CN117733848A

CN117733848A - Surgical robot control system and method

Info

Publication number: CN117733848A
Application number: CN202311756084.7A
Authority: CN
Inventors: 修洪伟; 西晓龙; 庞海峰; 苏衍宇
Original assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Current assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority date: 2023-12-19
Filing date: 2023-12-19
Publication date: 2024-03-22

Abstract

The embodiment of the invention discloses a surgical robot control system and a method, wherein the system comprises a robot control device, a surgical integrated machine and a surgical robot; the robot control device acquires a robot control operation instruction, generates a robot control instruction according to the robot control operation instruction, and sends the robot control instruction to the surgical robot; the operation robot receives the robot control instruction, executes robot control operation corresponding to the robot control instruction, generates an operation execution result instruction according to the robot control operation, and sends the operation execution result instruction to the operation all-in-one machine; the operation integrated machine receives the operation execution result instruction, determines target display information according to the operation execution result instruction, and displays the target display information; the target display information includes robot attribute information and surgical instrument attribute information. According to the technical scheme provided by the embodiment of the invention, the information of the robot and the surgical instrument can be displayed together according to the action of the robot, so that the safety of surgical operation is improved.

Description

Surgical robot control system and method

Technical Field

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

Background

With the development of medical technology, surgical robots have been widely used in the field of minimally invasive surgery. At present, a plurality of operation robot systems are clinically used, and have some defects in use, such as that the related operation states of the robots can only be displayed in a display screen, and the display of other information auxiliary information is lacking, so that the doctor can obtain too little operation information, and the operation safety is insufficient.

Disclosure of Invention

The embodiment of the invention provides a surgical robot control system and a surgical robot control method, which can jointly display robot information and surgical instrument information according to the actions of a robot, enrich the display content of relevant information of a surgery and improve the safety of the surgery operation.

In a first aspect, an embodiment of the present invention provides a surgical robot control system, the system comprising: robot control device, operation all-in-one and operation robot; wherein,

the robot control device is used for acquiring a robot control operation instruction, generating a robot control instruction according to the robot control operation instruction, and sending the robot control instruction to the surgical robot;

the surgical robot is used for executing robot control operation corresponding to the robot control instruction under the condition of receiving the robot control instruction, generating an operation execution result instruction according to the robot control operation, and sending the operation execution result instruction to the surgical integrated machine;

The operation integrated machine is used for receiving the operation execution result instruction, determining target display information according to the operation execution result instruction, and displaying the target display information; wherein the target display information includes robot attribute information and surgical instrument attribute information.

In a second aspect, an embodiment of the present invention provides a robot control method applied to a surgical robot control system, where the surgical robot control system includes a robot control device, a surgical integrated machine, and a surgical robot, the method including:

the robot control device acquires a robot control operation instruction, generates a robot control instruction according to the robot control operation instruction, and sends the robot control instruction to the surgical robot;

the surgical robot executes robot control operation corresponding to the robot control instruction under the condition that the robot control instruction is received, generates an operation execution result instruction according to the robot control operation, and sends the operation execution result instruction to the surgical integrated machine;

the operation integrated machine receives the operation execution result instruction, determines target display information according to the operation execution result instruction, and displays the target display information; wherein the target display information includes robot attribute information and surgical instrument attribute information.

In a third aspect, an embodiment of the present invention provides a computer apparatus, including:

one or more processors;

a memory for storing one or more programs;

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the surgical robot control method of any of the embodiments.

In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the surgical robot control method according to any of the embodiments.

