of different laparoscopes, so that the operation convenience of the laparoscopic robot system can be ensured, and the universality and the operation safety of the laparoscopic robot system are improved.

Optionally, the mechanical arm 100 is connected with the control device 300 through remote communication, and the control device 300 can transmit operation information of a doctor to the remote mechanical arm 100, so that the mechanical arm 100 can simulate arm actions of the doctor, and a laparoscopic tube of the laparoscope is inserted into a patient body, so that the remote operation is performed in cooperation with the doctor, and convenient remote operation is realized. At this time, a wireless connection manner may be adopted between the mechanical arm 100 and the control device 300, so as to facilitate implementation of remote communication.

Optionally, the detecting unit 200 is further configured to detect whether the laparoscopic locking device locks the laparoscope, and when the detection result is yes, the detecting unit 200 sends a writable signal to the control device 300, and after the control device 300 receives the writable signal, the kinematic parameter limit value is allowed to be reset.

Specifically, in the embodiment of the present invention, after the detecting unit 200 detects that the laparoscopic locking device has locked the laparoscope, the detecting unit 200 sends a writable signal to the control device 300, so that the control device 300 can set the limit value of the kinematic parameter accordingly, that is, after the laparoscope is judged to be in the locked state, the limit value of the kinematic parameter is set, so that the control of the control device 300 can be optimized, and the working reliability of the laparoscopic robot system is improved. In addition, the control device 300 can correspondingly adjust the limiting value of the kinematic parameter according to the laparoscopes with different lengths of the installed laparoscopes, so that the operation safety of the laparoscopic robot system can be improved while the operation convenience of the laparoscopic robot system is ensured.

The laparoscopic robot system provided by the embodiment of the present invention can conveniently mount a laparoscope on the mechanical arm 100 through the laparoscopic locking device as shown in fig. 2 to 5.

As shown in fig. 1, the laparoscopic locking device may include:

a knob 1, wherein a first thread is arranged on the inner side of the knob 1;

the positioning sleeve 2 is detachably connected with the knob 1, one side, connected with the knob 1, of the positioning sleeve 2 is provided with a beam port structure 21, and an accommodating cavity is formed in the inner side of the beam port structure 21 and used for penetrating the laparoscope; the outside of the beam port structure 21 is provided with a second thread, and the second thread is in threaded fit with the first thread, so that the laparoscope penetrating through the accommodating cavity can be locked and unlocked through the knob 1 and the beam port structure 21.

In the orientations described in the embodiments of the invention below, the laparoscopic lock device is positioned with the end of the laparoscopic lock device closer to the patient being the "proximal end" and the end farther from the patient being the "distal end".

As shown in fig. 2 and 3, the embodiment of the present invention provides that the inner side of the knob 1 has a first thread so that the knob 1 is coupled to the positioning sleeve 2 by the first thread and the thread of the thread on the positioning sleeve 2 to form a detachable connection between the knob 1 and the positioning sleeve 2. The outer side of the knob 1 can be also threaded or frosted, so that the roughness of the surface of the knob 1 can be increased, the knob 1 can be rotated conveniently, and the operation convenience of the laparoscopic locking device is improved.

As shown in fig. 2 and fig. 3, in the embodiment of the present invention, the positioning sleeve 2 and the knob 1 are detachably connected, for example, the positioning sleeve 2 and the knob 1 may be connected by threads, a clamping connection, a hinge connection, or other connection modes, so as to facilitate the insertion of the laparoscope, and simultaneously facilitate the detachment and replacement of the positioning sleeve 2 and the knob 1, thereby prolonging the service life of the laparoscopic locking device.

Specifically, the side of the positioning sleeve 2 connected to the knob 1 has a collar structure 21, that is, the distal end of the positioning sleeve 2 has a collar structure 21. The stoma structure 21 may be a hollow structure, i.e. the inside of the stoma structure 21 is formed with a receiving cavity, which may be used for threading a laparoscope, thereby enabling the laparoscope to be fixed on the laparoscopic locking device.

