CN116459017A - Laparoscopic robot system and control method - Google Patents

Abstract

The application discloses a laparoscopic robot system and a control method. The laparoscopic robot system comprises a mechanical arm, a detection unit and a control device; the control device is in communication connection with the mechanical arm, controls the movement of the mechanical arm, and is provided with a laparoscope switching device; the detecting unit is used for detecting the visual angle of the laparoscope connected with the laparoscope switching device and feeding back the detection result to the control device; and the control device sets a limit value of the kinematic parameter according to the detection result, so that the rotation process of the laparoscope driven by the laparoscope switching device does not exceed the limit value of the kinematic parameter corresponding to the visual angle.

Description

Laparoscopic robot system and control method

Technical Field

The present application relates to the technical field of medical devices, and more particularly, to a laparoscopic robotic system and a control method.

Background

With the development of telemedicine, laparoscopic robotic systems have been widely used. The laparoscopic robot system generally comprises a control device and a mechanical arm which are in communication connection, wherein the control device transmits operation information of a doctor to the mechanical arm, the mechanical arm simulates arm actions of the doctor, and a laparoscopic tube is inserted into a patient body, so that the control device is matched with the doctor to perform remote operation. The visual range of the laparoscope is called a visual field angle, and the angle formed by the axial direction of the laparoscope and the branching line in the visual field angle is called a visual angle, and the visual angle of the laparoscope is 0 degree, 30 degrees, 45 degrees, 70 degrees and the like.

In the prior art, laparoscopes of different manufacturers cannot be commonly used; the reason is that each manufacturer only stores the specifications and the model of the laparoscope produced by the manufacturer in the control device, that is, each laparoscope robot can only recognize the laparoscope produced by the manufacturer and then control the mechanical arm to move. This results in that if a 45 ° view laparoscope manufactured by manufacturer B is mounted on the arm of a laparoscopic robot of manufacturer a, and only the kinematic parameters of the laparoscope corresponding to the 0 °, 30 ° view are stored in the control device of manufacturer a, the rotation limit position of the laparoscope of manufacturer B cannot be found, which may result in an excessively large or excessively small rotation range of the laparoscope of manufacturer B.

In view of the foregoing, a new solution is needed to solve the above-mentioned problems.

Disclosure of Invention

An object of the present application is to provide a new solution for a laparoscopic robotic system and a control method.

According to a first aspect of the present application, there is provided a laparoscopic robotic system comprising: the device comprises a mechanical arm, a detection unit and a control device;

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

the detecting unit is used for detecting the visual angle of the laparoscope connected with the laparoscope switching device and feeding back the detection result to the control device;

and the control device sets a limit value of the kinematic parameter according to the detection result, so that the rotation process of the laparoscope driven by the laparoscope switching device does not exceed the limit value of the kinematic parameter corresponding to the visual angle.

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

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

Optionally, the laparoscopic switching device includes:

a fixed base;

the connecting component is arranged on the fixed base, an accommodating space is formed in the connecting component, and part of the structure of the laparoscope is arranged in the accommodating space in a penetrating way so that the laparoscope can be detachably connected with the connecting component; the connecting component comprises a restraint piece and a transmission piece, wherein the restraint piece can be contracted or expanded along the radial direction of the restraint piece; the connection assembly has a locked state and an unlocked state;

the first driving piece is connected with the restraint piece;

the second driving piece is connected with the transmission piece;

in the locked state of the connection assembly, the first driving member drives the restraint member to retract along the radial direction of the restraint member so as to lock the laparoscope or expand along the radial direction of the restraint member so as to release the laparoscope;

when the connecting assembly is in an unlocking state, the second driving piece drives the connecting assembly to rotate through the transmission piece, and the connecting assembly drives the laparoscope to rotate so as to adjust the visual angle of the laparoscope.

Optionally, the first driving piece comprises a knob part and a connecting part, the knob part is fixedly connected with the connecting part, and the connecting part is sleeved outside the constraint piece;

the knob portion is configured to: the connecting part is used for driving the connecting part to rotate under the action of external force, and the connecting part acts on the restraint part to enable the restraint part to shrink or expand along the radial direction of the restraint part.

Optionally, the constraint piece comprises a plurality of expansion blocks distributed along the circumferential direction of the constraint piece, and expansion joints are arranged between two adjacent expansion blocks;

the restraint locks the laparoscope under the condition that the first driving part acts on the restraint to enable a plurality of telescopic blocks to be close to each other;

in the case where the first driving member acts on the constraining member to move the plurality of telescopic blocks away from each other, the constraining member releases the laparoscope.

Optionally, the second driving piece includes driving motor and driving gear, driving motor's output shaft with the driving gear is connected, the driving piece be with the driven gear of driving gear meshing.