The embodiment of the invention discloses a surgical robot control system and a method, wherein the system comprises a robot control device, a surgical integrated machine and a surgical robot; the robot control device is used for acquiring a robot control operation instruction, generating a robot control instruction according to the robot control operation instruction, and sending the robot control instruction to the surgical robot; the surgical robot is used for executing robot control operation corresponding to the robot control instruction under the condition of receiving the robot control instruction, generating an operation execution result instruction according to the robot control operation, and sending the operation execution result instruction to the surgical integrated machine; the operation integrated machine is used for receiving the operation execution result instruction, determining target display information according to the operation execution result instruction, and displaying the target display information; wherein the target display information includes robot attribute information and surgical instrument attribute information. The technical scheme of the embodiment of the invention solves the problems of fewer display contents of corresponding information of operation and insufficient operation safety in the existing operation robot technology, can jointly display the robot information and the operation instrument information according to the robot action, enriches the display contents of the related information of operation and improves the operation safety.

Drawings

FIG. 1 is a block diagram of a surgical robot control system provided by an embodiment of the present invention;

FIG. 2 is a workflow diagram of a surgical integrated machine provided in an embodiment of the present invention;

FIG. 3 is a flow chart of a method for controlling a surgical robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Fig. 1 is a block diagram of a control system of a surgical robot, which is provided by the embodiment of the invention, and the embodiment of the invention is applicable to a scene of recovering a to-be-cleaned bedding and clothing of a hospital, and the device can be implemented by software and/or hardware.

As shown in fig. 1, the surgical robot control system includes: robot control device, operation all-in-one and operation robot; the three can be connected in a communication way; the robot control device is used for acquiring a robot control operation instruction, generating a robot control instruction according to the robot control operation instruction, and sending the robot control instruction to the surgical robot; the surgical robot is used for executing the robot control operation corresponding to the robot control instruction under the condition of receiving the robot control instruction, generating an operation execution result instruction according to the robot control operation, and sending the operation execution result instruction to the surgical integrated machine; the operation integrated machine is used for receiving the operation execution result instruction, determining target display information according to the operation execution result instruction and displaying the target display information; wherein the target display information includes robot attribute information and surgical instrument attribute information.

The respective parts of the surgical robot control system are described separately below. First, the robot control device may be an operation device corresponding to the surgical robot. The user can operate the machine handle on the operation table to control the action of the operation robot, so that the robot can automatically perform operation. Further, the operation control command may be a control trigger command received by the robot control device. Specifically, when the user operates the machine handle of the robot control device, the robot control device may further obtain a corresponding control operation instruction according to the operation action. Further, the robot control command may be a control command for controlling the surgical robot to perform a corresponding action. Specifically, the robot control device may generate a corresponding robot control instruction according to the acquired control operation instruction, and then send the robot control instruction to the surgical robot, so that the surgical robot performs a corresponding control action.

The surgical robot will be described next. Under the condition that the surgical robot receives the robot control instruction, the surgical robot can execute corresponding robot control operation according to the robot control instruction. In addition, the operation robot can also generate an operation execution result instruction according to the robot control operation, and finally the operation execution result instruction is sent to the operation integrated machine, so that the operation integrated machine displays corresponding robot information and operation instrument information according to the operation execution result instruction. The operation execution result instruction may be an instruction describing a robot state and a surgical instrument state after the surgical robot executes the robot control operation.

In an alternative embodiment, a surgical robot includes: the control instruction execution module and the execution operation analysis module; the control instruction execution module is used for executing robot control operation corresponding to the robot control instruction under the condition that the robot control instruction is received; the execution operation analysis module is used for determining the state of the robot and the state of the surgical instrument according to the robot control operation, generating an operation execution result instruction according to the state of the robot and the state of the surgical instrument, and sending the operation execution result instruction to the operation all-in-one machine.

The robot state may be a current state of the robot after performing the control operation. Specifically, the robot state includes information such as the current position and posture of the surgical robot. The surgical instrument state may be a current state of the surgical instrument after the surgical robot performs the control operation. For example, the surgical instrument status may include information of a current opening and closing angle, a current position, and a posture of the surgical instrument. Wherein, surgical robot and surgical instrument are connected. Specifically, since the surgical instrument is connected with the surgical robot, the operation execution analysis module can determine the state of the surgical instrument after the control operation is performed by the surgical robot according to the state of the surgical instrument before the control operation is performed by the surgical robot and the robot control operation.