The size of the beam port structure 21 can be adjusted, for example, when the beam port structure 21 is in a cylindrical structure, the diameter of the beam port structure 21 can be changed, and the inner diameter (i.e., the diameter of the accommodating cavity) of the corresponding beam port structure 21 can be changed, so that the beam port structure 21 can be fixed to laparoscopes with different sizes, and the applicability of the laparoscopic locking device is improved. For example, the collar structure 21 may be provided to include a plurality of collar portions, with a movable space formed therebetween, so that the diameter of the collar structure 21 can be adjusted by movement between the plurality of collar portions; the collar structure 21 may also be made of elastic material to adjust the diameter of the collar structure 21 by rotation of the knob 1.

As shown in fig. 5 and 6, the outer side of the collar structure 21 is provided with a second thread, and the second thread is in threaded fit with the first thread on the inner side of the knob 1, so that threaded connection can be formed between the collar structure 21 and the knob 1. When the knob 1 is rotated, the knob 1 can drive the beam port structure 21 to shrink so as to lock the laparoscope penetrating through the accommodating cavity, thereby being convenient for the use of the laparoscope; when the knob 1 is rotated reversely, the knob 1 can drive the beam port structure 21 to be unfolded so as to unlock the laparoscope penetrating through the accommodating cavity, so that the laparoscope can be conveniently replaced. Meanwhile, the laparoscope locking device can be used for conveniently locking and unlocking a laparoscope, so that the operation difficulty during operation is reduced, and the laparoscope locking device is simple in structure and has certain advantages in the aspects of production cost, production difficulty and the like.

Optionally, upon rotation of the knob 1 in a first direction, the collar structure 21 can be contracted until it abuts against the laparoscope in the receiving cavity to lock the laparoscope; upon rotation of the knob 1 in a second direction, which is opposite to the first direction, the stoma structure 21 can be deployed until separated from the laparoscope in the receiving cavity to unlock the laparoscope.

Specifically, when the knob 1 is rotated in the first direction, the collar structure 21 can be contracted, for example, the first direction may be clockwise, and when the knob 1 is rotated in the clockwise direction, the collar structure 21 can be driven to contract by using the threaded fit between the second thread and the first thread, so that the dimension of the collar structure 21 is continuously reduced, and the dimension of the accommodating cavity in the corresponding collar structure 21 is continuously reduced until the collar structure abuts against the laparoscope penetrating through the accommodating cavity, so as to form reliable locking on the laparoscope.

And when the knob 1 is rotated along the second direction, the beam port structure 21 can be unfolded, for example, the second direction can be anticlockwise, when the knob 1 is rotated along the anticlockwise direction, the beam port structure 21 can be driven to be unfolded by utilizing the threaded fit between the second threads and the first threads, so that the size of the beam port structure 21 is continuously increased, the size of a containing cavity in the corresponding beam port structure 21 is also continuously increased until the beam port structure is separated from a laparoscope penetrating through the containing cavity, so that unlocking of the laparoscope is formed, and convenient replacement of the laparoscope can be performed at the moment.

The first direction may be a counterclockwise direction and the second direction may be a clockwise direction, depending on the design of the actual laparoscopic locking device.

Optionally, the collar structure 21 has a cylindrical structure, and the second thread is located on the outer circumference of the cylindrical structure, and the outer diameter of the cylindrical structure can be changed during the rotation of the knob 1.

As shown in fig. 6, the collar structure 21 according to the embodiment of the present invention may be a cylindrical structure, that is, the cross section of the collar structure 21 is circular, and the second thread is located on the outer periphery of the cylindrical structure, so as to facilitate the setting of the second thread and also facilitate the formation of a reliable threaded connection with the knob 1. Wherein, can set up second screw thread evenly distributed on cylindrical structure's periphery for the transmission of the power between first screw thread and the second screw thread is more even, thereby guarantees the whole uniformity and the stability of beam mouth structure 21 flexible and expansion in-process, also makes the laparoscopic surface that is located the holding intracavity can even atress, has reduced the impaired risk of peritoneoscope.