Optionally, the second driving piece further comprises a driving wheel, an output shaft of the driving motor is connected with the driving wheel, and the driving wheel is connected with the driving gear.

Optionally, the driving wheel is provided with a first positioning protrusion, the driving wheel is mounted on the fixed base, the fixed base is provided with a second positioning protrusion, and the first positioning protrusion is configured to abut against the second positioning protrusion to perform zero point position identification on the driving wheel.

Optionally, the laparoscopic switching device further comprises a lock control assembly, wherein the lock control assembly is mounted on the fixed base, and the lock control assembly is configured to be connected with the transmission piece to enable the connection assembly to be in a locking state or separated from the transmission piece to enable the connection assembly to be in an unlocking state.

Optionally, the lock control assembly comprises a locking piece and a control piece; the locking piece is provided with a first clamping part, and the transmission piece is provided with a second clamping part;

the control piece is connected with the locking piece and drives the locking piece to switch between a first position and a second position;

under the condition that the locking piece is at a first position, the first clamping part is matched and clamped with the second clamping part, and the connecting assembly is in a locking state;

and under the condition that the locking piece is positioned at the second position, the first clamping part is separated from the second clamping part, and the connecting assembly is in an unlocking state.

Optionally, the control piece comprises a push rod and a spring, the fixed base is provided with a containing groove, the locking piece is positioned outside the containing groove, and a part of the push rod is positioned in the containing groove; the ejector rod is in pushing fit connection with the locking piece;

the spring is arranged in the accommodating groove, one end of the spring along the elastic deformation direction of the spring is abutted with the fixed base, and the other end of the spring is abutted with the ejector rod;

the ejector rod is configured to push the locking piece under the action of external force so as to enable the locking piece to be switched from a first position to a second position.

Optionally, the fixed base comprises a base body and a plate body, and the base body is detachably connected with the plate body;

the base body is provided with a first through hole, and the plate body is provided with a second through hole; and under the condition that the seat body is connected with the plate body, the first through hole is communicated with the second through hole and forms a through hole part for penetrating the connecting component.

According to a second aspect of the present application, there is provided a laparoscopic robot control method, the control method comprising:

detecting a visual angle of a laparoscope connected to a mechanical arm of the laparoscopic robot;

setting a limit value of a kinematic parameter of the laparoscope according to the visual angle;

detecting whether the limit value of the kinematic parameter of the laparoscope is reached in the motion process, and stopping driving the laparoscope to rotate if the limit value of the kinematic parameter of the laparoscope is reached.

Optionally, the control method further includes:

detecting whether the visual angle of the laparoscope is changed, and if so, resetting the limit value of the kinematic parameter.

By adopting the laparoscopic robot system provided by the embodiment of the application, the mechanical arm can drive the motion of the laparoscope to be within the range of the limit value of the viewing angle allowed by the laparoscope through the laparoscopic switching device; avoiding the adverse effect on the safety of the operation caused by the movement of the laparoscope beyond the limit value range of the visual angle.

Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the present application, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

FIG. 1 is a block diagram of a laparoscopic robotic system according to one embodiment of the present application;

FIG. 2 is a schematic diagram of an exploded construction of a laparoscopic adapter in a laparoscopic robotic system according to one embodiment of the present application;

FIG. 3 is a schematic view of a portion of a laparoscopic adapter in a laparoscopic robotic system according to one embodiment of the present application;

FIG. 4 is a schematic diagram of a portion of a laparoscopic adapter device in a laparoscopic robotic system according to one embodiment of the present application;

FIG. 5 is a schematic view of a portion of a laparoscopic adapter device in a laparoscopic robotic system according to one embodiment of the present application;

FIG. 6 is a schematic view of a portion of a laparoscopic adapter device in a laparoscopic robotic system according to one embodiment of the present application;

FIG. 7 is a schematic diagram of an exploded view of a lock assembly of a laparoscopic adapter in a laparoscopic robotic system according to one embodiment of the present application;

FIG. 8 is a schematic diagram of a connection of a laparoscopic adapter to a laparoscope in a laparoscopic robotic system according to one embodiment of the present application;

fig. 9 is a flow chart illustrating steps of a laparoscopic robot control method according to one embodiment of the present application.

Reference numerals illustrate:

001. a laparoscopic robotic system; 01. a mechanical arm; 02. a detection unit; 03. a control device;

1. a laparoscopic switching device; 11. a fixed base; 111. a base; 1110. a first through hole; 112. a plate body; 1120. a second through hole; 100. a second positioning protrusion; 101. a sliding groove; 12. a connection assembly; 121. a restraint; 1211. a telescopic block; 1210. an expansion joint; 122. a transmission member; 1220. a second clamping part; 123. a connecting shaft; 124. a first bearing; 120. a pattern structure; 13. a first driving member; 131. a knob portion; 132. a connection part; 14. a second driving member; 141. a drive gear; 142. a driving wheel; 1420. a first positioning protrusion; 1421. a first wheel body; 1422. a second wheel body; 143. a second bearing; 15. a lock control assembly; 151. a locking member; 1510. a first clamping part; 1511. a sliding part; 152. a control member; 1521. a push rod; 1501. a first boss; 1502. a second boss; 1500. the clamping ring groove is connected; 1522. a spring; 1523. a clasp;

2. laparoscope.