In an alternative embodiment, the surgical robot includes at least three robotic arms, and the performing the operation analysis module includes: the surgical instrument analysis device comprises a robot analysis sub-module, a surgical instrument analysis sub-module and an execution result determination sub-module, wherein the robot analysis sub-module is used for determining the current robot arm state of each robot arm according to robot control operation; a surgical instrument analysis sub-module for determining a surgical instrument state of at least one surgical instrument according to the robot control operation; wherein the surgical instrument is connected with the robot arm; the execution result determining sub-module is used for generating an operation execution result instruction according to the current robot arm state and the surgical instrument state and sending the operation execution result instruction to the surgical integrated machine.

One of the robot arms of the surgical robot can be connected with a corresponding video display device. The video display device can shoot pictures of the control operation of the surgical robot in real time. I.e. the robot arm to which the video display device is connected may act as the "eye" of the surgical robot. Furthermore, the other two robotic arms of the surgical robot may be connected to corresponding surgical instruments. The two robot arms are equivalent to two hands of the surgical robot, and can complete the surgical action by controlling the surgical instrument. Further, the current robot state may be a current state of the robot after performing the control operation. Specifically, the robot arm state includes information such as a current position, a current posture, a current value, a current voltage value, and the like of the robot.

In an alternative embodiment, the surgical instrument attribute analysis submodule includes: the device comprises a device identification unit and a device analysis unit, wherein the device identification unit is used for acquiring device chip information of a surgical device under the condition that the connection of the mechanical arm and the surgical device is detected, determining target device attribute information according to the device chip information and sending the target device attribute information to the device analysis unit; an instrument analysis unit for determining an instrument attribute state of a surgical instrument connected to the robot arm based on the robot control operation, and determining a target instrument state according to the instrument attribute state and the target instrument attribute information; wherein the target instrument state includes at least one of an instrument opening and closing angle, an instrument number of uses, and an instrument remaining number.

The device comprises a plurality of surgical instruments, wherein the interior of each surgical instrument is provided with a corresponding machine chip, instrument chip information is stored in the machine chip, and instrument identification information and instrument attribute information of the surgical instrument corresponding to the chip can be recorded. Further, the target instrument attribute information may be related attribute information of a surgical instrument connected to the robot arm. Specifically, the target instrument data information may include the current number of times the surgical instrument is available for use. The number of instrument uses may be the number of times the surgical instrument has been used. Specifically, the number of machine uses may be determined based on the control actions of the robotic arm. Accordingly, different types of surgical instruments have corresponding usage number determination rules. The usage number determination rules for different types of surgical instruments may be preset. For example, in the case where the surgical instrument is a scissors instrument, the open/close angle of the scissors instrument may be determined to be used once after exceeding a certain value. In the case where the surgical instrument is a knife instrument, it may be determined that the surgical instrument is used once if the use time of the surgical instrument exceeds a preset time threshold. In order to ensure the operation safety, the used times and the usable times of the operation instruments can be recorded, so that a user can conveniently and timely acquire the information of the used times of the operation instruments, and the operation instruments with excessive used times can be timely replaced, thereby avoiding the problem of instrument failure of the operation instruments due to excessive used times and further improving the operation safety.

In an alternative embodiment, the instrument analysis unit comprises: an instrument state determination subunit; wherein the instrument state determining subunit is configured to determine the usable number of instruments according to the target instrument attribute information, determine the usable number of instruments according to the robot control operation, and determine the remaining number of instruments according to the usable number of instruments and the usable number of instruments. Specifically, the usable number of times and the appliance use number of times may be determined, and then the usable number of times may be subtracted from the appliance use number of times, thereby obtaining the remaining use number of times.