And, at the in-process of rotatory knob 1, utilize threaded connection between first screw thread and the second screw thread, can drive the beam mouth structure 21 shrink or expansion of cylindrical structure for cylindrical structure's external diameter can change correspondingly, in order to be located and hold the intracavity laparoscope and form locking and unblock, be convenient for simultaneously the laparoscope and carry out convenient switching between locking and unblock two kinds of states, in order to adapt to different operation needs.

Optionally, the collar structure 21 includes two collar portions, the two collar portions are disposed opposite to each other and fastened to form the accommodating cavity, and the second threads are disposed on the outer side of each collar portion.

Specifically, the beam mouth structure 21 provided in the embodiment of the present invention may include two beam mouth portions, and a movable space is left between the two beam mouth portions. The two beam openings are oppositely arranged and can be buckled to form a containing cavity, the laparoscope can be penetrated into the containing cavity, and second threads are arranged on the outer sides of the two beam openings so as to be in threaded connection with first threads on the inner sides of the knobs 1, so that the two beam openings can be mutually close to each other and form locking on the laparoscope under the rotation driving of the knobs 1, or the two beam openings can be mutually far away from each other and form unlocking on the laparoscope under the rotation driving of the knobs 1.

Preferably, the structures of the two beam openings are identical, that is, the two beam openings are symmetrically arranged, so that the beam opening structure 21 can be uniformly contracted and expanded under the rotation drive of the knob 1, the overall consistency and stability of the beam opening structure 21 in the expansion and expansion process are ensured, the laparoscopic surface positioned in the accommodating cavity can be uniformly stressed, and the damage risk of the laparoscope is reduced. Meanwhile, the structure of the two beam openings is identical, so that the two beam openings can be used interchangeably, and the production difficulty of the laparoscope locking device is reduced.

Optionally, the collar structure 21 includes four collar portions, and the four collar portions are symmetrically disposed in pairs and buckled to form the accommodating cavity, and the second threads are disposed on the outer side of each collar portion.

As shown in fig. 6, the beam mouth structure 21 according to the embodiment of the present invention may include four beam mouth portions, and a movable space is left between any two adjacent beam mouth portions. The four beam openings are oppositely arranged and can be buckled to form a containing cavity, the laparoscope can be arranged in the containing cavity in a penetrating mode, second threads are arranged on the outer sides of the four beam openings and are in threaded connection with first threads on the inner sides of the knobs 1, and accordingly the four beam openings can be mutually close to each other and lock the laparoscope under the rotation driving of the knobs 1 or can be mutually far away and unlock the laparoscope under the rotation driving of the knobs 1.

The four beam openings are preferably identical in structure, namely, the four beam openings are symmetrically arranged, so that the beam opening structure 21 can be uniformly contracted and expanded under the rotation drive of the knob 1, the whole consistency and stability of the beam opening structure 21 in the expansion and expansion process are ensured, the laparoscopic surface positioned in the accommodating cavity can be uniformly stressed, and the damage risk of the laparoscope is reduced. And meanwhile, the four beam openings are completely identical in structure, so that the four beam openings are convenient to interchange and use, and the production difficulty of the laparoscope locking device is reduced.

Optionally, the laparoscopic robot system further includes an adaptor 3, a mounting portion 22 is provided on a side of the positioning sleeve 2 away from the beam port structure 21, the adaptor 3 is sleeved on the mounting portion 22, a connection portion 31 is provided on the adaptor 3, and connection between the laparoscopic locking device and the mechanical arm 100 can be achieved by using the connection portion 31 on the adaptor 3.