Detailed Description

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Referring to fig. 1, according to one embodiment of the present application, there is provided a laparoscopic robot system 001, the laparoscopic robot system 001 including: a mechanical arm 01, a detection unit 02 and a control device 03; the control device 03 is in communication connection with the mechanical arm 01, the control device 03 controls the movement of the mechanical arm 01, and the mechanical arm 01 is provided with a laparoscope switching device 1;

the detection unit 02 is used for detecting the visual angle of the laparoscope connected with the laparoscope switching device 1 and feeding back the detection result to the control device 03;

the control device 03 sets a limit value of a kinematic parameter according to the detection result so that the rotation process of the laparoscope adapter device 1 for driving the laparoscope does not exceed the limit value of the kinematic parameter corresponding to the viewing angle.

In the laparoscopic robot system 001 provided in the embodiment of the present application, first, connection of a laparoscope and a mechanical arm 01 is realized by a laparoscopic switching device 1; the laparoscope switching device 1 is independent of a structure outside a laparoscope, and the laparoscope switching device 1 not only can be used for installing the laparoscope in a detachable connection mode, but also can be used for driving the laparoscope to rotate so as to adjust the visual angle of the laparoscope; thereby improving the assembly applicability and the use convenience of the laparoscope.

Also, the detection unit 02 can detect a specific view angle of the laparoscope, and feedback the detected result to the control device 03.

Because the control device 03 is in communication connection with the mechanical arm 01, the control device 03 can control the mechanical arm 01 to simulate the arm action of a doctor according to the operation information of the doctor, so that the doctor can cooperate with the mechanical arm to perform an operation. That is, the control device 03 can transmit the operation information of the doctor to the robot arm 01, so that the robot arm 01 can simulate the arm motion of the doctor and insert the laparoscopic tube into the patient, thereby achieving the purpose of performing the operation in cooperation with the doctor.

Because of the different viewing angle ranges of laparoscopes produced by different manufacturers, the laparoscopes of different manufacturers are difficult to be used commonly. The laparoscopic robot system 001 provided by the embodiment of the application can overcome the use limitation caused by the visual angle difference of different laparoscopes.

For example, when the maximum value of the visual angle of a laparoscope is 45 °, after the laparoscope is mounted on the laparoscopic adaptor 1 in the laparoscopic robot system 001 provided in the embodiment of the present application, the detection unit 02 detects the visual angle of the laparoscope, and after the detection unit 02 detects that the maximum value of the visual angle of the laparoscope is 45 °, the detection result is fed back and transmitted to the control device 03; the control device 03 then sets a kinematic parameter limit value for the movement of the manipulator 01 according to the 45 ° view angle, so as to ensure that the movement range of the manipulator 01 driven by the manipulator 01 through the laparoscopic switching device 1 does not exceed the kinematic parameter limit value corresponding to the 45 ° view angle range during the control of the movement of the manipulator 01 by the control device 03.

In summary, with the laparoscopic robot system 001 provided in the embodiment of the present application, it is ensured that the robotic arm 01 drives the laparoscopic motion through the laparoscopic switching device 1 within the range of the allowable viewing angle limit value of the laparoscope; avoiding the adverse effect on the safety of the operation caused by the movement of the laparoscope beyond the limit value range of the visual angle.

Therefore, the laparoscopic robot system 001 provided in the embodiment of the present application controls the motion of the mechanical arm 01 through the cooperation of the detection unit 02 and the control device 03, so as to adapt to laparoscopes of different specifications, and the limit value of the kinematic parameter of the laparoscope can be correspondingly adjusted according to the view angle ranges of different laparoscopes, thereby improving the safety of the operation.

In one embodiment, the robot arm 01 is connected to the control device 03 by remote communication.

In this specific example, the robot arm 01 is connected to the control device 03 by remote communication; the control device 03 can remotely transmit the operation information of the doctor to the mechanical arm 01, so that the mechanical arm 01 can simulate the arm action of the doctor, and the laparoscopic tube is inserted into the body of the patient, thereby being matched with the doctor to perform remote operation. The remote operation can enable doctors to perform operation on remote patients in person, thereby bringing great convenience to the patients.

In one embodiment, the detecting unit 02 is further configured to detect whether the laparoscopic switching device 1 is connected to a laparoscope, and when the detection result is yes, the detecting unit 02 sends a writable signal to the control device 03, and after the control device 03 receives the writable signal, the kinematic parameter limit value is allowed to be reset.