Finally, introducing the operation integrated machine. The surgical integrated machine may be a machine that assists in a surgical procedure. The operation integrated machine comprises a display interface, and after receiving the operation execution result instruction, the operation integrated machine can determine target display information according to the operation execution result instruction and display the target display information in the display interface. The user can clearly know the states of the current surgical robot and surgical instruments according to the target display information, so that the user can know the progress of the surgery in time, the action of the surgical robot is adjusted in time according to the target display information, and the surgical safety is improved.

In an alternative embodiment, a surgical integrated machine includes: a robot display module and an instrument display module; the robot display module is used for receiving the operation execution result instruction, determining a robot action model according to the operation execution result instruction, and displaying the robot action model on a preset interactive interface; and the instrument display module is used for determining the attribute information of the surgical instrument according to the operation execution result instruction and displaying the attribute information of the surgical instrument on a preset interactive interface.

The robot motion model may be a three-dimensional model that shows a current motion state of the robot. Specifically, the robot display module can analyze the received operation execution result instruction, further determine motion state change information of the surgical robot, further adjust a motion model of the surgical robot according to the motion state change information, and further determine an adjusted motion model of the robot. The preset interactive interface may be a preset interface for performing man-machine interaction. After the robot motion model is determined, the robot display module can display the robot motion model on a preset interactive interface, so that a user can clearly see the current state of the robot, and the corresponding control operation can be conveniently adjusted according to the robot motion model.

Further, the surgical instrument attribute information may be information of a current state of the surgical instrument that needs to be displayed. Specifically, the surgical instrument attribute information may include current position information, used number information, remaining number information, and the like of the surgical instrument. After analyzing the operation execution result instruction, the instrument display module can determine the attribute information of the surgical instrument and display the attribute information on a preset interactive interface. By displaying the attribute information of the surgical instrument on the preset interactive interface, a user can clearly know the current state of the surgical instrument, and the operation action of the surgical robot can be conveniently adjusted according to the attribute information of the surgical instrument.

In an alternative embodiment, the surgical integrated machine further comprises: an abnormality early warning module; the abnormal early warning module is used for determining the current robot state according to the operation execution result instruction, marking the early warning position in the robot action model under the condition that the current robot state is the early warning state, and displaying corresponding early warning state information.

The current robot state may be a current operating state of the surgical robot. Specifically, multiple analysis indexes of the surgical robot can be detected, so that the current robot state of the surgical robot can be determined. Exemplary analysis metrics include a robotic arm joint angle, a motor current value, a motor voltage value, and the like. Further, under the condition that detection values of a plurality of analysis indexes are in a preset normal range, the current robot state can be determined to be a normal running state; correspondingly, if the detection value of one analysis index is not in the preset normal range, the current robot state can be determined to be an early warning state. And under the condition that the current robot state is the early warning state, marking the early warning position in the robot action model and displaying corresponding early warning state information. The early warning state information may be early warning related information at the position where the early warning occurs. Exemplary alert status information includes, but is not limited to, alert type at alert location, alert time, alert status, and corresponding normal status information. Through the current robot state of automated inspection operation robot to under the circumstances that current robot state was early warning state, mark early warning position in robot action model, show corresponding early warning state information, can make operating personnel in time know the early warning information of operation robot, make operating personnel in time correct the robot operation action, improve the operation security.

In an alternative embodiment, the surgical integrated machine further comprises: an anomaly control module; the abnormal control module is used for sending an abnormal control instruction to the surgical robot when the current robot state is an abnormal state.

Wherein the abnormal state may be a more dangerous surgical robot state than the pre-alarm state. Specifically, multiple analysis indexes of the surgical robot can be detected, and when one of the detection values of the indexes exceeds a preset early warning threshold, the current state of the robot can be determined to be an abnormal state. Under the condition that the current robot state is in an abnormal state, automatic intervention can be performed, and the dangerous consequences caused by wrong manual operation are avoided. Specifically, the type of the abnormality may be determined, and then the corresponding abnormality solving step may be matched based on the type of the abnormality, and then an abnormality control instruction may be generated based on the abnormality solving step, so that the surgical robot may execute the abnormality solving step, so as to alleviate the problem of the abnormal state of the surgical robot.