Specifically, as shown in fig. 5, a mounting portion 22 is provided on a side of the positioning sleeve 2 away from the stoma structure 21, and the adaptor 3 is sleeved on the mounting portion 22, that is, the adaptor 3 may be disposed near the proximal end of the laparoscope. The connecting part 31 is arranged on the adapter 3, the adapter 3 can be connected to the mechanical arm 100 by utilizing the connecting part 31, for example, other connecting modes such as clamping connection, bonding, screw connection and the like can be arranged between the connecting part 31 and the mechanical arm 100, so that the transfer function of the laparoscope can be realized, the transfer function is separated from the laparoscope, the setting of the related transfer part of the laparoscope can be reduced, the structural complexity of the laparoscope is reduced, and the application range of the laparoscope robot system is improved.

Optionally, a key 23 is further movably disposed on the positioning sleeve 2, and the key 23 is located at a side of the mounting portion 22 away from the collar structure 21; the key 23 includes a key body 231 and a connected first protruding portion 232, a first through hole 32 is formed in a side, close to the key 23, of the adapter 3, the first through hole 32 is opposite to the first protruding portion 232, and the first protruding portion 232 can be inserted into the first through hole 32, so that the positioning sleeve 2 and the adapter 3 form a clamping connection.

As shown in fig. 2, 3, 5 and 6, the positioning sleeve 2 is further movably provided with a key 23, that is, the key 23 can move on the positioning sleeve 2, so as to be close to the axis of the positioning sleeve 2 until the pressing state or far away from the axis of the positioning sleeve 2 until the releasing state, thereby realizing connection and disconnection of the adaptor 3 and the positioning sleeve 2 by using different states of the key 23, and improving the applicable scene of the laparoscopic robot system.

Specifically, the key 23 may include a key body 231 and a connected first protruding portion 232, where the key 23 is generally integrally formed, so as to facilitate convenient and reliable state switching of the key 23. The key 23 is located on a side of the mounting portion 22 away from the stoma structure 21, i.e. the key 23 may be located near the proximal end of the laparoscope, so as to facilitate operation of the key 23 during surgery.

And, the side of the adaptor 3 close to the key 23 is correspondingly provided with a first through hole 32, and the first through hole 32 is opposite to the first protruding part 232, so that the state switching of the key 23 can be realized by utilizing the cooperation between the first through hole 32 and the first protruding part 232. When the adaptor 3 is mounted on the mounting portion 22, the first protruding portion 232 can be embedded in the first through hole 32, so that the key 23 and the adaptor 3 form a clamping connection, and connection between the adaptor 3 and the positioning sleeve 2 is achieved.

Optionally, a second through hole 221 is provided on a side of the mounting portion 22 opposite to the first protruding portion 232, and when the key 23 is in a pressed state, the first protruding portion 232 can be separated from the first through hole 32 and move into the second through hole 221, so that the positioning sleeve 2 is disengaged from the adaptor 3; when the key 23 is in the released state, the first protruding portion 232 may be inserted into the first through hole 32, so that the positioning sleeve 2 and the adapter 3 form a clamping connection.

As shown in fig. 5 and 6, the side of the mounting portion 22 opposite to the first protruding portion 232 is further provided with a second through hole 221, and the second through hole 221 is used for providing a certain movement space for the first protruding portion 232, so as to facilitate the state switching of the key 23.

When the key 23 is in a pressed state, that is, the key 23 is close to the axis of the positioning sleeve 2, the first protruding part 232 can be separated from or slide out of the first through hole 32 and move into the second through hole 221, so that the positioning sleeve 2 and the adapter 3 are released from clamping connection, and the adapter 3 is convenient to replace; when the key 23 is in a released state, that is, the key 23 is far away from the axis of the positioning sleeve 2, the first protruding portion 232 can be embedded in the first through hole 32, so that the positioning sleeve 2 and the adaptor 3 form a clamping connection, and the switching function of the laparoscope can be realized.

Optionally, the number of the keys 23 is two, the two keys 23 are symmetrically arranged on the positioning sleeve 2, each key 23 includes a first protruding portion 232, two sides of the adaptor 3, which are close to the two keys 23, are respectively provided with a first through hole 32, and each first protruding portion 232 can be inserted into one of the first through holes 32, so that the positioning sleeve 2 can form a clamping connection with the adaptor 3 from two opposite sides.