In this specific example, the detection unit 02 transmits a writable signal to the control device 03 only after detecting that the laparoscopic switching device 1 has been installed, so that the control device 03 can perform setting of the limit value of the kinematic parameter based on the writable signal. If the detection unit 02 does not detect that the laparoscopic switching device 1 is connected to a laparoscope, no writable signal is sent to the control device 03, and the control device 03 does not reset the kinematic parameter limit values. Thus, the reliability of the operation of the laparoscopic robot system 001 can be improved, and the waste of resources caused by unnecessary misoperation can be avoided.

Referring to fig. 2-8, in one embodiment, the laparoscopic adaptor device 1 includes a fixed base 11, a connection assembly 12, a first driving member 13 and a second driving member 14, wherein the connection assembly 12 is mounted on the fixed base 11, the connection assembly 12 has an accommodating space therein, and a part of the laparoscopic structure is inserted into the accommodating space so as to detachably connect the laparoscopic with the connection assembly 12; the connecting assembly 12 comprises a restraint member 121 and a transmission member 122, wherein the restraint member 121 can be contracted or expanded along the radial direction; the connection assembly 12 has a locked state and an unlocked state; the first driving member 13 is connected with the restraining member 121; the second driving member 14 is connected with the transmission member 122;

with the connection assembly 12 in the locked state, the first driving member 13 drives the constraining member 121 to contract in the radial direction thereof to lock the laparoscope or expand in the radial direction thereof to release the laparoscope;

in the unlocked state of the connection assembly 12, the second driving member 14 drives the connection assembly 12 to rotate through the transmission member 122, and the connection assembly 12 drives the laparoscope to rotate so as to adjust the view angle of the laparoscope.

For the laparoscopic switching device provided by the embodiment of the application, on one hand, a laparoscope can be installed, on the other hand, the laparoscopic switching device can be connected with a mechanical arm, and the laparoscope is connected with the mechanical arm through the switching function of the laparoscopic switching device.

Firstly, installing a laparoscope in the accommodating space of the connecting assembly 12 of the laparoscope switching device 1, specifically installing a laparoscopic tube of the laparoscope in the accommodating space of the connecting assembly 12; at this time, the connection assembly 12 is in a locked state, and the restraining member 121 is forced to contract in its radial direction by the driving action of the first driving member 13 to lock the laparoscopic tube of the laparoscope, thereby installing the laparoscope in place.

After the laparoscope is installed in place on the laparoscope adapter apparatus 1, connecting the laparoscope adapter apparatus 1 to a mechanical arm; when the laparoscopic switching device 1 is connected in place on the mechanical arm, the connection assembly 12 is switched from the locking state to the unlocking state, and then the connection assembly 12 can be rotated through the driving action of the second driving member 14, and the connection assembly 12 further drives the laparoscope to rotate so as to adjust the view angle of the laparoscope.

In summary, through the transfer function of the laparoscopic transfer device 1, the laparoscope and the mechanical arm with different model specifications can be detachably transferred; only the laparoscopic switching device needs to be replaced for different switching requirements, and the structure of the laparoscope is not required to be adjusted, so that the assembly applicability of the laparoscope can be improved. In addition, through the switching effect of this peritoneoscope switching device 1, can drive the peritoneoscope and rotate to can adjust the visual angle of peritoneoscope, make things convenient for operation.

Referring to fig. 2, in one embodiment, the first driving member 13 includes a knob portion 131 and a connection portion 132, the knob portion 131 is fixedly connected to the connection portion 132, and the connection portion 132 is sleeved outside the constraint member 121;

the knob portion 131 is configured to: for driving the connection portion 132 to rotate under the action of an external force, the connection portion 132 acts on the restraint member 121 to retract or expand the restraint member 121 in the radial direction thereof.

In this specific example, the connection portion 132 of the first driving member 13 is used for being cooperatively connected with the constraint member 121, for example, the connection portion 132 is sleeved outside the constraint member 121; the knob 131 is used for driving the connection portion 132 to rotate under the action of an external force, for example, an operator holds the knob 131 to rotate so as to drive the connection portion 132 to rotate. The rotation of the connection portion 132 then acts on the constraint member 121, for example, the operator holds the knob portion 131 and rotates the knob portion 131 clockwise, thereby rotating the connection portion 132 to bring the constraint member 121 to contract in the radial direction thereof, thereby locking the laparoscope; the operator holds the knob portion 131 and rotates the knob portion 131 counterclockwise, thereby rotating the connection portion 132 to bring the constraint member 121 to be deployed in the radial direction thereof, thereby releasing the laparoscope. The first driving member 13 is simple in structure and convenient and quick to operate.

In addition, it is necessary to put the connection assembly 12 in a locked state during the first driving member 13 driving the constraint member 121 to contract or expand in the radial direction thereof in order to prevent the constraint member 121 from rotating together with the first driving member 13; if the restraining member 121 rotates together with the first driving member 13, the first driving member 13 will not act on the restraining member 121 for the purpose of contracting or expanding the restraining member 121 in its radial direction.

Further, the first driving member 13 also has an accommodating space therein, and the laparoscopic tube sequentially passes through the accommodating space of the first driving member 13 and the accommodating space of the connection assembly 12.

Referring to fig. 2 and 3, in one embodiment, the constraint member 121 includes a plurality of expansion blocks 1211 distributed along a circumferential direction thereof, and an expansion joint 1210 is disposed between two adjacent expansion blocks 1211;

in a state where the first driving member 13 acts on the restraining member 121 to bring the plurality of telescopic blocks 1211 closer to each other, the restraining member 121 locks the laparoscope; in the case where the first driving member 13 acts on the restraining member 121 to move the plurality of telescopic blocks 1211 away from each other, the restraining member 121 releases the laparoscope.

In this particular example, the constraint 121 is constituted by a plurality of telescopic blocks 1211 distributed in the circumferential direction and having expansion joints 1210 between each other; the expansion and contraction control of the constraint member 121 is simple and relatively reliable.

Referring to fig. 2 and 5, in one embodiment, the second driving member 14 includes a driving motor and a driving gear 141, an output shaft of the driving motor is connected to the driving gear 141, and the transmission member 122 is a driven gear meshed with the driving gear 141.

In this specific example, the driving gear 141 is driven to rotate by the rotation of the driving motor (not shown), the driving gear 141 further drives the driven gear (i.e. the transmission member 122) meshed with the driving gear 141 to rotate, and the connection assembly 12 is in the unlocked state, so that the whole connection assembly 12 can drive the laparoscope to rotate under the driving action of the driving motor to adjust the view angle of the laparoscope.

It will be appreciated that the first drive member 13 follows the connection assembly 12 as the connection assembly 12 is rotated by the second drive member 14.

In addition, the connecting assembly 12 has a connecting shaft 123, the connecting shaft 123 being located on a side of the transmission member 122 remote from the constraint member 121; that is, the transmission member 122 is located between the constraint member 121 and the connecting shaft 123 in the axial direction of the connecting assembly 12. The connecting shaft 123 is mounted to the fixed base 11 through a pair of first bearings 124;

specifically, the fixed base 11 includes a base 111 and a plate 112, where the base 111 is detachably connected to the plate 112; the base 111 is provided with a first through hole 1110, and the plate 112 is provided with a second through hole 1120; in the case where the base 111 is connected to the plate 112, the first through hole 1110 communicates with the second through hole 1120 and forms a through hole portion for penetrating the connection member 12. Accordingly, the connection shaft 123 is mounted to the through hole portion of the fixed base 11 through a pair of first bearings 124.

For example, the base 111 and the plate 112 may be detachably connected by a clamping connection; the fixing base 11 is divided into the base 111 and the plate 112, so that the connecting assembly 12, the first driving piece 13 and the second driving piece 14 can be conveniently installed, and the disassembly is convenient when the parts are required to be overhauled or replaced.

In addition, the free end side wall of the connecting shaft 123 far away from the transmission member 122 is provided with a pattern structure 120, and the pattern structure 120 is convenient for an operator to hold the connecting assembly 12 for mounting and dismounting operations. Alternatively, the connecting assembly 12 is an integrally formed structure, i.e. the constraint member 121, the transmission member 122, and the connecting shaft 123 are integrally connected.

Referring to fig. 2, in one embodiment, the second driving member 14 further includes a driving wheel 142, an output shaft of the driving motor is connected to the driving wheel 142, and the driving wheel 142 is connected to the driving gear 141.

In this specific example, the output shaft of the drive motor is connected to the drive gear 141 via a transmission wheel 142; the driving motor drives the driving wheel 142 to rotate, and the driving wheel 142 drives the driving gear 141 to rotate.

Alternatively, the driving wheel 142 includes a first wheel body 1421 and a second wheel body 1422, where the first wheel body 1421 is connected to the second wheel body 1422 in a clamping manner. The first wheel body 1421 is connected to an output shaft of the driving motor, a shaft portion is disposed on a side of the second wheel body 1422 away from the first wheel body 1421, and the driving gear 141 is mounted on the shaft portion of the second wheel body 1422 through a pair of second bearings 143.

Referring to fig. 2 and 4, in one embodiment, the driving wheel 142 is provided with a first positioning protrusion 1420, the driving wheel 142 is mounted on the fixed base 11, the fixed base 11 is provided with a second positioning protrusion 100, and the first positioning protrusion 1420 is configured to abut against the second positioning protrusion 100 to perform zero point position identification on the driving wheel 142.

In this specific example, when the second driver 14 is mounted, the driving wheel 142 is rotated until the first positioning boss 1420 abuts against the second positioning boss 100 and cannot continue to rotate, so that the mounted zero point position is reached; this can help the second driver 14 be quickly installed in place, improving installation efficiency.

Referring to fig. 2, 3, 5, and 6, in one embodiment, the laparoscopic adaptor device further includes a locking assembly 15, the locking assembly 15 is mounted to the fixed base 11, and the locking assembly 15 is configured to be connected with the transmission member 122 to place the connection assembly 12 in a locked state, or to be disconnected from the transmission member 122 to place the connection assembly 12 in an unlocked state.

In this specific example, the switching between the locked state and the unlocked state of the connection assembly 12 is controlled by the lock control assembly 15. When the lock control assembly 15 is connected with the transmission member 122, the connection assembly 12 is in a locked state; when the lock control assembly 15 is disengaged from the transmission member 122, the connection assembly 12 is in an unlocked state.

Referring to fig. 2, 3 and 5, in one embodiment, the lock control assembly 15 includes a locking member 151 and a control member 152; the locking member 151 has a first clamping portion 1510, and the transmission member 122 has a second clamping portion 1220; the control member 152 is connected with the locking member 151 and drives the locking member 151 to switch between a first position and a second position;

with the locking member 151 in the first position, the first clamping portion 1510 is clamped with the second clamping portion 1220 in a matching manner, and the connection assembly 12 is in a locked state; with the locking member 151 in the second position, the first clamping portion 1510 is separated from the second clamping portion 1220, and the connection assembly 12 is in an unlocked state.

In this particular example, locking of the connection assembly 12 is achieved by a snap-fit connection of the locking member 151 with the transmission member 122. Alternatively, the first clamping portion 1510 provided on the locking member 151 may be, for example, a clamping protrusion, and the second clamping portion 1220 provided on the driving member 122 is a clamping groove; of course, the first clamping portion 1510 may also be provided as a clamping groove, and correspondingly, the second clamping portion 1220 may be provided as a clamping protrusion.

When the control member 152 acts on the locking member 151 and makes the locking member 151 reach the first position, the first clamping portion 1510 and the second clamping portion 1220 are matched and clamped, and at this time, the connecting assembly 12 is in a locking state; when the control member 152 acts on the locking member 151 and makes the locking member 151 reach the second position, the first clamping portion 1510 is separated from the second clamping portion 1220, and the connecting assembly 12 is in the unlocked state.

As described above, the transmission member 122 is a driven gear in mating engagement with the driving gear 141, and the transmission member 122 cannot rotate in the circumferential direction thereof when the connection assembly 12 is in the locked state; by the mating engagement of the first engaging portion 1510 and the second engaging portion 1220, the rotation of the transmission member 122 in the circumferential direction thereof can be reliably prevented. While the switching movement of the locking member 151 between the first position and the second position may be, for example, a movement in the axial direction of the transmission member 122.

Referring to fig. 2, 3 and 5, in one embodiment, the control member 152 includes a push rod 1521 and a spring 1522, the fixed base 11 is provided with a receiving groove, the locking member 151 is located outside the receiving groove, and a portion of the push rod 1521 is located in the receiving groove; the ejector rod 1521 is in pushing fit connection with the locking piece 151;

the spring 1522 is disposed in the accommodating groove, and one end of the spring 1522 along the elastic deformation direction thereof is abutted against the fixed base 11, and the other end is abutted against the push rod 1521; the plunger 1521 is configured to push the locking member 151 under an external force to switch the locking member 151 from the first position to the second position.

In this specific example, the accommodating groove provided in the fixed base 11 is not only used for installing the ram 1521, but also plays a role in guiding the movement of the ram 1521 when the ram 1521 is subjected to an external force to drive the locking member 151 to move. The elastic force of the spring 1522 can make the push rod 1521 stably installed and moved in the accommodating groove; optionally, a first boss 1501 is provided on the plunger 1521, and one end of the spring 1522 in the elastic deformation direction thereof abuts against the fixed base 11, and the other end abuts against the first boss 1501. Specifically, the accommodating groove is provided in the plate 112 of the fixed base 11.

Alternatively, the push rod 1521 and the locking member 151 may be formed as a push-fit connection in the form of a snap-fit connection; that is, one end of the push rod 1521 is connected with the locking member 151 in a clamping manner, and the free end of the push rod 1521 far from the locking member 151 is exposed and protrudes from the fixed base 11; when the laparoscopic switching device 1 is mounted on the mechanical arm, the free end of the push rod 1521 away from the locking member 151 is pushed by the mechanical arm to move along the axial direction of the transmission member 122 and close to the transmission member 122, and at the same time, the push rod 1521 pushes up the locking member 151 in clamping connection with the transmission member 122, so that the locking member 151 is separated from the transmission member 122, and the connection assembly 12 is switched from the locking state to the unlocking state.

Referring to fig. 7, the snap connection between the plunger 1521 and the locking member 151 may be specifically: the second boss 1502 is arranged on the ejector rod 1521, the end part of the ejector rod 1521 for installing the locking piece 151 is provided with a clamping ring groove 1500, a clamping ring 1523 is installed at the clamping ring groove 1500, a clamping gap is formed between the clamping ring 1523 and the second boss 1502, the locking piece 151 is clamped in the clamping gap, and clamping connection between the ejector rod 1521 and the locking piece 151 is achieved.

Of course, in other embodiments, the push rod 1521 and the locking member 151 may be connected by an interference fit, so as to implement a push fit connection between the push rod 1521 and the locking member 151.

In addition, the locking member 151 may further include a sliding portion 1511, and a sliding groove 101 is correspondingly formed on the fixed base 11, and the sliding portion 1511 slides along the sliding groove 101 to guide the movement of the locking member 151 during the process of pushing the locking member 151 by the push rod 1521.

According to another embodiment of the present application, there is provided a laparoscopic system, referring to fig. 8, including the laparoscopic adaptor 1 as described above, a laparoscope 2 and a mechanical arm; the laparoscope 2 is detachably connected with the laparoscope switching device 1, and the laparoscope switching device 1 is arranged on the mechanical arm.

The laparoscope holding system is more convenient and quick to install, operate and use due to the fact that the laparoscope switching device 1 is included.

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

s101, detecting a visual angle of a laparoscope connected with a mechanical arm of the laparoscope robot;

s102, setting a limit value of a kinematic parameter of the laparoscope according to the visual angle;

s103, detecting whether the laparoscope reaches the limit value of the kinematic parameter in the motion process, and stopping driving the laparoscope to rotate if the limit value of the kinematic parameter is reached.

By adopting the control method of the laparoscope robot, the mechanical arm can drive the laparoscope to move within the limit value of the viewing angle allowed by the laparoscope through the laparoscope switching device; adverse effects on the safety of the operation caused by the movement of the laparoscope exceeding the limit value range of the visual angle are avoided, so that the safety of the operation is improved.

In one embodiment, the control method further comprises:

detecting whether the visual angle of the laparoscope is changed, and if so, resetting the limit value of the kinematic parameter.

In this specific example, when the view angle of the laparoscope is changed, the limit value of the kinematic parameter is reset in time, so that the motion of the laparoscope is prevented from exceeding the limit value of the view angle, and the safety of the operation is ensured.

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

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

Claims (15)

1. A laparoscopic robotic system, the laparoscopic robotic system comprising: a mechanical arm (01), a detection unit (02) and a control device (03);

the control device (03) is in communication connection with the mechanical arm (01), the control device (03) controls the movement of the mechanical arm (01), and the mechanical arm (01) is provided with a laparoscope switching device (1);

the detection unit (02) is used for detecting the visual angle of the laparoscope connected with the laparoscope switching device (1) and feeding back the detection result to the control device (03);

the control device (03) sets a limit value of a kinematic parameter according to the detection result, so that the rotation process of the laparoscope switching device (1) for driving the laparoscope does not exceed the limit value of the kinematic parameter corresponding to the visual angle.

2. The laparoscopic robotic system according to claim 1, characterized in that the robotic arm (01) is connected with the control device (03) by means of telecommunication.

3. The laparoscopic robotic system according to claim 1, wherein the detection unit (02) is further configured to detect whether the laparoscopic switching device (1) is connected to a laparoscope, and when the detection result is yes, the detection unit (02) sends a writable signal to the control device (03), and the control device (03) allows resetting of the kinematic parameter limit value after receiving the writable signal.

4. A laparoscopic robotic system as claimed in any one of claims 1-3, characterized in that the laparoscopic adaptor device (1) comprises:

a fixed base (11);

the connecting component (12), the connecting component (12) is arranged on the fixed base (11), an accommodating space is formed in the connecting component (12), and part of structures of the laparoscope penetrate through the accommodating space so that the laparoscope can be detachably connected with the connecting component (12); the connecting assembly (12) comprises a restraint member (121) and a transmission member (122), wherein the restraint member (121) can be contracted or expanded along the radial direction; the connection assembly (12) has a locked state and an unlocked state;

a first driving member (13), the first driving member (13) being connected to the restraining member (121);

a second drive element (14), the second drive element (14) being connected to the transmission element (122);

in the locked state of the connection assembly (12), the first driving member (13) drives the restraint member (121) to retract radially along the restraint member to lock the laparoscope or expand radially along the restraint member to release the laparoscope;

when the connecting assembly (12) is in an unlocking state, the second driving piece (14) drives the connecting assembly (12) to rotate through the transmission piece (122), and the connecting assembly (12) drives the laparoscope to rotate so as to adjust the visual angle of the laparoscope.

5. The laparoscopic robotic system according to claim 4, wherein the first driving member (13) comprises a knob portion (131) and a connecting portion (132), the knob portion (131) is fixedly connected with the connecting portion (132), and the connecting portion (132) is sleeved outside the constraining member (121);

the knob portion (131) is configured to: the connecting part (132) is used for driving the connecting part (132) to rotate under the action of external force, and the connecting part (132) acts on the restraint piece (121) so as to enable the restraint piece (121) to shrink or expand along the radial direction of the restraint piece.

6. The laparoscopic robotic system according to claim 4, wherein the restraint (121) comprises a plurality of telescopic blocks (1211) distributed along a circumferential direction thereof, and an expansion joint (1210) is provided between two adjacent telescopic blocks (1211);

in the case where the first driving member (13) acts on the restraining member (121) to bring the plurality of telescopic blocks (1211) closer to each other, the restraining member (121) locks the laparoscope;

in the case where the first driving member (13) acts on the restraining member (121) to move the plurality of telescopic blocks (1211) away from each other, the restraining member (121) releases the laparoscope.

7. The laparoscopic robotic system according to claim 4, wherein the second driving member (14) comprises a driving motor and a driving gear (141), an output shaft of the driving motor is connected with the driving gear (141), and the transmission member (122) is a driven gear meshed with the driving gear (141).

8. The laparoscopic robotic system according to claim 7, characterized in that the second driver (14) further comprises a transmission wheel (142), an output shaft of the drive motor being connected to the transmission wheel (142), the transmission wheel (142) being connected to the driving gear (141).

9. The laparoscopic robotic system according to claim 8, characterized in that the driving wheel (142) is provided with a first positioning protrusion (1420), the driving wheel (142) is mounted to the fixed base (11), the fixed base (11) is provided with a second positioning protrusion (100), the first positioning protrusion (1420) is configured to abut against the second positioning protrusion (100) for zero point position identification of the driving wheel (142).

10. The laparoscopic robotic system according to claim 4, wherein the laparoscopic adaptor device further comprises a lock control assembly (15), the lock control assembly (15) being mounted to the fixed base (11), the lock control assembly (15) being configured to be connected with the transmission member (122) to put the connection assembly (12) in a locked state or to be disconnected from the transmission member (122) to put the connection assembly (12) in an unlocked state.

11. The laparoscopic robotic system according to claim 10, wherein the lock control assembly (15) comprises a lock (151) and a control (152); the locking piece (151) is provided with a first clamping part (1510), and the transmission piece (122) is provided with a second clamping part (1220);

the control piece (152) is connected with the locking piece (151) and drives the locking piece (151) to switch between a first position and a second position;

when the locking piece (151) is in the first position, the first clamping part (1510) is matched and clamped with the second clamping part (1220), and the connecting assembly (12) is in a locking state;

with the locking member (151) in the second position, the first clamping portion (1510) is separated from the second clamping portion (1220), and the connection assembly (12) is in an unlocked state.

12. The laparoscopic robotic system according to claim 11, wherein the control member (152) comprises a push rod (1521) and a spring (1522), the fixed base (11) is provided with a receiving groove, the locking member (151) is located outside the receiving groove, and a portion of the push rod (1521) is located inside the receiving groove; the ejector rod (1521) is in pushing fit connection with the locking piece (151);

the spring (1522) is arranged in the accommodating groove, one end of the spring (1522) along the elastic deformation direction of the spring is abutted with the fixed base (11), and the other end is abutted with the ejector rod (1521);

the plunger (1521) is configured to push the locking member (151) under an external force to switch the locking member (151) from a first position to a second position.

13. The laparoscopic robotic system according to claim 4, wherein the fixed base (11) comprises a base body (111) and a plate body (112), the base body (111) being detachably connected with the plate body (112);

the base body (111) is provided with a first through hole (1110), and the plate body (112) is provided with a second through hole (1120); the first through hole (1110) communicates with the second through hole (1120) and forms a through hole portion for penetrating the connection member (12) when the base (111) is connected to the plate (112).

14. A laparoscopic robot control method, characterized in that the control method comprises:

detecting a visual angle of a laparoscope connected to a mechanical arm of the laparoscopic robot;

setting a limit value of a kinematic parameter of the laparoscope according to the visual angle;

detecting whether the limit value of the kinematic parameter of the laparoscope is reached in the motion process, and stopping driving the laparoscope to rotate if the limit value of the kinematic parameter of the laparoscope is reached.

15. The laparoscopic robot control method according to claim 14, characterized in that said control method further comprises:

detecting whether the visual angle of the laparoscope is changed, and if so, resetting the limit value of the kinematic parameter.