In an alternative embodiment, the surgical integrated machine and the surgical robot are communicatively coupled based on serial communication or portal communication. Specifically, after the device is powered on, whether the surgical robot and the surgical integrated machine are inserted into the Bluetooth module or not can be preferentially detected, if the surgical robot and the surgical integrated machine are both inserted into the Bluetooth module, serial port communication is used, and if the surgical robot and the surgical integrated machine are not inserted into the Bluetooth module, TCP (Transmission Control Protocol ) communication is performed by using a network port. By using the Bluetooth module to forward serial data, the wiring problem caused by wired connection can be avoided. Meanwhile, the surgical robot can adapt to different conditions through various communication modes, and the applicability of the surgical robot is improved.

Fig. 2 is a workflow diagram of an integrated surgical machine according to an embodiment of the present invention. As shown in fig. 2, the workflow of performing surgical robot control is:

1. the surgical robot and the integrated machine can preferentially detect whether the Bluetooth module is inserted after the equipment is electrified, if the Bluetooth module is inserted, serial port communication is used, and if the Bluetooth module is not inserted, TCP communication is performed by using a network port;

2. after communication is established, the robot sends own data to the all-in-one machine;

3. after logging in the self account, the integrated machine displays the state and data of the surgical robot;

mainly there are several pages:

1) Homepage, displaying the serial number of the current hooking surgical instrument, the current opening and closing angle and other information, and setting some voices and operation habits of the surgical robot.

2) And the interface between the doctor control console and the mechanical arm displays various states of the doctor control console and the 3 mechanical arms.

3) And the instrument information interface is used for displaying the information of the currently used instruments in detail, such as pictures, the residual use times and the like.

4) The current use recording interface records which instruments are used by the doctor when the software is opened at this time in operation, and records specific use information.

5) And a state display interface for displaying the position of the surgical robot where the problem occurs through the picture.

6) And the help information interface is used for displaying the current software version number, the control software version number, the communication state and other information.

7) The positioning guiding interface guides the user to position the surgical robot to the most suitable for surgery through the picture.

8) And the instrument parameter interface displays and adjusts the internal fine parameters of the current hitching instrument.

9) History use record interface-history operation record can be searched by condition.

10 And (3) a 3D display interface for simply displaying the current pose of the mechanical arm through pictures.

4. The all-in-one machine can also send instructions to the robot through the TCP to control the robot. For example, in the case where the surgical robot is in an abnormal state, an abnormal control instruction may be transmitted to the surgical robot.

5. Recording operation logs, wherein angles of all joints are recorded at any time when the robot performs master-slave operation, and the angles are stored as logs and uploaded to a server for reproduction of a moving track of the robot by the ROS system;

6. the all-in-one machine analyzes specific data, such as a motor current value, which is indicated if the motor current value is often out of a preset range.

The embodiment of the invention discloses a surgical robot control system and a method, wherein the system comprises a robot control device, a surgical integrated machine and a surgical robot; the robot control device is used for acquiring a robot control operation instruction, generating a robot control instruction according to the robot control operation instruction, and sending the robot control instruction to the surgical robot; the surgical robot is used for executing the robot control operation corresponding to the robot control instruction under the condition of receiving the robot control instruction, generating an operation execution result instruction according to the robot control operation, and sending the operation execution result instruction to the surgical integrated machine; the operation integrated machine is used for receiving the operation execution result instruction, determining target display information according to the operation execution result instruction and displaying the target display information; wherein the target display information includes robot attribute information and surgical instrument attribute information. The technical scheme of the embodiment of the invention solves the problems of fewer display contents of corresponding information of operation and insufficient operation safety in the existing operation robot technology, can jointly display the robot information and the operation instrument information according to the robot action, enriches the display contents of the related information of operation and improves the operation safety.