Specifically, the positioning sleeve 2 provided by the embodiment of the invention can be provided with two keys 23, the two keys 23 are generally arranged oppositely along the diameter of the positioning sleeve 2, and the two keys 23 have the same structure, so that the adapter 3 can form clamping connection with the positioning sleeve 2 from the two opposite sides of the positioning sleeve 2, the reliability and the stability of the connection between the adapter 3 and the positioning sleeve 2 are improved, and the structural reliability of the laparoscope adapter is also improved. Wherein, the adaptor 3 can be symmetrical structure to be convenient for be connected between adaptor 3 and the positioning sleeve 2, also can improve the aesthetic property that has this adaptor 3's laparoscopic robot system simultaneously.

The invention also provides a control method of the laparoscope robot, which comprises the following steps:

detecting the length of a laparoscopic tube locked on a mechanical arm 100 of the laparoscopic robot;

setting a limit value of a kinematic parameter of the mechanical arm 100 according to the length of the lens tube;

detecting whether the mechanical arm 100 reaches the limit value of the kinematic parameter in the moving process, and stopping the movement of the mechanical arm 100 in the length direction of the lens tube if the limit value of the kinematic parameter is reached.

According to the embodiment of the invention, the lengths of the locked laparoscopes of different specifications on the mechanical arm 100 can be detected by the control method, so that the limit value of the kinematic parameters of the mechanical arm 100 is correspondingly adjusted, namely the highest movement position and the lowest movement position of the laparoscope on the mechanical arm 100 are limited, the movement process of the laparoscope can be controlled, the surgical risk caused by exceeding the limit value of the kinematic parameters in the movement process of the mechanical arm 100 is avoided, and the universality and the operation safety of the laparoscopic robot system are improved.

Optionally, the laparoscopic robot control method further includes:

whether the length of the lens tube is changed or not is detected, if so, the limit value of the kinematic parameter of the mechanical arm 100 is reset, so that the length of the lens tube can be detected in time after the laparoscope is replaced, the limit value of the kinematic parameter of the mechanical arm 100 is correspondingly adjusted, and the motion process of the laparoscope can be reliably controlled.

The foregoing embodiments mainly describe differences between the embodiments, and as long as there is no contradiction between different optimization features of the embodiments, the embodiments may be combined to form a better embodiment, and in consideration of brevity of line text, no further description is given here.

While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (14)

1. A laparoscopic robotic system, comprising: a robot arm (100), a detection unit (200), and a control device (300);

the control device (300) is in communication connection with the mechanical arm (100), the control device (300) controls the movement of the mechanical arm (100), and the mechanical arm (100) is provided with a laparoscope locking device;

the detecting unit (200) is used for detecting the length of a laparoscopic tube locked by the laparoscopic locking device and feeding back the detection result to the control device (300);

the control device (300) sets a limit value of a kinematic parameter according to the detection result, so that the control device (300) does not exceed the limit value of the mechanical arm (100) in the length direction of the lens tube in the process of controlling the movement of the mechanical arm (100).

2. The laparoscopic robotic system according to claim 1, characterized in that the robotic arm (100) is connected with the control device (300) by means of telecommunication.

3. The laparoscopic robotic system according to claim 1, wherein the detection unit (200) is further configured to detect whether the laparoscopic locking device locks the laparoscope, and when the detection result is yes, the detection unit (200) sends a writable signal to the control device (300), and the control device (300) allows resetting of the kinematic parameter limit value after receiving the writable signal.

