WO2022184071A1 - 机械臂、手术装置、手术末端装置、手术系统及工作方法 - Google Patents

机械臂、手术装置、手术末端装置、手术系统及工作方法 Download PDF

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Publication number
WO2022184071A1
WO2022184071A1 PCT/CN2022/078693 CN2022078693W WO2022184071A1 WO 2022184071 A1 WO2022184071 A1 WO 2022184071A1 CN 2022078693 W CN2022078693 W CN 2022078693W WO 2022184071 A1 WO2022184071 A1 WO 2022184071A1
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WIPO (PCT)
Prior art keywords
surgical
robotic arm
joint
control
position sensor
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PCT/CN2022/078693
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English (en)
French (fr)
Inventor
袁帅
何超
王家寅
Original Assignee
上海微创医疗机器人（集团）股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from CN202110231537.9A external-priority patent/CN113040912A/zh
Priority claimed from CN202110232089.4A external-priority patent/CN113040913A/zh
Application filed by 上海微创医疗机器人（集团）股份有限公司 filed Critical 上海微创医疗机器人（集团）股份有限公司
Publication of WO2022184071A1 publication Critical patent/WO2022184071A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the invention relates to the technical field of robot-assisted surgery, in particular to a mechanical arm, a surgical device, a surgical terminal device, a surgical system and a working method.
  • the design concept of the surgical robot is to perform complex surgical operations precisely and dexterously in a micro-invasive manner with high precision and high safety.
  • surgical robots have been developed to replace traditional surgery.
  • Surgical robots break through the limitations of the human eye and use three-dimensional imaging technology to present internal organs to the operator more clearly.
  • the robotic arm can complete 360-degree rotation, movement, swing or clamping, and can avoid shaking.
  • the patient's wound is small, bleeding is less, and recovery is fast, which greatly shortens the patient's postoperative hospital stay, and the postoperative survival rate and recovery rate can also be significantly improved. It is favored by the majority of doctors and patients. in various clinical procedures.
  • the surgical robot devices currently used on the market are all special-purpose devices, and based on the technical complexity and development cost of the surgical robot, a surgical robot is often expensive, and this part of the cost needs to be borne by the patient, which increases invisibly
  • a dedicated operating room is generally used for storage, which also increases the cost of the hospital, and this situation also reduces The efficiency of the surgical robot in solving other emergencies in a surgical operation is improved.
  • the purpose of the present invention is to provide a mechanical arm, a surgical device, a surgical terminal device, a surgical system and a working method, so as to solve the problem that the existing surgical robot is highly specialized, resulting in high storage and use costs.
  • a robot arm which includes: a joint of the robot arm body and a first conversion joint;
  • the joint of the manipulator body is used to be installed in the expected installation position
  • the first conversion joint is articulated with the manipulator body, and is used for connecting with the second conversion joint of the surgical end device.
  • the joint of the robotic arm body has at least four degrees of freedom for adjusting the spatial position or posture of the surgical end device connected thereto.
  • the first conversion joint includes a first communication interface and/or a first identification device, and the first communication interface is used to communicate with the surgical end device connected thereto, so The first identification device is used to identify the type of the surgical end device connected to it.
  • a surgical device which includes the above-mentioned robotic arm.
  • the surgical device further includes a trolley, the robotic arm is mounted on the trolley, and the trolley is used to adjust the position of the robotic arm through its own movement.
  • the robotic arm or the trolley further includes a first position sensor, and the first position sensor is used to communicate with the second position sensor of the operating bed for identification and Determine the position of the robotic arm.
  • the surgical device further includes a mounting base, which includes a path track; one end of the joint of the manipulator body of the robotic arm is used to be mounted on the path track and used to move along the path track ; The other end of the manipulator body joint of the manipulator is used to connect with the surgical end device.
  • a mounting base which includes a path track; one end of the joint of the manipulator body of the robotic arm is used to be mounted on the path track and used to move along the path track ; The other end of the manipulator body joint of the manipulator is used to connect with the surgical end device.
  • the robotic arm further includes a first position sensor, where the first position sensor is used for identifying and determining the position of the robotic arm.
  • the mounting substrate includes a third position sensor, and the third position sensor is connected in communication with the first position sensor of the robotic arm, and is used to determine the position of the robotic arm.
  • the surgical device further includes a driving device for driving the robotic arm to move on the path track.
  • a surgical terminal device which includes: a terminal body and a second conversion joint; one end of the second conversion joint is used for connecting with the terminal body connected, and the other end is used to connect with the first conversion joint of the robotic arm as described above.
  • the second conversion joint includes a second communication interface and/or a second identification device, and the second communication interface is used to communicate with the robotic arm connected to it, so The second identification device is used for identification of the robotic arm connected thereto.
  • a surgical system which includes: a control device, the above surgical device, and the above surgical terminal device;
  • the surgical end device is connected with the mechanical arm of the surgical device through the second conversion joint and the first conversion joint, and the control device is connected in communication with the surgical device;
  • the control device is configured to: control the trolley of the surgical device to move to a predetermined position according to the surgical category, control the robotic arm of the surgical device to swing to a predetermined posture, obtain corresponding control logic according to the surgical category, and The surgical device is controlled to perform surgery according to the control logic.
  • the surgical system includes at least two of the surgical devices and at least two of the surgical end devices, and the control device is further configured to configure at least one of the surgical devices as a master controller according to the surgical category.
  • the control device is further configured to configure at least one of the surgical devices as a master controller according to the surgical category.
  • the surgical system further includes: an operating bed, the operating bed includes a second position sensor connected in communication with the control device, and the second position sensor is used to communicate with the first position sensor of the surgical device A communication link for the control device to determine the position of the surgical device relative to the surgical bed.
  • a working method of a surgical system which utilizes the above-mentioned surgical system; the working method of the surgical system includes:
  • the corresponding control logic is acquired according to the operation category, and the operation device is controlled to perform the operation according to the control logic.
  • control logic includes:
  • Trigger selection control logic packs based on surgical class
  • a corresponding control program is matched according to the operation category, so as to control the mechanical arm of the operation device to perform a preset action.
  • control logic further includes:
  • At least one of the surgical devices is configured as a master device and at least one of the surgical devices is configured as an auxiliary device;
  • Corresponding control programs are respectively matched for the main control device and the auxiliary device, so as to respectively control the mechanical arm of the main control device and the mechanical arm of the auxiliary device to execute preset actions.
  • the robotic arm includes: a robotic arm body joint and a first conversion joint; installed at an expected installation position; the first conversion joint is articulated with the manipulator body for connecting with the second conversion joint of the surgical end device.
  • the first conversion joint of the robotic arm is a universal interface, which can be adapted to a variety of different surgical end devices. Performing a variety of surgical operations can achieve more generalization of the surgical system, reduce medical costs for hospitals and patients, and realize the realization of more surgical operation plans through this method, and improve the efficiency of surgical operations.
  • FIG. 1a is a schematic diagram of a robotic arm according to Embodiment 1 of the present invention.
  • Fig. 1b is a schematic diagram of another angle of the robot arm shown in Fig. 1a;
  • Fig. 2a is a schematic diagram of the surgical terminal device according to the first embodiment of the present invention.
  • Fig. 2b is a schematic diagram of another angle of the surgical end device shown in Fig. 2a;
  • Fig. 2c is a schematic diagram of the surgical end device shown in Fig. 2a after being connected to the robotic arm;
  • Fig. 3a is a schematic diagram of a surgical end device according to another preferred example of Embodiment 1 of the present invention.
  • Fig. 3b is a schematic diagram of another angle of the surgical end device shown in Fig. 3a;
  • Fig. 3c is a schematic diagram of the surgical end device shown in Fig. 3a after being connected to the robotic arm;
  • FIG. 4 is a schematic diagram of the surgical device and the surgical terminal device according to the first embodiment of the present invention after being assembled;
  • FIG. 5 is a schematic diagram of the surgical system according to the first embodiment of the present invention when the surgical end device is not assembled;
  • FIG. 6 is a schematic diagram of the surgical system according to the first embodiment of the present invention after assembling the surgical terminal device;
  • Fig. 7 is the logic diagram of the control logic center of the embodiment 1 of the present invention.
  • FIG. 8 is a schematic diagram of the control logic of the implementation of the deployment operation according to the first embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a surgical scene of the surgical system according to Embodiment 1 of the present invention.
  • FIG. 10 is a schematic diagram of the surgical system according to the second embodiment of the present invention when the surgical terminal device is not assembled;
  • FIG. 11 is a schematic diagram of the surgical system according to the second embodiment of the present invention after assembling the surgical terminal device;
  • FIGS. 12a and 12b are schematic diagrams of a mounting substrate according to Embodiment 2 of the present invention.
  • FIG. 13 is a schematic diagram of an operation scene of the operation system according to the second embodiment of the present invention.
  • 3-surgical device 31-main control device; 32-auxiliary device;
  • features defined as “first”, “second”, “third” may expressly or implicitly include one or at least two of these features
  • the term “proximal” is generally the end close to the operator
  • the term “proximal” “Distal” is usually the end close to the patient, that is, close to the lesion
  • “one end” and “the other end” and “proximal end” and “distal end” usually refer to the corresponding two parts, which not only include the end point
  • the term “installation” , “connected” and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected or indirectly connected through an intermediate medium, and it can be an internal connection between two components.
  • connection, coupling, cooperation or transmission relationship between the two elements
  • relationship between the two elements may be direct or indirect through intervening elements connection, coupling, cooperation or transmission, and should not be construed as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any position inside, outside, above, below or on one side of the other element, unless the content Also clearly stated.
  • the specific meanings of the above terms in this specification can be understood according to specific situations.
  • the purpose of the present invention is to provide a surgical device, a surgical terminal device, a surgical system and a working method of the surgical system, so as to solve the problem that the existing surgical robot is highly specialized, resulting in high storage and use costs.
  • FIG. 1a is a schematic diagram of a robot arm according to an embodiment of the present invention
  • FIG. 1b is a schematic diagram of another angle of the robot arm shown in FIG. 1a
  • FIG. 1a is a schematic diagram of a robot arm according to an embodiment of the present invention
  • FIG. 1b is a schematic diagram of another angle of the robot arm shown in FIG. 1a
  • FIG. 1a is a schematic diagram of a robot arm according to an embodiment of the present invention
  • FIG. 1b is a schematic diagram of another angle of the robot arm shown in FIG. 1a
  • FIG. 2a is a schematic diagram of an embodiment of the present invention Schematic diagram of the surgical terminal device;
  • Figure 2b is a schematic diagram of another angle of the surgical terminal device shown in Figure 2a;
  • Figure 2c is a schematic diagram of the surgical terminal device shown in Figure 2a after connecting with a robotic arm;
  • Figure 3a is an implementation of the present invention
  • Figure 3b is a schematic diagram of another angle of the surgical terminal device shown in Figure 3a;
  • Figure 3c is a schematic diagram of the surgical terminal device shown in Figure 3a after connecting with the robotic arm;
  • Figure 3 4 is a schematic diagram of an embodiment of the present invention after the surgical device and a surgical terminal device are assembled;
  • FIG. 5 is a schematic diagram of an embodiment of the present invention when the surgical system is not equipped with a surgical terminal device;
  • FIG. 5 is a schematic diagram of an embodiment of the present invention when the surgical system is not equipped with a surgical terminal device;
  • FIG. 5 is a schematic diagram of an embodiment of the present invention when the surgical system is
  • FIG. 6 is an embodiment of the present invention.
  • the surgical system Schematic diagram after assembling the surgical terminal device;
  • FIG. 7 is a logic diagram of a control logic center for arranging a surgical embodiment according to an embodiment of the present invention;
  • FIG. 8 is a schematic diagram of a control logic for arranging a surgical embodiment according to an embodiment of the present invention;
  • FIG. 9 It is a schematic diagram of a surgical scene of a surgical system according to an embodiment of the present invention.
  • an embodiment of the present invention provides a robot arm 1, which includes: a robot arm body joint 12 and a first conversion joint 13; the robot arm body joint 12 is used for installation in an intended installation Position; the first conversion joint 13 is connected with the joint 12 of the manipulator body for connecting with the second conversion joint 21 of the surgical end device 2, as shown in FIG. 2a.
  • the first conversion joint 13 is a universal interface, which has a quick-change structure, and is used to realize a quick-change connection with the surgical end device 2 and can realize a stable connection.
  • the first adapter 13 includes a substantially rectangular recess for inserting the corresponding second adapter 21 for connection.
  • the first conversion joint 13 of the robotic arm 1 is a universal interface, which can be adapted to a variety of different surgical end devices 2.
  • a variety of surgical operations are performed in a single surgical environment, so that the surgical system can be more generalized, the medical cost of hospitals and patients can be reduced, and more surgical operation plans can be realized in this way, and the efficiency of surgical operations can be improved.
  • the robotic arm 1 further includes a robotic arm base 11, which is used to support the robotic arm body joints 12 and to install the entire robotic arm 1 in a desired installation location, such as a trolley or an operating room ceiling.
  • a robotic arm base 11 which is used to support the robotic arm body joints 12 and to install the entire robotic arm 1 in a desired installation location, such as a trolley or an operating room ceiling.
  • the manipulator body joint 12 has at least four degrees of freedom for adjusting the spatial position or posture of the surgical end device 2 connected thereto.
  • the first conversion joint 13 is located at the distal end of the joint 12 of the manipulator body, and the arrangement of the four degrees of freedom of the joint 12 of the manipulator body can realize the spatial position and posture of the first conversion joint 13 Adjustment.
  • the joint 12 of the robot arm body includes a first joint 121, a second joint 122, a third joint 123 and a fourth joint 124 connected in sequence.
  • the first joint 121 is rotatably connected to the robot arm base 11 for realizing the robot arm 1 surrounding the robot.
  • the robotic arm 1 has at least two up-and-down swing degrees of freedom, one left-right swing degree of freedom, and one rotational degree of freedom, which can adjust the spatial position and posture of the first conversion joint 13 .
  • those skilled in the art can make other improvements and configurations on the joints and degrees of freedom of the manipulator body joint 12 according to the prior art, which is not limited in the present invention.
  • the first conversion joint 13 includes a first communication interface and/or a first identification device, the first communication interface is used to communicate with the surgical end device 2 connected to it, and the first identification device is used for for identifying the type of the surgical end device 2 to which it is connected.
  • the first communication interface or the first identification device can be set as required, so as to realize the identification of the specific type of the surgical terminal device 2 by the robotic arm 1 and even the surgical system.
  • the first communication interface and/or the first identification device can be a non-contact sensor detection such as a Hall sensor, or can be a contact-type signal transmission device such as a spring pin. Those skilled in the art can make reasonable ground configuration.
  • This embodiment provides a surgical terminal device 2, which includes: a terminal body 20 and a second conversion joint 21; one end of the second conversion joint 21 is used for connecting with the terminal body 20, and the other end is used for connecting with the above-mentioned
  • the first conversion joint 13 of the robot arm 1 is connected.
  • the surgical end device 2 can be, for example, a laparoscopic surgical end device, the end body 20 of which is used for clamping/connecting a laparoscope.
  • the second adapter 21 is preferably disposed on the back plate side of the end body 20 along the radial direction of the end body 20 .
  • the second adapter 21 includes a substantially rectangular protrusion
  • the shape of the protrusion matches the shape of the concave hole of the first adapter 13, and the protrusion of the second adapter 21 is used for inserting the first adapter 13 recessed holes for quick assembly connections.
  • the concave holes and protrusions of the first adapter 13 and the second adapter 21 can also be interchanged.
  • the shapes of the protruding blocks and the concave holes are not limited to being substantially rectangular, for example, other polygonal or irregular shapes are also possible.
  • Those skilled in the art can also perform other configurations on the conversion connector according to the prior art, so that the first conversion connector 13 and the second conversion connector 21 can be quickly exchanged for connection. The present invention is not limited to this.
  • the surgical end device 2 may be a surgical end device for orthopedic surgery, and its end body 20 is used for clamping/connecting orthopedic surgical tools, such as drills and the like.
  • the second conversion joint 21 is arranged along the radial direction of the end body 20 .
  • the structure of the second adapter 21 is similar to the exemplary example shown in FIG. 2a to FIG. 2c, and will not be repeated here.
  • the surgical terminal device 2 can also be other types of surgical terminals. In use, the operator can quickly assemble and connect different types of surgical terminal devices 2 with the robotic arm 1 to quickly switch functions.
  • the second conversion joint 21 includes a second communication interface and/or a second identification device
  • the second communication interface is used for communicating with the robotic arm 1 connected thereto
  • the second identification device is used for For identification of the robotic arm 1 connected to it.
  • the second communication interface and/or the second identification device can be detected by a non-contact sensor such as a Hall sensor, or can be a contact-type signal transmission device such as a spring pin, and the second communication interface and the second identification device can be connected with the first
  • the communication interface is adapted to the first identification device, so that the robotic arm 1 can identify the type of the surgical end device 2 .
  • the present embodiment further provides a surgical device 3 , which includes the aforementioned robotic arm 1 and a trolley 4 , and the robotic arm 1 is mounted on the trolley 4 ,
  • the trolley 4 is used to adjust the position of the mechanical arm 1 through its own movement.
  • the trolley 4 includes a caster structure 41, a trolley main body 42 and a mechanical arm interface 43; wherein the caster structure 41 can realize the movement of the trolley in any direction, including in-situ rotation, and can Locking can be achieved at any position to ensure the stability of the trolley 4 ; the mechanical arm interface 43 is used to realize a fixed connection with the mechanical arm 1 .
  • the robotic arm 1 or the trolley 4 further includes a first position sensor, and the first position sensor is used to communicate with the second position sensor of the operating bed 7 (see below for details) for identification and Determine the position of the robotic arm 1.
  • the first position sensor can be installed on the robot arm base 11 , or installed on the trolley 4 . If the first position sensor is installed on the manipulator base 11 , the control device of the surgical system can directly acquire the position information of the manipulator 1 . If the first position sensor is installed on the trolley 4 , the first position sensor should have a fixed relative positional relationship with the robot arm interface 43 , so that the control device can map the position relationship of the robot arm 1 through the position information of the trolley 4 .
  • the trolley 4 further includes a driving device (not shown), and the driving device can drive the trolley 4 to move in any direction, and can lock the position of the trolley 4 .
  • This embodiment also provides a surgical system, which includes a control device 8 (as shown in FIG. 7 below), the above-mentioned surgical device 3 and the above-mentioned surgical terminal device 2; the surgical terminal device 2 passes through the first The second conversion joint 21 and the first conversion joint 13 are connected with the robotic arm 1 of the surgical device 3, and the control device 8 is connected in communication with the surgical device 3; the control device 8 is configured to: according to the type of surgery , control the trolley 4 of the surgical device 3 to move to a predetermined position, control the robotic arm 1 of the surgical device 3 to swing to a predetermined pose, obtain the corresponding control logic according to the type of surgery, and control the The surgical device 3 performs surgery.
  • the surgical system includes at least two of the surgical devices 3 and at least two of the surgical end devices.
  • the operation system further includes: an operation bed 7 , the operation bed 7 includes a second position sensor connected in communication with the control device 8 , and the second position sensor is used to communicate with the first position sensor of the operation device 3 .
  • a position sensor is communicatively connected for the control device 8 to determine the position of the surgical device 3 relative to the surgical bed 7 .
  • the second position sensor and the first position sensor can determine their relative positions through mutual communication.
  • the communication between the second position sensor and the first position sensor is wireless communication, for example, communication may be performed by means of optical or radio waves.
  • the second position sensor and the first position sensor can be an optical positioning device and an optical target, a magnetic positioning device and a magnetic target and other position sensors commonly used in the art.
  • the surgical device 3 can position the patient 6 on the operating bed 7 so as to realize the surgical operation.
  • the present embodiment also provides a working method of the surgical system, which includes:
  • Step S1 control the trolley 4 of the surgical device 3 to move to a predetermined position according to the type of surgery, and control the robotic arm 1 of the surgical device 3 to swing to a predetermined posture;
  • Step S2 Acquire corresponding control logic according to the surgery category, and control the surgical device 3 to perform surgery according to the control logic.
  • the types of surgery here such as laparoscopic surgery, orthopedic surgery, and nerve puncture surgery, can be used to achieve surgical operations in departments such as orthopedics, neurosurgery, gynecology, and general surgery.
  • the predetermined location is different.
  • the control device 8 can perform calculations according to its built-in control logic center, obtain corresponding control logic, and control the operation device 3 to perform the operation according to the control logic.
  • the control logic center can include a variety of surgical operation control programs, and can automatically match the corresponding control programs according to the surgical category.
  • control logic includes:
  • Step S21 trigger selection control logic package according to surgery category
  • Step S22 Match a corresponding control program according to the operation category to control the robotic arm 1 of the operation device 3 to perform a preset action.
  • the control logic package is mainly a collection of a series of control steps that match the surgical category, and includes corresponding control programs, which are mainly used to control the robotic arm 1 to perform surgical operations in a preset sequence.
  • control programs which are mainly used to control the robotic arm 1 to perform surgical operations in a preset sequence.
  • the operation of the entire logic can be protected by the security policy S23, so as to realize the safety of the operation.
  • the specific configuration of the security policy S23 can be selected according to the prior art, which will not be described here.
  • control logic further includes:
  • Step S24 Configure at least one of the surgical devices 3 as a main control device 31 and configure at least one of the surgical devices 3 as an auxiliary device 32 according to the surgery category;
  • Step S25 Match corresponding control programs for the main control device and the auxiliary device respectively, so as to respectively control the robot arm of the main control device and the robot arm of the auxiliary device to perform preset actions.
  • the main control device 31 is a device that mainly performs surgical operations, such as a surgical end such as an electric scissors is mounted on its robotic arm;
  • the auxiliary device 32 is mainly a device that assists the main control device 31, such as its robotic arm is mounted with an endoscope Surgical end such as mirror.
  • the control device 8 can adaptively select and automatically configure the corresponding main control device 31 and auxiliary device 32 , so that a recommended selection can be given according to surgical needs without the need for selection by a doctor or other operators.
  • the doctor has his own operating habits, it can also be input into the control device 8 to implement subsequent targeted recommendations.
  • FIG. 9 shows a schematic diagram of an operation scene of the operation system.
  • the operation system further includes a doctor-side console 5 , and the control device 8 can be integrated into the doctor-side console 5 .
  • the doctor-side console 5 can A master-slave control relationship is established with the surgical device 3 so that the doctor can operate and control each surgical device 3 .
  • the working methods of the surgical device, the surgical terminal device, the surgical system, and the surgical system in the second embodiment of the present invention are basically the same as those of the surgical device, the surgical terminal device, the surgical system, and the surgical system in the first embodiment, and the same parts will not be described again. , and the following describes only the different points.
  • FIG. 10 is a schematic diagram of the surgical system according to the second embodiment of the present invention without a surgical terminal device
  • FIG. 11 is a schematic diagram of the surgical system according to the second embodiment of the present invention after being equipped with a surgical terminal device
  • FIG. 12a and FIG. 12b are schematic diagrams of the mounting substrate according to the second embodiment of the present invention
  • FIG. 13 is a schematic diagram of a surgical scene of the operating system according to the second embodiment of the present invention.
  • a second embodiment of the present invention provides a surgical device, which includes a robotic arm 1 and a mounting substrate 9 , the mounting substrate 9 includes a path track 91 ; the robotic arm 1 includes a robotic arm body joint 12 , which is different from the manipulator body joint 12 in the first embodiment above, one end of the manipulator body joint 12 in this embodiment is used to be mounted on the path track 91 and used to move along the path track 91 ; The other end of the manipulator body joint 12 is used to connect with the surgical end device 2 .
  • the manipulator 1 includes a first conversion joint 13 connected with the joint 12 of the manipulator body, and the first conversion joint 13 is used for connecting with the second conversion joint 21 of the surgical end device 2 .
  • the mounting base plate 9 can be arranged on the ceiling of the operating room, or can be erected above the operating bed 7 through a support structure. In this configuration, the robot arm 1 can move along the path track 91 , and can quickly and accurately move to a predetermined position and complete the positioning.
  • Figures 12a and 12b illustrate an exemplary embodiment of a path track 91, which may include a translational motion track and a circular motion track, and a circular motion track and a translational motion track cross each other.
  • the paths are communicated with each other, so as to realize the mutual exchange and cooperation of the positions of the mechanical arms 1 .
  • the path track 91 shown in FIGS. 12a and 12b is only an example and not a limitation on the path track 91. Those skilled in the art can make different settings for the path track 91 according to the actual situation to meet different requirements. needs.
  • the robotic arm 1 further includes a first position sensor (not shown in the figure), and the first position sensor is used for identifying and determining the position of the robotic arm 1 .
  • the mounting substrate 9 includes a second position sensor 92 , the second position sensor 92 is connected in communication with the first position sensor of the robot arm 1 , and is used for determining the position of the robot arm 1 .
  • the first position sensor can be installed on the robot arm base 11.
  • the position of the installation base 9 in the operating room is fixed, and it has known position information, while the second position sensor on the installation base 9 is fixed.
  • the location information of 92 is also predictable.
  • the control device 8 of the surgical system can obtain the position information of the first position sensor through the communication connection between the second position sensor 92 and the first position sensor, thereby determining the position of the robotic arm 1 .
  • the surgical device 3 further includes a driving device (not shown), and the driving device is used to drive the robotic arm 1 to move on the path track 91 .
  • the driving device may be a motor or other commonly used driving device in the field, which is not limited in the present invention.
  • the surgical device includes at least two of the robotic arms 1
  • the surgical system includes at least two of the surgical end devices 2
  • the control device 8 is further configured to control at least one of the surgical end devices according to the surgical category.
  • the robotic arm 1 is configured as a main control device 31
  • at least one of the robotic arms 1 is configured as an auxiliary device 32 .
  • the control device 8 generally does not control the mounting substrate 9, but can directly configure different robotic arms 1 as the main control. device 31 or auxiliary device 32.
  • the working method of the surgical system provided in the second embodiment is slightly different from the working method of the surgical system in the first embodiment.
  • the working method of the surgical system provided in the second embodiment includes:
  • Step S1a controlling the robotic arm 1 of the surgical device to move to a predetermined position according to the surgical category, and controlling the robotic arm 1 of the surgical device to swing to a predetermined posture;
  • Step S2a Acquire corresponding control logic according to the surgery category, and control the surgical device to perform surgery according to the control logic.
  • control logic includes:
  • Step S24a Configure at least one of the robotic arms 1 as a main control device 31 and at least one of the robotic arms 1 as an auxiliary device 32 according to the surgery category;
  • control logic of the second embodiment is substantially the same as the control logic of the first embodiment, and reference may be made to the description of the control logic in the first embodiment, which will not be repeated here.
  • FIG. 13 shows a schematic diagram of the operation scene of the operation system according to the second embodiment.
  • the operation system further includes a doctor-side console 5 , and the control device 8 can be integrated in the doctor-side console 5 .
  • the console 5 can establish a master-slave control relationship with each robotic arm 1 of the surgical device, so as to facilitate the doctor to operate and control each robotic arm 1 .
  • the surgical devices of Embodiment 1 and Embodiment 2 can be used in combination with each other.
  • a part of the robotic arm 1 can be installed on the path track 91 of the mounting base 9, while another part of the robotic arm can be installed on the path track 91 of the mounting base 9. 1 is installed on the trolley 4, and the two parts of the robotic arm 1 can cooperate to complete the operation under the control of the same control device 8, which is not limited in the present invention.
  • the robotic arm includes: a robotic arm body joint and a first conversion joint; the robotic arm The body joint is used for being installed at an expected installation position; the first conversion joint is articulated with the manipulator body, and is used for connecting with the second conversion joint of the surgical end device.
  • the first conversion joint of the robotic arm is a universal interface, which can be adapted to a variety of different surgical end devices. Performing a variety of surgical operations can achieve more generalization of the surgical system, reduce medical costs for hospitals and patients, and realize the realization of more surgical operation plans through this method, and improve the efficiency of surgical operations.

Abstract

一种机械臂、手术装置、手术末端装置、手术系统及工作方法，机械臂（1）包括：机械臂本体关节（12）以及第一转换接头（13）；机械臂本体关节（12）用于安装于预期的安装位置；第一转换接头（13）与机械臂本体关节（12）连接，用于与手术末端装置（2）的第二转换接头（21）连接。机械臂的第一转换接头（13）为通用型接口，其可以适配多种不同的手术末端装置（2），通过更换不同手术操作所需要的手术末端装置（2），可在一个手术室或一种手术环境下进行多种手术操作的执行，从而可以实现手术系统的更加通用化，降低医院和患者的医疗成本，并通过此方式实现更多手术操作方案的实现，提高手术操作效率。

Description

机械臂、手术装置、手术末端装置、手术系统及工作方法 技术领域
本发明涉及机器人辅助手术技术领域，特别涉及一种机械臂、手术装置、手术末端装置、手术系统及工作方法。
背景技术
手术机器人的出现符合精准外科的发展趋势。手术机器人成为帮助医生完成手术的有力工具，并且在目前已经在多科室、多领域开发了多种适用于不同适应症的手术机器人。
手术机器人的设计理念是采用微创伤的方式精准灵巧地实施复杂的外科手术，其具有高精度和高安全性。在传统的手术面临种种局限的情况下，发展出了手术机器人来替代传统手术，手术机器人突破了人眼的局限，采用立体成像技术，将内部器官更加清晰的呈现给操作者。在原来手伸不进的区域，机械臂能完成360度转动、挪动、摆动或夹持，并可避免抖动。患者的创口小、出血少、恢复快，大大缩短了患者术后住院时间，术后存活率和康复率也能明显提高，受到广大医患的青睐，现在作为一种高端医疗器械，已广泛运用于各种临床手术中。
但是目前市面上已经使用的手术机器人装置都是专用型的装置，并且基于手术机器人的技术复杂性和开发成本，一台手术机器人往往价格很高，并且该部分费用需要患者来承担，无形中增加了患者的医疗成本；另一方面，由于手术机器人设备之间的不通用性和手术装置的转运困难性，一般都会用专用的手术室存放，也增加了医院的成本，并且该种情况还降低了手术机器人在一种手术操作中突发其他情况的解决效率。
发明内容
本发明的目的在于提供一种机械臂、手术装置、手术末端装置、手术系统及工作方法，以解决现有手术机器人专用性强，导致存放、使用成本高的问题。
为解决上述技术问题，根据本发明的第一个方面，提供了一种机械臂，其包括：机械臂本体关节以及第一转换接头；
所述机械臂本体关节用于安装于预期的安装位置；
所述第一转换接头与所述机械臂本体关节连接，用于与手术末端装置的第二转换接头连接。
可选的，在所述机械臂中，所述机械臂本体关节具有至少四个自由度，用于调节与其连接的所述手术末端装置的空间位置或姿态。
可选的，在所述机械臂中，所述第一转换接头包括第一通讯接口和/或第一识别装置，所述第一通讯接口用于和与其连接的所述手术末端装置通信，所述第一识别装置用于识别与其连接的所述手术末端装置的类型。
为解决上述技术问题，根据本发明的第二个方面，还提供了一种手术装置，其包括如上所述机械臂。
可选的，所述手术装置还包括台车，所述机械臂安装于所述台车上，所述台车用于通过自身的移动调节所述机械臂的位置。
可选的，在所述手术装置中，所述机械臂或所述台车还包括第一位置传感器，所述第一位置传感器用于与手术床的第二位置传感器通信连接，以供识别和确定所述机械臂的位置。
可选的，所述手术装置还包括安装基板，所述安装基板包括路径轨道；所述机械臂的机械臂本体关节的一端用于安装于所述路径轨道上，并用于沿所述路径轨道移动；所述机械臂的机械臂本体关节的另一端用于与手术末端装置连接。
可选的，在所述手术装置中，所述机械臂还包括第一位置传感器，所述第一位置传感器用于供识别和确定所述机械臂的位置。
可选的，在所述手术装置中，所述安装基板包括第三位置传感器，所述第三位置传感器与所述机械臂的第一位置传感器通信连接，用于确定所述机械臂的位置。
可选的，所述手术装置还包括驱动装置，所述驱动装置用于驱动所述机械臂于所述路径轨道上移动。
为解决上述技术问题，根据本发明的第三个方面，还提供了一种手术末端装置，其包括：末端本体及第二转换接头；所述第二转换接头的一端用于与所述末端本体连接，另一端用于与如上所述的机械臂的第一转换接头连接。
可选的，在所述手术末端装置中，所述第二转换接头包括第二通讯接口和/或第二识别装置，所述第二通讯接口用于和与其连接的所述机械臂通信，所述第二识别装置用于供与其连接的所述机械臂识别。
为解决上述技术问题，根据本发明的第四个方面，还提供了一种手术系统，其包括：控制装置、如上所述的手术装置以及如上所述的手术末端装置；
所述手术末端装置通过所述第二转换接头和所述第一转换接头与所述手术装置的机械臂连接，所述控制装置与所述手术装置通信连接；
所述控制装置被配置为：根据手术类别，控制所述手术装置的台车移动至预定位置，控制所述手术装置的机械臂摆位至预定位姿，根据手术类别获取相应的控制逻辑，并根据所述控制逻辑控制所述手术装置执行手术。
可选的，所述手术系统包括至少两个所述手术装置和至少两个所述手术末端装置，所述控制装置还用于根据所述手术类别，将至少一个所述手术装置配置为主控装置，将至少一个所述手术装置配置为辅助装置。
可选的，所述手术系统还包括：手术床，所述手术床包括与所述控制装置通信连接的第二位置传感器，所述第二位置传感器用于与所述手术装置的第一位置传感器通信连接，以供所述控制装置确定所述手术装置相对于所述手术床的位置。
为解决上述技术问题，根据本发明的第五个方面，还提供了一种手术系统的工作方法，其利用如上所述的手术系统；所述手术系统的工作方法包括：
根据手术类别，控制所述手术装置的台车移动至预定位置，控制所述手术装置的机械臂摆位至预定位姿；以及
根据手术类别获取相应的控制逻辑，并根据所述控制逻辑控制所述手术装置执行手术。
可选的，在所述手术系统的工作方法中，所述控制逻辑包括：
根据手术类别触发选择控制逻辑包；以及
根据所述手术类别匹配相应的控制程序，以控制所述手术装置的机械臂执行预设的动作。
可选的，在所述手术系统的工作方法中，所述控制逻辑还包括：
根据所述手术类别，将至少一个所述手术装置配置为主控装置，将至少一个所述手术装置配置为辅助装置；以及
为所述主控装置和所述辅助装置分别匹配相应的控制程序，以分别控制所述主控装置的机械臂和所述辅助装置的机械臂执行预设的动作。
综上所述，在本发明提供的机械臂、手术装置、手术末端装置、手术系统及工作方法中，所述机械臂包括：机械臂本体关节以及第一转换接头；所述机械臂本体关节用于安装于预期的安装位置；所述第一转换接头与所述机械臂本体关节连接，用于与手术末端装置的第二转换接头连接。
如此配置，机械臂的第一转换接头为通用型接口，其可以适配多种不同的手术末端装置，通过更换不同手术操作所需要的手术末端装置，可在一个手术室或一种手术环境下进行多种手术操作的执行，从而可以实现手术系统的更加通用化，降低医院和患者的医疗成本，并通过此方式实现更多手术操作方案的实现，提高手术操作效率。
附图说明
本领域的普通技术人员将会理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。其中：
图1a是本发明实施例一的机械臂的示意图；
图1b是图1a所示的机械臂的另一角度的示意图；
图2a是本发明实施例一的手术末端装置的示意图；
图2b是图2a所示的手术末端装置的另一角度的示意图；
图2c是图2a所示的手术末端装置与机械臂连接后的示意图；
图3a是本发明实施例一另一优选示例的手术末端装置的示意图；
图3b是图3a所示的手术末端装置的另一角度的示意图；
图3c是图3a所示的手术末端装置与机械臂连接后的示意图；
图4是本发明实施例一的手术装置与手术末端装置装配后的示意图；
图5是本发明实施例一的手术系统未装配手术末端装置时的示意图；
图6是本发明实施例一的手术系统装配手术末端装置后的示意图；
图7是本发明实施例一的布置手术实施方案的控制逻辑中枢的逻辑图；
图8是本发明实施例一的布置手术实施方案的控制逻辑的示意图；
图9是本发明实施例一的手术系统的手术场景示意图；
图10是本发明实施例二的手术系统未装配手术末端装置时的示意图；
图11是本发明实施例二的手术系统装配手术末端装置后的示意图；
图12a和图12b是本发明实施例二的安装基板的示意图；
图13是本发明实施例二的手术系统的手术场景示意图。
附图中：
1-机械臂；11-机械臂底座；12-机械臂本体关节；121-第一关节；122-第二关节；123-第三关节；124第四关节；13-第一转换接头；
2-手术末端装置；20-末端本体；21-第二转换接头；
3-手术装置；31-主控装置；32-辅助装置；
4-台车；41-脚轮结构；42-台车主体；43-机械臂接口；5-医生端控制台；6-患者；7-手术床；8-控制装置；
9-安装基板；91-路径轨道；92-第二位置传感器。
具体实施方式
为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。
如在本说明书中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，术语“或”通常是以包括“和/或”的含义而进行使用的，术语“若干”通常是以包括“至少一个”的含义而进行使用的，术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的，此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征，术语“近端”通常是靠近操作者的一端，术语“远端”通常是靠近患者即靠近病灶的一端，“一端”与“另一端”以及“近端”与“远端”通常是指相对应的两部分，其不仅包括端点，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。此外，如在本说明书中所使用的，一元件设置于另一元件，通常仅表示两元件之间存在连接、耦合、配合或传动关系，且两元件之间可以是直接的或通过中间元件间接的连接、耦合、配合或传动，而不能理解为指示或暗 示两元件之间的空间位置关系，即一元件可以在另一元件的内部、外部、上方、下方或一侧等任意方位，除非内容另外明确指出外。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本说明书中的具体含义。
本发明的目的在于提供一种手术装置、手术末端装置、手术系统及手术系统的工作方法，以解决现有手术机器人专用性强，导致存放、使用成本高的问题。
以下参考附图进行描述。
【实施例一】
请参考图1a至图9，其中，图1a是本发明一实施例的机械臂的示意图；图1b是图1a所示的机械臂的另一角度的示意图；图2a是本发明一实施例的手术末端装置的示意图；图2b是图2a所示的手术末端装置的另一角度的示意图；图2c是图2a所示的手术末端装置与机械臂连接后的示意图；图3a是本发明一实施例另一优选示例的手术末端装置的示意图；图3b是图3a所示的手术末端装置的另一角度的示意图；图3c是图3a所示的手术末端装置与机械臂连接后的示意图；图4是本发明一实施例的手术装置与手术末端装置装配后的示意图；图5是本发明一实施例的手术系统未装配手术末端装置时的示意图；图6是本发明一实施例的手术系统装配手术末端装置后的示意图；图7是本发明一实施例的布置手术实施方案的控制逻辑中枢的逻辑图；图8是本发明一实施例的布置手术实施方案的控制逻辑的示意图；图9是本发明一实施例的手术系统的手术场景示意图。
如图1a和图1b所示，本发明一实施例提供一种机械臂1，其包括：机械臂本体关节12以及第一转换接头13；所述机械臂本体关节12用于安装于预期的安装位置；所述第一转换接头13与所述机械臂本体关节12连接，用于与手术末端装置2的第二转换接头21连接，如图2a所示。第一转换接头13是一种通用型接口，其具有快换结构，用于实现与手术末端装置2的快速更换连接，并能实现稳定的连接。在一个可替代的实施例中，第一转换接头13包括大致呈矩形的凹孔，以供对应的第二转换接头21插入实现连接。如此配置，机械臂1的第一转换接头13为通用型接口，其可以适配多种不同的手术末端装置2，通过更换不同手术操作所需要的手术末端装置2，可在一个手术室或一种手术环境下进行多种手术操作的执行，从而可以实现手术系统的更加通用化，降低医院和患者的医疗成本，并通过此方式实现更多手术操作方案的实现，提高手术操作效率。
进一步的，所述机械臂1还包括机械臂底座11，机械臂底座11用于支撑所述机械臂本体关节12，并用于将整个机械臂1安装于预期的安装位置，如台车或手术室的天花板。
优选的，所述机械臂本体关节12具有至少四个自由度，用于调节与其连接的所述手术末端装置2的空间位置或姿态。在图1示出的示范例中，第一转换接头13位于机械臂本体关节12的远端，机械臂本体关节12的四个自由 度的布置可以实现第一转换接头13处空间位置和姿态的调整。
请继续参考图1a、图1b，并结合图2c和图3c，示范性地对于机械臂本体关节12的四个自由度的具体实现进行说明。机械臂本体关节12包括依次连接第一关节121、第二关节122、第三关节123及第四关节124，第一关节121可转动地与机械臂底座11连接，用于实现机械臂1围绕机械臂底座11的转动自由度；第二关节122可转动地与第一关节121连接，用于实现机械臂1的上下摆动自由度；第三关节123可转动地与第二关节122连接，用于实现机械臂1的左右摆动自由度；第四关节124可转动地与第三关节123连接，用于实现机械臂1的上下摆动自由度；第一转换接头13与第四关节124连接。如此配置，该机械臂1至少具有两个上下摆动自由度、一个左右摆动自由度以及一个转动自由度，可实现第一转换接头13处空间位置和姿态的调整。当然本领域技术人员可根据现有技术，对机械臂本体关节12的关节和自由度进行其它的改进和配置，本发明对此不限。
优选的，所述第一转换接头13包括第一通讯接口和/或第一识别装置，所述第一通讯接口用于和与其连接的所述手术末端装置2通信，所述第一识别装置用于识别与其连接的所述手术末端装置2的类型。第一通讯接口或第一识别装置可根据需要进行设置，以实现机械臂1乃至手术系统对手术末端装置2的具体类型的识别。第一通讯接口和/或第一识别装置如可以是霍尔传感器等非接触的传感器检测，又如可以是弹针等接触式的信号传导装置，本领域技术人员可根据现有技术，进行合理地配置。
本实施例提供一种手术末端装置2，其包括：末端本体20及第二转换接头21；所述第二转换接头21的一端用于与所述末端本体20连接，另一端用于与如上所述的机械臂1的第一转换接头13连接。如图2a至图2c所示，在一个示范例中，手术末端装置2如可为腔镜手术末端装置，其末端本体20用于夹持/连接一腔镜。本领域技术人员可根据现有技术对该腔镜手术末端装置的具体结构进行理解，这里不再展开说明。第二转换接头21优选沿末端本体20的径向设置于末端本体20的背板一侧。
优选的，第二转换接头21包括大致呈矩形的凸块，该凸块的形状与第一转换接头13的凹孔的形状相匹配，第二转换接头21的凸块用于插入第一转换接头13的凹孔，以实现快速装配连接。当然，第一转换接头13与第二转换接头21的凹孔和凸块也可以互换，即在第一转换接头13设置凸块而在第二转换接头21上设置凹孔。此外，凸块和凹孔的形状也不限于大致呈矩形，如还可以为其它的多边形或不规则的形状。本领域技术人员还可根据现有技术，对转换接头进行其它的配置，以使第一转换接头13与第二转换接头21能实现快速更换连接。本发明对此不限。
如图3a至图3c所示，在另一个示范例中，手术末端装置2如可为用于骨科手术的手术末端装置，其末端本体20用于夹持/连接骨科手术工具，如钻头等。本领域技术人员可根据现有技术对该骨科手术工具的具体结构进行理解， 这里不再展开说明。优选的，第二转换接头21沿末端本体20的径向设置。第二转换接头21的结构与图2a至图2c所示的示范例相似，这里不再赘述。可以理解的，手术末端装置2还可以是其它类型的手术末端，使用中操作者通过将不同类型的手术末端装置2与机械臂1快速装配连接，可实现功能的快速切换。
优选的，所述第二转换接头21包括第二通讯接口和/或第二识别装置，所述第二通讯接口用于和与其连接的所述机械臂1通信，所述第二识别装置用于供与其连接的所述机械臂1识别。第二通讯接口和/或第二识别装置可以是霍尔传感器等非接触的传感器检测，又如可以是弹针等接触式的信号传导装置，第二通讯接口和第二识别装置可与第一通讯接口和第一识别装置相适配，从而使机械臂1可以识别手术末端装置2的类型。
请参考图4，基于上述机械臂1，本实施例还提供一种手术装置3，其包括如上所述的机械臂1以及台车4，所述机械臂1安装于所述台车4上，所述台车4用于通过自身的移动调节所述机械臂1的位置。
在一个可替代的实施例中，台车4包括脚轮结构41，台车主体42和机械臂接口43；其中所述脚轮结构41可实现台车任意方向的移动，包括原地转动，并能够在任意位置实现锁定，以保证台车4的稳定性；所述机械臂接口43用于实现与所述机械臂1的固定连接。
优选的，所述机械臂1或所述台车4还包括第一位置传感器，所述第一位置传感器用于与手术床7的第二位置传感器(详见下文)通信连接，以供识别和确定所述机械臂1的位置。第一位置传感器如可安装于所述机械臂底座11上，或安装于台车4上。如第一位置传感器安装于机械臂底座11上，则手术系统的控制装置可直接获取机械臂1的位置信息。如第一位置传感器安装于台车4上，则第一位置传感器应与机械臂接口43具有固定的相对位置关系，如此控制装置可通过台车4的位置信息映射到机械臂1的位置关系。
进一步的，所述台车4还包括驱动装置(未图示)，驱动装置能够驱动台车4朝向任意方向移动，并能够锁定台车4的位置。
本实施例还提供一种手术系统，其包括控制装置8(如下图7所示)、如上所述的手术装置3以及如上所述的手术末端装置2；所述手术末端装置2通过所述第二转换接头21和所述第一转换接头13与所述手术装置3的机械臂1连接，所述控制装置8与所述手术装置3通信连接；所述控制装置8被配置为：根据手术类别，控制所述手术装置3的台车4移动至预定位置，控制所述手术装置3的机械臂1摆位至预定位姿，根据手术类别获取相应的控制逻辑，并根据所述控制逻辑控制所述手术装置3执行手术。请参考图5和图6，在一个示范性的实施例中，所述手术系统包括至少两个所述手术装置3和至少两个所述手术末端装置。
进一步的，所述手术系统还包括：手术床7，所述手术床7包括与所述控制装置8通信连接的第二位置传感器，所述第二位置传感器用于与所述手术 装置3的第一位置传感器通信连接，以供所述控制装置8确定所述手术装置3相对于所述手术床7的位置。第二位置传感器和第一位置传感器能够通过相互的通信，来确定两者之间的相对位置。可选的，第二位置传感器和第一位置传感器的通信为无线通信，例如可通过光学或无线电波等方式进行通信。第二位置传感器和第一位置传感器如可为光学定位装置和光学靶标，磁定位装置和磁靶标等本领域常用的位置传感器。本领域技术人员可根据现有技术对第二位置传感器和第一位置传感器进行配对设置，以实现通过第二位置传感器对第一位置传感器进行定位。由此，手术装置3可以对手术床7上的患者6进行定位，从而实现手术操作。
基于上述手术系统，本实施例还提供一种手术系统的工作方法，其包括：
步骤S1：根据手术类别，控制所述手术装置3的台车4移动至预定位置，控制所述手术装置3的机械臂1摆位至预定位姿；
步骤S2：根据手术类别获取相应的控制逻辑，并根据所述控制逻辑控制所述手术装置3执行手术。
这里的手术类别，如可为腹腔镜手术、骨科手术以及神经穿刺手术等，实现包括骨科、神经外科学、妇科、普外等科室手术操作，根据手术类别的不同，手术装置3的台车4的预定位置不同。在手术类别确定后，控制装置8可根据其内置的控制逻辑中枢进行计算，获取相应的控制逻辑，并根据控制逻辑来控制手术装置3执行手术。控制逻辑中枢可包括多种手术操作控制程序，可根据手术类别自动匹配相应的控制程序。
进一步的，请参考图7，所述控制逻辑包括：
步骤S21：根据手术类别触发选择控制逻辑包；以及
步骤S22：根据所述手术类别匹配相应的控制程序，以控制所述手术装置3的机械臂1执行预设的动作。
控制逻辑包主要是匹配于手术类别的一系列控制步骤的集合，其包含相应的控制程序，主要用于按预设的顺序控制机械臂1执行手术操作。优选的，在整个控制逻辑的逻辑选择过程中，可通过安全策略S23保护整个逻辑的运行，以实现手术的安全性。安全策略S23的具体配置可根据现有技术进行选择，这里不再展开说明。
可选的，请参考图8，所述控制逻辑还包括：
步骤S24：根据所述手术类别，将至少一个所述手术装置3配置为主控装置31，将至少一个所述手术装置3配置为辅助装置32；
步骤S25：为所述主控装置和所述辅助装置分别匹配相应的控制程序，以分别控制所述主控装置的机械臂和所述辅助装置的机械臂执行预设的动作。
在一些实施例中，主控装置31为主要执行手术操作的装置，如其机械臂挂载电剪等手术末端；辅助装置32主要为主控装置31进行辅助的装置，如其机械臂挂载内窥镜等手术末端。控制装置8可以适应性地选择和自动配置相应的主控装置31和辅助装置32，从而不需要医生或者其余操作者进行选择， 就能够根据手术需要给出推荐的选择。当然在其它的一些实施例中，在医生有自己操作习惯时，也可输入到所述控制装置8中，以实现后续针对性的推荐。
请参考图9，其示出了手术系统的手术场景示意图，优选的，手术系统还包括医生端控制台5，控制装置8可集成于医生端控制台5中，所述医生端控制台5能够与所述手术装置3建立主从控制关系，以便于医生操作和控制各手术装置3。
【实施例二】
本发明实施例二的手术装置、手术末端装置、手术系统及手术系统的工作方法与实施例一的手术装置、手术末端装置、手术系统及手术系统的工作方法基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。
请参考图10至图13，其中，图10是本发明实施例二的手术系统未装配手术末端装置时的示意图；图11是本发明实施例二的手术系统装配手术末端装置后的示意图；图12a和图12b是本发明实施例二的安装基板的示意图；图13是本发明实施例二的手术系统的手术场景示意图。
在本实施例二中，手术装置、手术系统及手术系统的工作方法与实施例一不同。具体的，请参考图10，本发明实施例二提供一种手术装置，其包括机械臂1以及安装基板9，所述安装基板9包括路径轨道91；所述机械臂1包括机械臂本体关节12，与以上实施例一中所述机械臂本体关节12不同的是，该实施例中的机械臂本体关节12的一端用于安装于所述路径轨道91上，并用于沿所述路径轨道91移动；所述机械臂本体关节12的另一端用于与手术末端装置2连接。优选的，机械臂1包括与所述机械臂本体关节12连接的第一转换接头13，所述第一转换接头13用于与手术末端装置2的第二转换接头21连接。可选的，安装基板9如可设置于手术室的天花板上，或者通过支撑结构架设于手术床7的上方。如此配置，机械臂1可以沿着路径轨道91移动，可迅速而准确地移动至预定位置并完成摆位。
请参考图12a和图12b，其示出了路径轨道91的一个示范性的实施例，所述路径轨道91可包括平移运动的轨道和环形运动的轨道，且环形运动的轨道和平移运动的轨道之间相互交叉。较佳的，各条路径之间相互连通，以实现各机械臂1之间位置的相互调换与配合。需要说明的，图12a和图12b所示出的路径轨道91仅为一示范例而非对路径轨道91的限定，本领域技术人员可根据实际对路径轨道91进行不同的设定，以满足不同的需要。
可选的，所述机械臂1还包括第一位置传感器(图中未示出)，所述第一位置传感器用于供识别和确定所述机械臂1的位置。进一步的，所述安装基板9包括第二位置传感器92，所述第二位置传感器92与所述机械臂1的第一位置传感器通信连接，用于确定所述机械臂1的位置。
第一位置传感器如可安装于所述机械臂底座11上，一般的，安装基板9于手术室中的位置为固定的，其具有已知的位置信息，而安装基板9上的第 二位置传感器92的位置信息也是可以预知的。由此，手术系统的控制装置8可通过第二位置传感器92与第一位置传感器的通信连接，获得第一位置传感器的位置信息，从而确定机械臂1的位置。
请参考图11，在一些实施例中，也可以将第二位置传感器92设置于一台车4上，优选的，手术系统的控制装置8亦可设置于该台车4上，第二位置传感器92的位置信息可与术前标定获取，由此，控制装置8同样可以通过第二位置传感器92来获取第一位置传感器的位置信息，从而确定机械臂1的位置。进一步的，所述手术系统还包括手术床7，所述手术床7与所述安装基板9具有经标定的相对位置关系，以便于确定机械臂1与手术床7之间的相对位置关系。
可选的，所述手术装置3还包括驱动装置(未图示)，所述驱动装置用于驱动所述机械臂1于所述路径轨道91上移动。驱动装置如可为电机等本领域常用的驱动装置，本发明对此不限。
基于所述手术装置，实施例二提供的手术系统与实施例一的手术系统存在不同。具体的，在实施例二提供的手术系统中，所述控制装置8被配置为：根据手术类别，控制所述手术装置的机械臂1于所述路径轨道91内移动至预定位置并摆位至预定位姿，根据手术类别获取相应的控制逻辑，并根据所述控制逻辑控制所述手术装置执行手术。与实施例一不同的，在实施例二中，手术装置的安装基板9一般是固定不动的，因此控制装置8是直接控制机械臂1进行运动。
优选的，所述手术装置包括至少两个所述机械臂1，所述手术系统包括至少两个所述手术末端装置2，所述控制装置8还用于根据所述手术类别，将至少一个所述机械臂1配置为主控装置31，将至少一个所述机械臂1配置为辅助装置32。与实施例一不同的，由于实施例二的手术装置的安装基板9一般是固定不动的，因此控制装置8一般不对安装基板9进行控制，而可直接将不同的机械臂1配置为主控装置31或辅助装置32。
基于上述手术系统，实施例二提供的手术系统的工作方法与实施例一的手术系统的工作方法存在些许不同。具体的，实施例二提供的手术系统的工作方法包括：
步骤S1a：根据手术类别，控制所述手术装置的机械臂1移动至预定位置，控制所述手术装置的机械臂1摆位至预定位姿；以及
步骤S2a：根据手术类别获取相应的控制逻辑，并根据所述控制逻辑控制所述手术装置执行手术。
进一步的，所述控制逻辑包括：
步骤S24a：根据所述手术类别，将至少一个所述机械臂1配置为主控装置31，将至少一个所述机械臂1配置为辅助装置32；以及
步骤S25a：为所述主控装置31和所述辅助装置32分别匹配相应的控制程序，以分别控制所述主控装置31和所述辅助装置32执行预设的动作。
实施例二的控制逻辑与实施例一的控制逻辑大致相同，可参考实施例一关于控制逻辑的说明，这里不再重复。
请参考图13，其示出了实施例二的手术系统的手术场景示意图，优选的，手术系统还包括医生端控制台5，控制装置8可集成于医生端控制台5中，所述医生端控制台5能够与所述手术装置的各机械臂1建立主从控制关系，以便于医生操作和控制各机械臂1。
需要说明的，一些实施例中，实施例一和实施例二的手术装置是可以相互组合使用的，如一部分的机械臂1可安装在安装基板9的路径轨道91上，而另一部分的机械臂1安装在台车4上，两部分的机械臂1可在同一个控制装置8的控制下，协同操作完成手术，本发明对此不作限制。
综上所述，在本发明提供的机械臂、手术装置、手术末端装置、手术系统及手术系统的工作方法中，所述机械臂包括：机械臂本体关节以及第一转换接头；所述机械臂本体关节用于安装于预期的安装位置；所述第一转换接头与所述机械臂本体关节连接，用于与手术末端装置的第二转换接头连接。如此配置，机械臂的第一转换接头为通用型接口，其可以适配多种不同的手术末端装置，通过更换不同手术操作所需要的手术末端装置，可在一个手术室或一种手术环境下进行多种手术操作的执行，从而可以实现手术系统的更加通用化，降低医院和患者的医疗成本，并通过此方式实现更多手术操作方案的实现，提高手术操作效率。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (19)

  1. 一种机械臂，其特征在于，包括：机械臂本体关节以及第一转换接头；
    所述机械臂本体关节用于安装于预期的安装位置；
    所述第一转换接头与所述机械臂本体关节连接，用于与手术末端装置的第二转换接头连接。
  2. 根据权利要求1所述的机械臂，其特征在于，所述机械臂本体关节具有至少四个自由度，用于调节与其连接的所述手术末端装置的空间位置或姿态。
  3. 根据权利要求1所述的机械臂，其特征在于，所述第一转换接头包括第一通讯接口和/或第一识别装置，所述第一通讯接口用于和与其连接的所述手术末端装置通信，所述第一识别装置用于识别与其连接的所述手术末端装置的类型。
  4. 一种手术装置，其特征在于，包括根据权利要求1～3中任一项所述的机械臂。
  5. 根据权利要求4所述的手术装置，其特征在于，还包括台车，所述机械臂安装于所述台车上，所述台车用于通过自身的移动调节所述机械臂的位置。
  6. 根据权利要求5所述的手术装置，其特征在于，所述机械臂或所述台车还包括第一位置传感器，所述第一位置传感器用于与手术床的第二位置传感器通信连接，以供识别和确定所述机械臂的位置。
  7. 根据权利要求4所述的手术装置，其特征在于，还包括安装基板，所述安装基板包括路径轨道；所述机械臂的机械臂本体关节的一端用于安装于所述路径轨道上，并用于沿所述路径轨道移动；所述机械臂的机械臂本体关节的另一端用于与手术末端装置连接。
  8. 根据权利要求7所述的手术装置，其特征在于，所述机械臂还包括第一位置传感器，所述第一位置传感器用于供识别和确定所述机械臂的位置。
  9. 根据权利要求8所述的手术装置，其特征在于，所述安装基板包括第三位置传感器，所述第三位置传感器与所述机械臂的第一位置传感器通信连接，用于确定所述机械臂的位置。
  10. 根据权利要求7所述的手术装置，其特征在于，所述手术装置还包括驱动装置，所述驱动装置用于驱动所述机械臂于所述路径轨道上移动。
  11. 一种手术末端装置，其特征在于，包括：末端本体及第二转换接头；所述第二转换接头的一端用于与所述末端本体连接，另一端用于与根据权利要求1～3中任一项所述的机械臂的第一转换接头连接。
  12. 根据权利要求11所述的手术末端装置，其特征在于，所述第二转换接头包括第二通讯接口和/或第二识别装置，所述第二通讯接口用于和与其连接的所述机械臂通信，所述第二识别装置用于供与其连接的所述机械臂识别。
  13. 一种手术系统，其特征在于，包括：控制装置、根据权利要求4～10中任一项所述的手术装置以及根据权利要求11或12所述的手术末端装置。
  14. 根据权利要求13所述的手术系统，其特征在于，所述手术末端装置通过所述第二转换接头和所述第一转换接头与所述手术装置的机械臂连接，所述控制装置与所述手术装置通信连接；
    所述控制装置被配置为：根据手术类别，控制所述手术装置的台车移动至预定位置，控制所述手术装置的机械臂摆位至预定位姿，根据手术类别获取相应的控制逻辑，并根据所述控制逻辑控制所述手术装置执行手术。
  15. 根据权利要求13所述的手术系统，其特征在于，所述手术系统包括至少两个所述手术装置和至少两个所述手术末端装置，所述控制装置还用于根据所述手术类别，将至少一个所述手术装置配置为主控装置，将至少一个所述手术装置配置为辅助装置。
  16. 根据权利要求13所述的手术系统，其特征在于，所述手术系统还包括：手术床，所述手术床包括与所述控制装置通信连接的第二位置传感器，所述第二位置传感器用于与所述手术装置的第一位置传感器通信连接，以供所述控制装置确定所述手术装置相对于所述手术床的位置。
  17. 一种手术系统的工作方法，其特征在于，利用根据权利要求13-16中任一项所述的手术系统；所述手术系统的工作方法包括：
    根据手术类别，控制所述手术装置的机械臂移动至预定位置，控制所述手术装置的机械臂摆位至预定位姿；以及
    根据手术类别获取相应的控制逻辑，并根据所述控制逻辑控制所述手术装置执行手术。
  18. 根据权利要求17所述手术系统的工作方法，其特征在于，所述控制逻辑包括：
    根据手术类别触发选择控制逻辑包；以及
    根据所述手术类别匹配相应的控制程序，以控制所述手术装置的机械臂执行预设的动作。
  19. 根据权利要求17所述手术系统的工作方法，其特征在于，所述控制逻辑还包括：
    根据所述手术类别，将至少一个所述手术装置配置为主控装置，将至少一个所述手术装置配置为辅助装置；以及
    为所述主控装置和所述辅助装置分别匹配相应的控制程序，以分别控制所述主控装置的机械臂和所述辅助装置的机械臂执行预设的动作。
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