Fig. 3 is a flowchart of a surgical robot control method provided in an embodiment of the present invention, which is applied to a surgical robot control system, where the surgical robot control system includes a robot control device, an operation integrated machine, and a surgical robot.

As shown in fig. 3, the surgical robot control method includes the steps of:

s110, a robot control device acquires a robot control operation instruction, generates a robot control instruction according to the robot control operation instruction, and sends the robot control instruction to the surgical robot.

The robot control device may be an operation device corresponding to the surgical robot. The user can operate the machine handle on the operation table to control the action of the operation robot, so that the robot can automatically perform operation. Further, the operation control command may be a control trigger command received by the robot control device. Specifically, when the user operates the machine handle of the robot control device, the robot control device may further obtain a corresponding control operation instruction according to the operation action. Further, the robot control command may be a control command for controlling the surgical robot to perform a corresponding action. Specifically, the robot control device may generate a corresponding robot control instruction according to the acquired control operation instruction, and then send the robot control instruction to the surgical robot, so that the surgical robot performs a corresponding control action.

And S120, the surgical robot executes the robot control operation corresponding to the robot control instruction under the condition that the robot control instruction is received, generates an operation execution result instruction according to the robot control operation, and sends the operation execution result instruction to the surgical integrated machine.

Under the condition that the surgical robot receives the robot control instruction, the surgical robot can execute corresponding robot control operation according to the robot control instruction. In addition, the operation robot can also generate an operation execution result instruction according to the robot control operation, and finally the operation execution result instruction is sent to the operation integrated machine, so that the operation integrated machine displays corresponding robot information and operation instrument information according to the operation execution result instruction. The operation execution result instruction may be an instruction describing a robot state and a surgical instrument state after the surgical robot executes the robot control operation.

In an alternative embodiment, the instrument analysis unit comprises: an instrument state determination subunit; wherein the instrument state determining subunit is configured to determine the usable number of instruments according to the target instrument attribute information, determine the usable number of instruments according to the robot control operation, and determine the remaining number of instruments according to the usable number of instruments and the usable number of instruments.

S130, the operation integrated machine receives the operation execution result instruction, determines target display information according to the operation execution result instruction, and displays the target display information; wherein the target display information includes robot attribute information and surgical instrument attribute information.

The surgical integrated machine may be a machine that assists in performing a surgical procedure. The operation all-in-one machine comprises a display interface, receives an operation execution result instruction, determines target display information according to the operation execution result instruction, and displays the target display information in the display interface. The user can clearly know the states of the current surgical robot and surgical instruments according to the target display information, so that the user can know the progress of the surgery in time, the action of the surgical robot is adjusted in time according to the target display information, and the surgical safety is improved.

In an alternative embodiment, the surgical integrated machine and the surgical robot are communicatively coupled based on serial communication and/or network communication.

According to the technical scheme provided by the embodiment of the invention, the robot control operation instruction is acquired through the robot control device, the robot control instruction is generated according to the robot control operation instruction, and the robot control instruction is sent to the surgical robot; the surgical robot executes the robot control operation corresponding to the robot control instruction under the condition of receiving the robot control instruction, generates an operation execution result instruction according to the robot control operation, and sends the operation execution result instruction to the surgical integrated machine; the operation integrated machine receives the operation execution result instruction, determines target display information according to the operation execution result instruction, and displays the target display information; wherein the target display information includes robot attribute information and surgical instrument attribute information. The technical scheme of the embodiment of the invention solves the problems of fewer display contents of corresponding information of operation and insufficient operation safety in the existing operation robot technology, can jointly display the robot information and the operation instrument information according to the robot action, enriches the display contents of the related information of operation and improves the operation safety.

Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present invention. Fig. 4 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. The computer device 12 may be any terminal device with computing capabilities and may be configured in a surgical robotic control device.

As shown in FIG. 4, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.

Bus 18 may be one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in fig. 4, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.