4. A laparoscopic robotic system as claimed in any one of claims 1 to 3, wherein said laparoscopic locking means comprises:

the rotary knob (1), the inner side of the rotary knob (1) is provided with a first thread;

the positioning sleeve (2) is detachably connected with the knob (1), one side, connected with the knob (1), of the positioning sleeve (2) is provided with a beam port structure (21), and an accommodating cavity is formed in the inner side of the beam port structure (21) and used for penetrating a laparoscope; the outside of restraint mouthful structure (21) is provided with the second screw thread, the second screw thread with screw thread cooperation between the first screw thread is in order to can pass through knob (1) with restraint mouthful structure (21) to wear to locate the peritoneoscope that holds the intracavity forms locking and unblock.

5. The laparoscopic robotic system according to claim 4, characterized in that upon rotation of the knob (1) in a first direction, the collar structure (21) is collapsible until it abuts against the laparoscope in the receiving cavity to lock the laparoscope; upon rotation of the knob (1) in a second direction, which is opposite to the first direction, the collar structure (21) can be unfolded until separated from the laparoscope in the receiving cavity to unlock the laparoscope.

6. Laparoscopic robotic system according to claim 5, characterized in that the collar structure (21) is of cylindrical configuration, the second thread being located on the outer circumference of the cylindrical configuration, the outer diameter of which can be varied during rotation of the knob (1).

7. The laparoscopic robotic system according to claim 6, wherein the collar structure (21) comprises two collar portions, the two collar portions being arranged opposite and snap-fit to form the receiving cavity, the second thread being arranged on an outer side of each collar portion.

8. The laparoscopic robotic system according to claim 6, wherein the collar structure (21) comprises four collar portions, the four collar portions being symmetrically arranged in pairs and snap-fit to form the receiving cavity, the second threads being provided on an outer side of each of the collar portions.

9. The laparoscopic robot system according to claim 4, further comprising an adapter (3), wherein a mounting portion (22) is provided on a side of the positioning sleeve (2) away from the bundle port structure (21), the adapter (3) is sleeved on the mounting portion (22), and a connecting portion (31) is provided on the adapter (3).

10. The laparoscopic robotic system according to claim 9, characterized in that a key (23) is also movably arranged on the positioning sleeve (2), the key (23) being located at a side of the mounting portion (22) remote from the stoma structure (21); the button (23) includes button body (231) and continuous first bulge (232), adaptor (3) are close to one side of button (23) has seted up first through-hole (32), first through-hole (32) with first bulge (232) position is relative, first bulge (232) can wear to locate in first through-hole (32), so that positioning sleeve (2) with adaptor (3) formation joint.

11. The laparoscopic robotic system according to claim 10, wherein a second through hole (221) is provided on a side of the mounting portion (22) opposite to the first protruding portion (232), and when the key (23) is in a pressed state, the first protruding portion (232) can be disengaged from the first through hole (32) and moved into the second through hole (221) so as to disengage the positioning sleeve (2) from the adapter (3); when the key (23) is in a release state, the first protruding part (232) can be arranged in the first through hole (32) in a penetrating mode, so that the positioning sleeve (2) and the adapter (3) form clamping connection.

12. The laparoscopic robot system according to claim 11, wherein the number of the keys (23) is two, the two keys (23) are symmetrically arranged on the positioning sleeve (2), each key (23) comprises a first protruding portion (232), the two sides of the adaptor (3) close to the two keys (23) are respectively provided with a first through hole (32), and each first protruding portion (232) can be arranged in one of the first through holes (32) in a penetrating manner, so that the positioning sleeve (2) can be clamped with the adaptor (3) from two opposite sides.

13. A method for controlling a laparoscopic robot, comprising:

detecting the length of a locked laparoscopic tube on a mechanical arm of the laparoscopic robot;

setting a limit value of a kinematic parameter of the mechanical arm according to the length of the lens tube;

and detecting whether the mechanical arm reaches the limit value of the kinematic parameter in the moving process, and stopping the movement of the mechanical arm in the length direction of the lens tube if the limit value of the kinematic parameter is reached.

14. The laparoscopic robot control method according to claim 13, further comprising:

detecting whether the length of the lens tube is changed, and if so, resetting the limit value of the kinematic parameter of the mechanical arm.

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