The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 20. As shown in fig. 4, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in fig. 4, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, implements the surgical robot control method provided by the present embodiment, and is applied to a surgical robot control system including a robot control device, a surgical integrated machine, and a surgical robot, the method including:

The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the surgical robot control method provided by any embodiment of the present invention, applied to a surgical robot control system including a robot control device, a surgical integrated machine, and a surgical robot, comprising:

The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute 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).

It will be appreciated by those of ordinary skill in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by a computer device, such that they are stored in a memory device and executed by the computing device, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. A surgical robotic control system, comprising: robot control device, operation all-in-one and operation robot; wherein,

2. The system of claim 1, wherein the surgical robot comprises: the control instruction execution module and the execution operation analysis module; wherein,

the control instruction execution module is used for executing the robot control operation corresponding to the robot control instruction under the condition that the robot control instruction is received;

the execution operation analysis module is used for determining a robot state and a surgical instrument state according to the robot control operation, generating an operation execution result instruction according to the robot state and the surgical instrument state, and sending the operation execution result instruction to the surgical integrated machine.

3. The system of claim 2, wherein the surgical robot comprises at least three robotic arms, the performing an operational analysis module comprising: a robot analysis sub-module, a surgical instrument analysis sub-module, and an execution result determination sub-module, wherein,

The robot analysis submodule is used for determining the current robot arm state of each robot arm according to the robot control operation;

the surgical instrument analysis submodule is used for determining the surgical instrument state of at least one surgical instrument according to the robot control operation; wherein the surgical instrument is connected with the robotic arm;

the execution result determining submodule is used for generating the operation execution result instruction according to the current robot arm state and the surgical instrument state and sending the operation execution result instruction to the surgical integrated machine.

4. The system of claim 3, wherein the surgical instrument property analysis submodule comprises: an instrument identification unit and an instrument analysis unit, wherein,

the instrument identification unit is used for acquiring instrument chip information of the surgical instrument under the condition that the connection of the mechanical arm and the surgical instrument is detected, determining target instrument attribute information according to the instrument chip information and sending the target instrument attribute information to the instrument analysis unit;

the instrument analysis unit is used for determining an instrument attribute state of a surgical instrument connected with the robot arm based on the robot control operation and determining a target instrument state according to the instrument attribute state and the target instrument attribute information; wherein the target instrument state includes at least one of an instrument opening and closing angle, an instrument usage number, and an instrument remaining number.

5. The system of claim 4, wherein the instrument analysis unit comprises: an instrument state determination subunit; wherein,

the instrument state determining subunit is configured to determine an instrument usable number according to the target instrument attribute information, determine the instrument usable number according to the robot control operation, and determine the remaining instrument number according to the instrument usable number and the instrument usable number.

6. The system of claim 1, wherein the surgical integrated machine comprises: a robot display module and an instrument display module; wherein,

the robot display module is used for receiving the operation execution result instruction, determining a robot action model according to the operation execution result instruction, and displaying the robot action model on a preset interactive interface;

the instrument display module is used for determining the attribute information of the surgical instrument according to the operation execution result instruction and displaying the attribute information of the surgical instrument on a preset interactive interface.

7. The system of claim 6, wherein the surgical integrated machine further comprises: an abnormality early warning module; wherein,

The abnormal early warning module is used for determining the current robot state according to the operation execution result instruction, marking the early warning position in the robot action model under the condition that the current robot state is the early warning state, and displaying corresponding early warning state information.

8. The system of claim 7, wherein the surgical integrated machine further comprises: an anomaly control module; wherein,

the abnormal control module is used for sending an abnormal control instruction to the surgical robot when the current robot state is an abnormal state.

9. The system of claim 1, wherein the surgical integrated machine and the surgical robot are communicatively coupled based on serial communication and/or internet communication.

10. A surgical robot control method, characterized by being applied to a surgical robot control system including a robot control device, a surgical integrated machine, and a surgical robot, the surgical robot control method comprising: