CN118924435A

CN118924435A - Surgical robot system including multiple operating tables

Info

Publication number: CN118924435A
Application number: CN202311430146.5A
Authority: CN
Inventors: 徐凯; 赵江然; 姬利永; 张宇
Original assignee: Beijing Surgerii Robot Co Ltd
Current assignee: Beijing Surgerii Robot Co Ltd
Priority date: 2023-05-12
Filing date: 2023-10-31
Publication date: 2024-11-12
Also published as: WO2024235054A1; CN118924436A

Abstract

The present disclosure relates to the field of robot control, and discloses a surgical robot system including a plurality of operating trolleys, comprising: a plurality of operating trolleys for carrying a plurality of slave tools and slave visual devices, the plurality of operating trolleys at least comprising a first operating trolley and a second operating trolley, the plurality of slave tools at least comprising a first slave tool, a second slave tool, a third slave tool and a fourth slave tool; a plurality of master manipulators, the plurality of master manipulators at least comprising a first left-hand master manipulator, a first right-hand master manipulator, a second left-hand master manipulator and a second right-hand master manipulator; and a control device connected to the plurality of slave tools and the plurality of master manipulators, and configured to control the slave instrument movement of at least one of the plurality of slave tools based on the movement of a handle of at least one of the plurality of master manipulators.

Description

Surgical robotic system including multiple surgical carts

Technical Field

The present disclosure relates to the field of robotic control, and more particularly to a surgical robotic system including a plurality of surgical carts.

Background

With the development of science and technology, the operation robot is used for assisting the medical staff in performing the operation to rapidly develop, and the operation robot not only can help the medical staff to perform a series of medical diagnosis and auxiliary treatment, but also can effectively relieve the shortage of medical resources.

Current surgical robotic systems are generally designed for a specific type of surgical procedure, such as endoscopic surgical robots, orthopedic surgical robots, neurosurgical robots, etc., and cannot simultaneously accommodate multiple surgical procedures. In addition, in some complex surgical procedures, it is sometimes necessary for multiple medical staff to operate multiple surgical tools simultaneously. These all present challenges to the design of surgical robotic systems.

Disclosure of Invention

In some embodiments, the present disclosure provides a surgical robotic system including a plurality of surgical carts, comprising: a plurality of operation carts for carrying a plurality of driven tools and driven vision equipment, the plurality of operation carts including at least a first operation cart and a second operation cart, the plurality of operation carts including at least a first driven tool, a second driven tool, a third driven tool, and a fourth driven tool, the plurality of operation carts being configured such that the first operation cart is for carrying at least the first driven tool, the second driven tool, the third driven tool, and the driven vision equipment, the second operation cart is for carrying at least the fourth driven tool, or the first operation cart is for carrying at least the first driven tool, the second driven tool, the third driven tool, and the fourth driven tool, the second operation cart is for carrying at least the driven vision equipment; a plurality of main operators including at least a first left-hand main operator, a first right-hand main operator, a second left-hand main operator, and a second right-hand main operator; and a control device coupled to the plurality of slave tools and the plurality of master operators and configured to control a slave instrument motion of at least one of the plurality of slave tools based on a motion of a handle of at least one of the plurality of master operators.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly describe the drawings that are required to be used in the description of the embodiments of the present disclosure. The drawings in the following description illustrate only some embodiments of the disclosure and other embodiments may be obtained by those of ordinary skill in the art from the disclosure's contents and drawings without inventive effort.

Fig. 1 illustrates a block diagram of a surgical robotic system according to some embodiments of the present disclosure;

fig. 2 illustrates a schematic structural view of a surgical robotic system according to some embodiments of the present disclosure;

fig. 3 illustrates a schematic structural view of a first master trolley according to some embodiments of the present disclosure;

FIG. 4 illustrates a schematic structural view of a first left-hand main operator according to some embodiments of the present disclosure;

FIG. 5A illustrates a schematic view of a first surgical trolley according to some embodiments of the present disclosure;

FIG. 5B illustrates a schematic diagram of a configuration of an RCM mechanism, according to some embodiments of the disclosure;

FIG. 5C shows a schematic view of a first surgical trolley according to further embodiments of the present disclosure;

FIG. 6 illustrates a schematic view of a second surgical trolley according to some embodiments of the present disclosure;

FIG. 7 illustrates a schematic view of a slave vision device observing an operating area in accordance with some embodiments of the present disclosure;

Fig. 8 illustrates a schematic diagram of an equipment trolley according to some embodiments of the present disclosure;

FIG. 9 illustrates a schematic diagram of a dispensing state of a driven tool according to some embodiments of the present disclosure;

FIG. 10 illustrates a schematic view of a surgical robotic system according to some embodiments of the present disclosure;

fig. 11 illustrates a schematic diagram of a dispensing state of a slave vision device, according to some embodiments of the present disclosure.

Detailed Description

In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are merely exemplary embodiments of the present disclosure, and not all embodiments.

In the description of the present disclosure, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be either a fixed connection or a removable connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; may be a communication between the interiors of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be. In the present disclosure, one end far from an operation object (for example, a patient) is defined as a proximal end, or a rear end, and one end near the operation object is defined as a distal end, or a front end, a front end. Those skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as with other non-medical devices.

In this disclosure, the term "position" refers to the positioning of an object or a portion of an object in three dimensions (e.g., three translational degrees of freedom may be described using changes in Cartesian X, Y and Z coordinates, such as along the Cartesian X, Y and Z axes, respectively). In this disclosure, the term "pose" refers to a rotational setting of an object or a portion of an object (e.g., three rotational degrees of freedom that may be described using roll (roll), pitch (pitch), and yaw (yaw)). In this disclosure, the term "pose" refers to a combination of the position and pose of an object or portion of an object, such as may be described using six parameters in the six degrees of freedom mentioned above. In the present disclosure, the pose of the handle of the main manipulator may be represented by a set of joint information of the main manipulator joints (e.g., a one-dimensional matrix composed of these joint information). The pose of the slave instrument of the slave tool may be determined from drive information of the slave tool (e.g., drive information of a tool arm of the slave tool). In the present disclosure, the joint information of the joints may include an angle by which the respective joints are rotated with respect to the respective joint axes or a distance moved with respect to the initial position.

In the present disclosure, the reference coordinate system may be understood as a coordinate system capable of describing the pose of an object. According to the actual positioning requirement, the reference coordinate system can select the origin of the virtual reference object or the origin of the physical reference object as the origin of the coordinate system. In some embodiments, the reference coordinate system may be a world coordinate system or a coordinate system of a master manipulator, a slave tool, a slave vision device, a space in which the image acquisition device is located, or a perceived coordinate system of the operator itself, or the like.

In the present disclosure, an object may be understood as an object or target that needs to be positioned, such as a tool arm of a slave tool or a tip of a tool arm. The pose of the tool arm or a portion thereof (e.g., the tip) may refer to the pose of the coordinate system defined by the tool arm or a portion thereof relative to a reference coordinate system.

In the present disclosure, the surgical robot system may be a modular surgical robot system, for example, including a plurality of master control modules for teleoperation by a plurality of operators, a plurality of surgical modules for performing surgical tasks, and a control module connected with the plurality of master control modules and the plurality of surgical modules. Fig. 1 illustrates a block diagram of a surgical robotic system 100 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 1, surgical robotic system 100 may include a plurality of primary operators, a plurality of surgical carts, and a control device 150. A plurality of primary operators (e.g., the first left-hand main operator 111a, the first right-hand main operator 111b, the second left-hand main operator 121a, the second right-hand main operator 121b, the first left-hand main operator 211a, the first right-hand main operator 211b, the second left-hand main operator 221a, the second right-hand main operator 221b, the first left-hand main operator 301a, the first right-hand main operator 301b, the first left-hand main operator 400, the first left-hand main operator 911a, the first right-hand main operator 911b, the second left-hand main operator 921a, the first right-hand main operator 301b, the first left-hand main operator 400, the first right-hand main operator 911a, the second left-hand main operator, the second right-hand main operator 921b, or the first left-hand main operator 1111a, the first right-hand main operator 1111b, the second left-hand main operator 1121a, and the second right-hand main operator 1121 b) shown in fig. 11 functions as operation elements in the main control module or the main control module of the surgical robot system 100 for a plurality of operators (for example, two operators) to perform teleoperation at the same time. A plurality of operation carts (for example, the first operation cart 130 shown in fig. 1, the second operation cart 140, the first operation cart 230 shown in fig. 2, the second operation cart 240, the first operation cart 500 shown in fig. 5A, the first operation cart 500' shown in fig. 5C, the second operation cart 600 shown in fig. 6, or the first operation cart 1010 and the second operation cart 1020 shown in fig. 10) function as operation modules of the operation robot system 100, and are used for mounting a plurality of driven tools (for example, the first driven tool 131, the second driven tool 132, the third driven tool 133, the third driven tool 1020 shown in fig. 1), Fourth driven tool 134, first to third driven tools 231, 241 of fig. 2, first driven tool 530, second driven tool 540, third driven tool 550 of fig. 5A and 5C, fourth driven tool 630 of fig. 6, first driven tool 710 of fig. 7, second driven tool 720, third driven tool 730, fourth driven tool 740, first driven tool 931 of fig. 9, second driven tool 932, third driven tool 933, fourth driven tool 941, fifth driven tool 951 or first driven tool 1131 of fig. 11, a second slave tool 1132, a third slave tool 1133, a fourth slave tool 1134) and a slave vision device (e.g., slave vision device 141 shown in fig. 1, slave vision device 234 shown in fig. 2, slave vision device 750 shown in fig. 7, or slave vision device 1160 shown in fig. 11) to perform a surgical operation simultaneously under teleoperation of a plurality of master operators. The control device 150 may be coupled to a plurality of master operators and a plurality of slave tools as a control module of the surgical robotic system 100, and control the slave tool motions associated with the master operators based on the motions of the master operators to effect a surgical procedure.

In some embodiments, the plurality of primary operators may include at least four primary operators, such as the first left-hand primary operator 111a, the first right-hand primary operator 111b, the second left-hand primary operator 121a, and the second right-hand primary operator 121b shown in fig. 1. In some embodiments, the surgical robotic system may further include one or more master trolleys (e.g., first master trolley 110, second master trolley 120, first master trolley 210, second master trolley 220, or first master trolley 300, shown in fig. 2, etc.) as master modules to carry multiple master manipulators. For example, as shown in fig. 1, the surgical robot system 100 may include a first master cart 110 and a second master cart 120 operated by a first operator and a second operator, respectively, the first master cart 110 for mounting a first left-hand main operator 111a and a first right-hand main operator 111b, and the second master cart 120 for mounting a second left-hand main operator 121a and a second right-hand main operator 121b. In some embodiments, the primary manipulator may include a robotic arm (e.g., robotic arm 401 shown in fig. 4) and a handle (e.g., handle 402 shown in fig. 4) disposed at a distal end of the robotic arm. In some embodiments, the mechanical arm may be a mechanical arm with multiple degrees of freedom formed by multiple joints, for example, a mechanical arm that realizes motion with 4 to 7 degrees of freedom, which will be described in detail below.

In some embodiments, the plurality of surgical carts may include at least two surgical carts, such as first surgical cart 130 and second surgical cart 140 shown in fig. 1. The plurality of driven tools may include at least four driven tools, such as the first driven tool 131, the second driven tool 132, the third driven tool 133, and the fourth driven tool 134 shown in fig. 1. The plurality of slave tools and the slave vision equipment may be mounted on a plurality of operation carts, respectively. In some embodiments, as shown in fig. 1, the plurality of surgical carts may be configured as a first surgical cart for carrying at least a first slave tool 131, a second slave tool 132, a third slave tool 133, and a slave vision device 141, and a second surgical cart for carrying at least a fourth slave tool 134. It should be appreciated that the arrangement of the plurality of surgical carts is not limited to the above. In some embodiments, the fourth slave tool 134 may be carried by a first surgical trolley, while the slave vision device 141 is carried by a second surgical trolley. For example, the plurality of surgical dollies may be configured such that the first surgical dolly 130 is used to mount the first slave tool 131, the second slave tool 132, the third slave tool 133, and the fourth slave tool 134, and the second surgical dolly 140 is used to mount the slave vision device 141.

In some embodiments, the driven tool may include a tool arm and a driven instrument disposed at a distal end of the tool arm. In some embodiments, the tool arm may be a flexible arm, for example, a continuum deformable arm capable of controlled bending. In some embodiments, the slave instrument may be a surgical instrument such as a surgical forceps, electrotome, electrohook, electrocoagulation, or the like. In some embodiments, a driving device may be disposed on the surgical trolley, for driving a plurality of driven tools, where the plurality of driven tools are mounted on the surgical trolley and connected to the driving device, as will be described in detail below. The main control trolley with a plurality of main operators is in communication connection with the operation trolley and is used for controlling a plurality of driven tools to execute operation. The main control trolley and the operation trolley can be connected in a wired transmission or wireless transmission mode, for example.

In some embodiments, the slave vision device may be used to capture an image of the operating area and transmit the captured image to the master trolley. The image is processed by a video processing module in the master cart and then displayed on a display of the master cart (e.g., the stereoscopic display 302 or the master external display 303 of the first master cart 300 shown in fig. 3). The operator obtains the pose of the slave instrument of the at least one slave tool relative to the reference coordinate system in real time through the image in the display. The pose of the image of the slave instrument of the at least one slave tool in the display relative to the reference frame is the pose of the slave instrument perceived by the operator, and the pose of the handle of the at least one master manipulator relative to the reference frame is the pose of the handle perceived by the operator. The pose change perceived by an operator through teleoperation of the handle of the at least one main operator accords with a preset pose relation with the pose change of the driven instrument of the at least one driven tool perceived by the operator in the display, so that the pose change of the handle of the at least one main operator is converted into the pose change of the driven instrument of the at least one driven tool based on the preset pose relation through remote teleoperation of the at least one main operator, and further the pose control of the driven instrument of the at least one driven tool is realized. In this way, when the operator holds the handle of the at least one master manipulator to move to operate the slave instrument of the associated at least one slave tool, the posture change amount of the slave instrument of the at least one slave tool sensed by the operator is consistent with the posture change amount of the handle of the at least one master manipulator sensed by the operator based on the principle of intuitive operation, which contributes to improving the teleoperation feeling and precision of the operator.

The slave vision device may include, but is not limited to, a dual lens slave vision device or a single lens slave vision device, such as a binocular or monocular camera. In some embodiments, the slave vision device may implement at least one of visible light band imaging, infrared band imaging, CT (computed tomography) imaging, and acoustic wave imaging, among others. Depending on the kind of the acquired image, a person skilled in the art may select different slave vision apparatuses as slave vision apparatuses.

In some embodiments, the slave vision device may include an imaging tool arm (e.g., imaging tool arm 751 shown in fig. 7) and an endoscopic camera (e.g., endoscopic camera 752 shown in fig. 7) disposed at a distal end of the imaging tool arm to capture real-time images of an operating region (e.g., a surgical region within a patient). Similar to the tool arm of the driven tool, the imaging tool arm may be a flexible arm, for example, a continuously deformable arm capable of controlled bending. In some embodiments, an endoscopic camera may include at least one imaging unit and at least one illumination unit. The imaging unit may be provided at the front end of the endoscope camera, for example, may be a CCD camera including a set of image sensors and an image lens. In some embodiments, the at least one imaging unit may include a normal imaging unit and a wide angle imaging unit. A common imaging unit may be used for imaging in a normal operation mode (e.g., a surgical operation mode) to provide a high definition image of the operation region. The wide angle imaging unit has a larger field angle than the normal imaging unit and may be used for imaging in special modes of operation (e.g., switching between multiple surgical tools or looking for a dropped object, etc.). The illumination unit may be used to provide illumination so that the imaging unit captures images.

The plurality of slave tools and slave vision equipment may be distributed as desired to a first operator controlling the first left-hand and right-hand master operators and a second operator controlling the second left-hand and right-hand master operators. In some embodiments, a first slave tool of the plurality of slave tools may be assigned to the first left hand master operator or the first right hand master operator, a second slave tool may be assigned to the second left hand master operator or the second right hand master operator, and the third slave tool and the fourth slave tool are placed in an unassigned state. Or a first surgical tool and a second surgical tool of the plurality of slave tools may be assigned to the first left-hand or first right-hand master manipulator, respectively, and a third slave tool may be assigned to the second left-hand or second right-hand master manipulator, with the fourth slave tool being placed in an unassigned state. Or a first driven tool, a second driven tool, a third driven tool, and a fourth driven tool of the plurality of driven tools may be assigned to the first left-hand main operator, the first right-hand main operator, the second left-hand main operator, and the second right-hand main operator, respectively, as shown in fig. 9 or 11. Those skilled in the art will appreciate that there are a variety of ways in which the multiple slave tools of the surgical robotic system may be distributed to meet different surgical job requirements. It will be appreciated by those skilled in the art that the number of master operators and slave tools is not limited to the above, and that the number of master operators and slave tools may also be inconsistent, and that the number of master operators and slave tools of the surgical robotic system may be adjusted according to actual needs.

In some embodiments, the control device 150 may be coupled to a plurality of master operators and a plurality of slave tools to control the slave instrument movement of at least one of the plurality of slave tools based on the movement of the handle of at least one of the plurality of master operators to effect a surgical procedure. In some embodiments, the control device 150 may generate control signals for the slave tools associated with the master operators based on movement of the handles of the plurality of master operators, and the control device 150 may be communicatively coupled to and send control signals to a drive device (e.g., a servo motor) of the slave tools, such that the drive device controls the slave instrument movements of the plurality of slave tools based on the control signals. For example, the control device 150 may transmit a control signal to the driving device of the slave tool through the CAN bus to control the slave instrument of the slave tool to move to a corresponding target pose or perform a corresponding surgical operation to implement a surgical operation. It is understood that the control device 150 may be a single controller arranged centrally or may comprise a plurality of controllers arranged in a distributed manner.

In some embodiments, the surgical robot system may further include an equipment trolley as an auxiliary module for mounting a display device, a position sensing unit, and the like, as will be described in detail later.

In this disclosure, surgical robotic system 100 may allow a first operator to operate first left-hand master manipulator 111a and first right-hand master manipulator 111b to control slave tools (e.g., first slave tool 131 and second slave tool 132 shown in fig. 1) associated with first left-hand master manipulator 111a and first right-hand master manipulator 111b, respectively, and may allow a second operator to operate second left-hand master manipulator 121a and second right-hand master manipulator 121b to control slave tools (e.g., third slave tool 133 or fourth slave tool 134 shown in fig. 1) associated with second left-hand master manipulator 121a and second right-hand master manipulator 121b, respectively, to enable complex surgical operations in which at least four slave tools are teleoperated simultaneously by both operators, as will be described in detail below.

In the present disclosure, surgical robotic system 100 may be compatible with single-hole surgical procedures, single-hole combined procedures, or multiple-hole surgical procedures. In some embodiments, at least a portion of the tool arms of the first through fourth slave tools 131-134 and the slave instrument disposed at the distal end of the tool arms are configured to be capable of entering an operative field through a surgical attachment device (e.g., surgical attachment device 270 of fig. 2, or surgical attachment device 570 of fig. 5A and 5C) inserted into an opening (e.g., an incision or a natural opening) formed in a patient's body to perform a surgical procedure simultaneously under teleoperation by a first operator and a second operator to perform a single-hole, multi-tool surgical procedure. Or the first to fourth slave tools 131 to 134 may be configured to enter the operation region through a plurality of surgical connection devices inserted into a plurality of openings formed in the body of the patient according to the surgical requirement, to simultaneously perform the surgical operation under the teleoperation of the first operator and the second operator, thereby realizing the multi-hole multi-tool surgical operation. In some embodiments, the surgical attachment device may be, for example, a sheath, or the like. Those skilled in the art will appreciate that the surgical robotic system 100 may be applied to dedicated or general purpose robotic systems in a variety of medical fields, such as endoscopic surgical robotic systems.

Fig. 2 illustrates a schematic structural diagram of a surgical robotic system 200 of some embodiments of the present disclosure. In some embodiments, as shown in fig. 2, the surgical robotic system 200 may include a plurality of master trolleys, such as a first master trolley 210 and a second master trolley 220, as master modules. The first main control dolly 210 may be used to carry a first main operator, which may include a first left-hand main operator 211a and a first right-hand main operator 211b, and the second main control dolly 220 may be used to carry a second main operator, which may include a second left-hand main operator 221a and a second right-hand main operator 221b.

Fig. 3 illustrates a schematic structural diagram of a first master trolley 300 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 3, the first master trolley 300 includes a first master manipulator (e.g., a first left-hand master manipulator 301a and a first right-hand master manipulator 301 b), a master trolley display (e.g., displays 302-304), and pedals (e.g., pedals 305-307). A control device (e.g., control device 150 shown in fig. 1) is communicatively coupled to the first main operator, the master cart display, and the pedal, respectively, for interacting with the first main operator, the master cart display, and the pedal, and generating corresponding control instructions based on the collected control information.

In some embodiments, the master trolley display may include a stereoscopic display 302, a master external display 303, a master touch display 304. The stereoscopic display 302 is used for displaying an operation part image (for example, an operation part stereoscopic image) and a system state prompt to a first operator who controls the first master control trolley 300, the master control external display 303 is used for displaying the operation part image and the system state prompt to an external user, and the touch display 304 is used for displaying a software user interface of the first master control trolley 300. In some embodiments, the image displayed by the stereoscopic display 302 or the master external display 303 may be determined based on an image acquired by a slave visual device (e.g., slave visual device 141 shown in fig. 1, slave visual device 234 shown in fig. 2, slave visual device 750 shown in fig. 7, or slave visual device 1160 shown in fig. 11). In some embodiments, a master trolley pedal may be used to capture input from both feet of a first operator, including, for example, instrument pedal (e.g., electrotome pedal 305, electrocoagulation pedal 306), clutch pedal 307, vision pedal (not shown), toggle pedal (not shown), etc. Wherein an instrument pedal is used to control a surgical instrument disposed at the end of a slave tool, a clutch pedal 307 is used to disconnect a master-slave mapping of a first master operator to an associated surgical tool, a vision pedal is used to obtain control of a slave vision device (e.g., slave vision device shown in fig. 1, slave vision device 234 shown in fig. 2, slave vision device 750 shown in fig. 7, or slave vision device 1160 shown in fig. 11) to allow a first operator to teleoperate the slave vision device to adjust the viewing field, and a switch pedal is used to rapidly switch control of a surgical tool among a plurality of surgical tools in the case that one master operator is assigned a plurality of surgical tools (e.g., two surgical tools).

In some embodiments, as shown in fig. 3, the first main operator may include a first left-hand main operator 301a and a first right-hand main operator 301b corresponding to left-hand operations of the first operator, respectively. In an actual scenario, a first master manipulator (including a first left-hand master manipulator 301a and a first right-hand master manipulator 301 b) is used to capture an operational input of a first operator, who in turn controls movement of an associated slave tool (e.g., the first slave tool 131, the second slave tool 132, the third slave tool 133, the fourth slave tool 134, etc. shown in fig. 1) or slave vision device (e.g., the slave vision device shown in fig. 1, the slave vision device 234 shown in fig. 2, the slave vision device 750 shown in fig. 7, or the slave vision device 1160 shown in fig. 11) in an operational area by teleoperation of the first master manipulator. It should be appreciated that the first left-hand main operator and the first right-hand main operator may have similar structures, and the structure of the first main operator will be described below with the first left-hand main operator as an example.

Fig. 4 illustrates a schematic structural view of a first left-hand main operator 400 of some embodiments of the present disclosure. As shown in fig. 4, the first left-hand main manipulator 400 may include a robot arm 401 having multiple degrees of freedom and a handle 402 provided at the robot arm 401. The robotic arm 401 includes at least one pose joint and at least one position joint. The attitude joint is used to control the attitude of the handle 402 of the first left-hand main operator 400, and the handle 402 is controlled to achieve a desired attitude by one or more attitude joints. The positional joints are used to control the position of the handle 402 of the first left-hand main operator 400, with one or more of the positional joints controlling the handle 402 to a desired position. For example, the first left-hand main manipulator 400 may include 7 joints distributed in order from a distal end to a proximal end, the distal end of the first left-hand main manipulator 400 may be an end near the master trolley (e.g., an end connected to the master trolley), and the proximal end of the first left-hand main manipulator 400 may be an end far from the master trolley (e.g., an end where the handle 402 is provided). Among them, the joints 1,2, 5,6, and 7 are posture joints for adjusting the posture of the handle 402 of the first left-hand main manipulator 400. The joints 1,2,3 are positional joints for adjusting the position of the handle 402 of the first left-hand main manipulator 400. The joint 4 may be a driven joint of the joint 3. The joints 1 and 2 may be complex joints that can be used to adjust the position and posture of the handle 402 of the first left-hand main operator 400. In some embodiments, the handle 402 may further include a clamp 4012, and the clamp 4012 may be used to control the opening and closing angle of the driven instrument of the at least one driven tool.

It should be understood that the second master carriage may have a similar structure to the first master carriage, and the second left-hand main operator and the second right-hand main operator mounted on the second master carriage may have a similar structure to the first left-hand main operator and the first right-hand main operator. It should be understood that the configurations of the master cart and the master manipulator are not limited to the above, and that neither the master cart nor the master manipulator depart from the scope of the present disclosure as long as it is possible to realize the execution of the work by the teleoperation control of the slave tool.

In some embodiments, as shown in fig. 2, surgical robotic system 200 may include a plurality of surgical carts as a surgical module. In some embodiments, the plurality of surgical carts may include a first surgical cart 230 and a second surgical cart 240. The first surgical trolley 230 may be used to carry a plurality of driven tools 231, such as three driven tools (e.g., a first driven tool 530, a second driven tool 540, and a third driven tool 550 shown in fig. 5A and 5C), and the second surgical trolley 240 may be used to carry a fourth driven tool 241.

In some embodiments, the first surgical trolley 230 may be a master trolley in the surgical robotic system 200, carrying a plurality of slave tools to perform a surgical procedure. Fig. 5A illustrates a schematic view of a first surgical trolley 500 according to some embodiments of the present disclosure, fig. 5B illustrates a schematic structure of an RCM mechanism mounted on the first surgical trolley 500 according to some embodiments of the present disclosure, and fig. 5C illustrates a schematic view of a first surgical trolley 500' according to other embodiments of the present disclosure. In some embodiments, as shown in fig. 5A and 5C, the first surgical trolley 500 or the first surgical trolley 500' may include a first trolley body 510 and a first movement arm 520 for carrying a plurality of driven tools and/or driven vision equipment. Hereinafter, the first surgical carriage 500 or the first surgical carriage 500' is configured to mount the first slave tool 530, the second slave tool 540, the third slave tool 550, and the slave vision device 560, for example, will be described.

In some embodiments, as shown in fig. 5A and 5C, the first trolley body 510 may include a base 511, a column 512 vertically extending from the base 511, and a cross beam 513 mounted on top of the column 512. The cross beam 513 may horizontally protrude from the top of the upright 512 perpendicular to the height direction of the base 511, and a first moving arm 520 for carrying a plurality of driven tools may be rotatably provided at an end of the cross beam 513.

In some embodiments, the first movement arm 520 has a proximal end for rotational connection with the first trolley body 510 and a distal end for carrying at least the first driven tool 530, the second driven tool 540, the third driven tool 550, and the driven vision apparatus 560. The first moving arm 520 includes a moving arm having multiple degrees of freedom constituted by a plurality of joints. In some embodiments, as shown in fig. 5A and 5B, the first motion arm 520 may include a positioning linkage 521 and a remote center of motion (Remote Center ofMotion, RCM) mechanism 522.

In some embodiments, the proximal end of the positioning linkage 521 is rotatably coupled to the first trolley body, such as by a joint at the proximal end (e.g., near one end of the first surgical trolley 500) to the cross beam 513, as shown in fig. 5A. As shown in fig. 5B, the positioning linkage 521 may include a first link 5211 and a first rotary joint. The proximal end of the first link 5211 is rotatably coupled to the distal end of the cross beam 513 via a first rotational joint such that the first link 5211 rotates relative to the head 513 about a rotational axis of the first rotational joint (e.g., an axis perpendicular to a horizontal plane). As shown in fig. 5B, the first moving arm 520 may further include a second link 5212 and a second rotary joint. The proximal end of the second link 5212 is rotatably coupled to the distal end of the first link 5211 by a second rotary joint to rotate the second link 5212 relative to the first link 5211 about a longitudinal axis. It should be appreciated that the positioning linkage is not limited to the above-described configuration. For example, the positioning linkage may also include a third link and a third rotational joint to further increase the kinematic capability of the positioning linkage. In some embodiments, each joint of the positioning linkage 521 may include a motor that, under the control of a control device (not shown), drives the corresponding joint to rotate, causing the positioning linkage 521 to move in space to form a desired configuration to move the RCM mechanism 522 in space. Through setting up many connecting rods level to the mode part overlapping arrangement of turning back can reduce the horizontal space that first movable arm 520 occupy, make full use of the space on the horizontal direction in the operating room, reduced the occupation of operating table car to sick bed side space. Providing two or more rotation joints in the horizontal direction can reduce the swing interference of the positioning link mechanism 521 of the first movement arm 520 in the horizontal plane, increase the movement space thereof, and promote the flexibility of the first movement arm 520.

In some embodiments, the RCM mechanism 522 may be configured such that the proximal end is rotatable relative to the distal end of the positioning linkage 521. For example, the RCM mechanism 522 may be configured to be rotatably coupled proximally to a distal end of the positioning linkage 521 (e.g., a distal end of the second link 5212), or to be rotatably coupled proximally to a distal end of a vertical arm lift mechanism 523 disposed distally of the positioning linkage 521, as will be described in greater detail below. In the present disclosure, the RCM may be an access point or incision site, and the RCM mechanism may be configured to move a surgical tool or slave vision device mounted on the first surgical trolley around the RCM for adjustment positioning or surgical manipulation. The RCM mechanism may include a plurality of arcuate arms, such as a first arcuate arm 5221, a second arcuate arm 5222, and a third arcuate arm 5223, as shown in fig. 5B. The proximal ends and the distal ends of the plurality of arcuate arms are respectively rotatably connected in sequence, and the rotational axes of the plurality of arcuate arms intersect at the RCM. In some embodiments, each joint of the RCM mechanism 522 may include a motor that, under the control of a control device (not shown), drives the corresponding joint to rotate, and the first arcuate arm 5221, the second arcuate arm 5222, and the third arcuate arm 5223 may be moved cooperatively or independently, respectively, to allow any movement in space to form a desired configuration while the RCM mechanism 522 is stationary, such as being convertible between a plurality of fully collapsed, fully expanded, and partially expanded configurations to drive a plurality of slave tools or slave vision devices to rotate about the RCM.

In some embodiments, as shown in fig. 5A and 5B, the first motion arm 520 may further include a vertical arm lift mechanism 523 configured to connect proximally to a distal end of the positioning linkage 521, such as a distal end of the second link 5212, which is connected to a proximal end of the RCM mechanism 522, such as a proximal end of the first arcuate arm 5221. The vertical arm elevating mechanism 523 may include a vertical arm and a vertical arm elevating joint as a linear motion joint, and the vertical arm may be elevated with respect to the positioning link mechanism 521 by driving the vertical arm elevating joint to elevate the RCM mechanism 522 and the mounting platform 527 provided at the distal end of the vertical arm as a whole with respect to the positioning link mechanism 521. In some embodiments, the vertical arm lift mechanism 523 may also include a rotational motion joint to allow the RCM mechanism 522 and mounting platform 527 to rotate about a longitudinal axis integrally with respect to the distal end of the positioning linkage 521. It should be appreciated that the first motion arm 520 may also omit the vertical arm lift mechanism 523, with the rcm mechanism being directly rotatably coupled to the distal end of the positioning linkage 521, such as the distal end of the second link 5212.

In some embodiments, as shown in fig. 5C, the first surgical trolley 500 'may also be configured to adjust the height of the first surgical trolley 500' as a whole by lifting and lowering the upright 512 of the first trolley body 510. In some embodiments, the upright 512 may include an upright lifting joint (not shown) as a linear motion joint, and the upright 512 may be lifted with respect to the base 511 by driving the upright lifting joint, thereby driving the cross beam 513 provided at the top of the upright 512, the first motion arm 520 connected to the distal end of the cross beam 513, and a plurality of driven tools or driven vision apparatuses mounted on the first motion arm 520 to be lifted integrally. Through set up the stand of liftable on first platform truck main part, can reduce the space occupation of first operation platform truck in vertical direction. In addition, since there is no need to provide an additional lifting mechanism (for example, the vertical arm lifting mechanism 523 provided between the RCM mechanism 522 and the mounting platform 527 as shown in fig. 5A and 5B) on the first moving arm, the structure of the first moving arm can be simplified, and the situation that the first moving arm has insufficient stability, for example, shake, during movement due to overlong moving chain or excessive joints, can be avoided.

In some embodiments, the first motion arm 520 may also include a mounting platform 527. The mounting platform 527 is fixedly disposed at the distal end of the RCM mechanism 522. For example, as shown in fig. 5B, the mounting platform 527 may secure the arcuate arms, e.g., the distal ends of the third arcuate arms 5223, disposed on a side of the plurality of arcuate arms of the RCM mechanism 522 that is remote from the positioning linkage 521. The mounting platform 527 may include a plurality of mounting locations, such as four mounting locations. In some embodiments, as shown in fig. 5B, the first movement arm 520 may further include a plurality of linear modules 528, the plurality of linear modules 528 being disposed at a plurality of mounting locations, respectively. The linear module 528 may include a linear module motor, a screw, a slide rail, and a slider, respectively. The sliding block is in sliding connection with the screw rod and is arranged on the sliding rail in a sliding way, and the screw rod is coupled with the output end of the linear module motor and drives the sliding block to slide along the sliding rail under the driving of the linear module motor. In some embodiments, as shown in fig. 5B, the first motion arm 520 may also include a plurality of drives 529 for mounting and driving a plurality of surgical tools or slave vision devices, such as a first slave tool, a second slave tool, a third slave tool, and a slave vision device. The plurality of driving devices 529 are mounted on the plurality of linear modules 528, respectively, to linearly move under the driving of the plurality of linear modules 528. For example, the driving devices 529 may be respectively and fixedly disposed on the sliding blocks of the linear modules 528, and the screw rod of the linear module 528 drives the sliding blocks to slide along the sliding rails under the driving of the linear module motor, so as to drive the driving devices 529 fixedly connected with the sliding blocks to move linearly. A plurality of slave tools and/or slave vision devices may be disposed in a predetermined distribution on the mounting platform 527 prior to a surgical procedure. The predetermined distribution of the plurality of slave tools on the mounting platform may be predetermined based on the surgical procedure and stored in a memory of the surgical robotic system. It should be appreciated that the plurality of drives on the first slave trolley 500 may have a common drive interface, so that the plurality of slave tools are interchangeable for installation on the mounting platform 527. In some embodiments, a plurality of slave tools and/or slave vision devices may be mounted on the mounting platform 527 in any distribution, and the control device may be configured to detect the type of slave tool and/or slave vision device mounted in each mounting location on the mounting platform 527 and generate a distribution of the plurality of slave tools and/or slave vision devices on the mounting platform 527 in response to the slave tools and/or slave vision devices being mounted in place.

In some embodiments, as shown in fig. 5A, the plurality of driven tools may include a first driven tool 530, a second driven tool 540, and a third driven tool 550. The slave visual device may comprise a slave visual device 560. Wherein the first driven tool 530 may include a first tool arm 531 and a first driven instrument 532 disposed at an end of the first tool arm 531, the second driven tool 540 may include a second tool arm 541 and a second driven instrument 542 disposed at an end of the second tool arm 541, and the third driven tool 550 may include a third tool arm 551 and a third driven instrument 552 disposed at an end of the third tool arm 551. The slave vision device 560 may include an imaging tool arm 561 and an endoscope 562 disposed at a distal end of the imaging tool arm 561. In some embodiments, at least a portion of the first tool arm 531 and the first slave instrument 532, at least a portion of the second tool arm 541 and the second slave instrument 542, at least a portion of the third tool arm 551 and the third slave instrument 552, at least a portion of the imaging tool arm 561, and the endoscope 562 are configured to be capable of accessing an operative field through a surgical attachment device 570 (e.g., a sheath), as shown in the enlarged region in fig. 5A. In some embodiments, the slave tool and/or the slave vision apparatus may further comprise a drive transmission. In some embodiments, the drive transmission may cooperate with the drive means to drive the tool arm in motion. The driving transmission device is used for being connected with the driving device, and the driving force of the driving device is transmitted to the tool arms of all driven tools or the imaging tool arms of the driven vision equipment through the driving transmission device, so that the tool arms or the imaging tool arms are driven to realize multi-degree-of-freedom motion. The driving device may also control the driven instrument of the driven tool to perform a surgical operation.

In some embodiments, the plurality of driving means may include at least a first driving means, a second driving means, a third driving means, and a fourth driving means for driving the first driven tool, the second driven tool, the third driven tool, and the driven vision apparatus, respectively. In some embodiments, the plurality of linear modules 528 may include a first linear module, a second linear module, a third linear module, and a fourth linear module for respectively mounting a first driving device, a second driving device, a third driving device, and a fourth driving device of the plurality of driving devices. In some embodiments, the plurality of mounting locations of the mounting platform 527 may include a first mounting location, a second mounting location, a third mounting location, and a fourth mounting location spaced about a center of the mounting platform 527 for mounting a first linear module, a second linear module, a third linear module, and a fourth linear module, respectively, of the plurality of linear modules 528. Also, the mounting platform 527 may be configured such that the axes of the plurality of mounting locations are directed toward the RCM such that the extension lines of the distal ends converge toward the RCM in the mounted state of the first, second, third and fourth linear modules to the mounting platform 527. Therefore, the plurality of linear modules are mutually dispersed and far away from each other in the state of being mounted on the mounting platform, and the extension lines of the far ends are converged towards the remote movement center, so that when the driving device carries the driven tool and/or the driven visual equipment, the driven tool and/or the driven visual equipment are not interfered with each other during movement of the linear modules, and the safety of operation is ensured.

In some embodiments, the second surgical trolley 240 may be a secondary trolley in the surgical robotic system 200 for assisting a first surgical trolley (e.g., the first surgical trolley 230 shown in fig. 2, the first surgical trolley 500 shown in fig. 5A, or the first surgical trolley 500' shown in fig. 5C) in performing a surgical procedure. In some embodiments, the second surgical trolley may carry slave tools for laparoscopic surgical procedures, or may carry slave tools of other departments to effect surgical procedures across departments. For example, in a state of being mounted on the second surgical carriage, the fourth driven tool may include at least one of a endoscopic system surgical tool, an orthopedic surgical tool, an extraterrestrial surgical tool, a puncture surgical tool, an interventional surgical tool, a transurethral bladder surgical tool, and the like.

Fig. 6 illustrates a schematic diagram of a second surgical trolley 600 of some embodiments of the present disclosure. In some embodiments, as shown in fig. 6, the second surgical trolley 600 may be a single-arm surgical trolley. The second surgical trolley 600 may include a second trolley body 610, a second motion arm 620, and a fourth driven tool 630. It should be appreciated that the second surgical trolley 600 may also be configured to include a slave vision device (not shown) instead of the fourth slave tool. The following description will take the second surgical trolley carrying the fourth driven tool as an example.

The second moving arm 620 may include a moving arm having multiple degrees of freedom composed of a plurality of joints. In some embodiments, the second motion arm 620 may be articulated to the second trolley body 610 at a proximal end (e.g., an end proximal to the second surgical trolley 600) and used to mount at least a fourth driven tool 630 or a driven vision device at a distal end (e.g., an end distal to the second surgical trolley 600). As shown in fig. 6, the second moving arm 620 may include a vertical arm 621 and at least one swing arm connected in sequence. The proximal end of the upstand 621 may be fixed to the second trolley body 610, or the upstand 621 may be rotatably connected to the second trolley body 610 such that the upstand 621 rotates relative to the second trolley body 610 about an axis perpendicular to the horizontal plane. The at least one swing arm may be configured with a proximal end rotatably coupled to a distal end of the upstand arm 621 for rotation about a horizontal axis relative to the upstand arm 621, the proximal end of the at least one swing arm for carrying a fourth driven tool 630. For example, as shown in fig. 6, the plurality of swing arms may include a first swing arm 622, a second swing arm 623, and a third swing arm 624 rotatably connected at a proximal end and a distal end, respectively, in sequence. The proximal end of the first swing arm 622 is rotatably connected to the distal end of the vertical arm 621 to rotate about a horizontal axis with respect to the vertical arm 621, the proximal end of the second swing arm 623 is rotatably connected to the distal end of the first swing arm 622, and the proximal end of the third swing arm 624 is rotatably connected to the distal end of the second swing arm 623. In some embodiments, a mounting location may be formed at the end of the third swing arm 624. The second moving arm 620 may further include a fourth driving device (not shown) disposed at the mounting location for mounting and driving the fourth driven tool 630. In some embodiments, the fourth driven tool 630 may have a similar structure to the first through third driven tools (e.g., the first, second, and third driven tools 530, 540, 550 shown in fig. 5A). The fourth driven tool 630 may include a fourth tool arm 631 and a fourth driven instrument 632 disposed at a distal end of the fourth tool arm 631. The distal end of the fourth tool arm 631 and the fourth driven instrument 632 are configured to be capable of accessing the operative field through an opening formed in the patient's body by a sheath, or the like. In some embodiments, the fourth driven tool 630 may also include a drive transmission. The driving transmission device is used for being connected with the driving device, and transmitting the driving force of the driving device to the fourth tool arm 631, so as to drive the fourth tool arm 631 to realize multi-degree-of-freedom motion. The drive device may also control the fourth slave device 632 to perform surgical operations. It should be appreciated that the fourth driven tool 630 may also be other types of surgical tools suitable for cross-room surgical procedures, such as straight-bar surgical tools like stab surgical tools.

Fig. 7 illustrates a schematic diagram of a slave vision device 750 observing an operation region in accordance with some embodiments of the present disclosure. In some embodiments, as shown in fig. 7, at least a portion of the first slave tool 710, the second slave tool 720, the third slave tool 730, and the fourth slave tool 740 located within the operating region may be included within the field of view of the slave vision device 750. The slave vision device 750 may be used to provide an image of the operating area to the first operator and/or the second operator to allow the first operator and/or the second operator to intuitively operate the slave tool by the master operator to perform a surgical operation while having a field of view of the operating area in which the slave tool is located.

In some embodiments, slave vision device 750 may be fixed in position or vary in position, e.g., slave vision device 750 may remain in a particular pose after reaching into a patient via a cannula, sheath, or the like to provide an image of an operating area, or slave vision device 750 may adjust in position or pose under teleoperation by a first operator and/or a second operator to meet the vision requirements of the first operator and/or the second operator.

In some embodiments, surgical robotic system 200 may also include equipment trolley 260 as an assistance module. Fig. 8 illustrates a schematic diagram of an equipment trolley 800 of some embodiments of the present disclosure. In some embodiments, as shown in fig. 8, a device trolley 800 may include a trolley body 810 and a display device 820. In some embodiments, the trolley body 810 may include a trolley body 811 and a bracket 812. The support 812 may be, for example, a movable support with adjustable posture. The proximal end of the bracket 812 is provided at the top of the carriage body 811 and the distal end is for providing the display device 820. The display device 820 may include at least one display. The display may be configured to display intra-operative images captured by a slave visual device (e.g., slave visual device 750 of fig. 7 or slave visual device 1160 of fig. 11). In some embodiments, the at least one display may further comprise a touch screen configured to display a user interface for displaying reminder information or receiving input instructions or the like to enable human-machine interaction with an operator. In some embodiments, the device cart 800 may also be used to house devices required during various types of surgical procedures, such as slave tools (e.g., the first slave tool 131, the second slave tool 132, the third slave tool 133, the fourth slave tool 134, etc., shown in fig. 1) or slave vision devices (e.g., the slave vision device 750 shown in fig. 7 or the slave vision device 1160 shown in fig. 11) mounted on the surgical cart, etc.

In some embodiments, as shown in fig. 8, the equipment trolley 800 may further include at least one location sensing unit 830. The positioning sensing unit 830 may be communicatively coupled to a control device (e.g., the control device 150 of fig. 1) for sensing the positioning of objects within an operating room by signal sensing and/or image acquisition. The positioning sensing unit may include at least one of an acoustic wave detection unit, a magnetic field detection unit, and an optical signal detection unit.

For example, the location sensing unit may comprise at least one image acquisition device for acquiring a location image of the mobile station. The image capture device may include, but is not limited to, a dual lens image capture device or a single lens image capture device, such as a monocular camera, a binocular camera, a monocular structured light camera, a binocular structured light camera, a TOF (Time offlight ) camera, or the like. The image capturing device may be a video camera, an industrial camera, etc. according to different application environments. In some embodiments, the image acquisition device may implement at least one of visible band imaging, infrared band imaging, and the like. Depending on the kind of the acquired image, a person skilled in the art may select different image acquisition apparatuses as the image acquisition apparatuses. In some embodiments, the apparatus trolley 800 may include three positioning sensing units 830 for positioning a first surgical trolley (e.g., the first surgical trolley 130 shown in fig. 1, the first surgical trolley 230 shown in fig. 2, the first surgical trolley 500 shown in fig. 5A, or the first surgical trolley 500' shown in fig. 5C), a second surgical trolley (e.g., the second surgical trolley 140 shown in fig. 1, the second surgical trolley 240 shown in fig. 2, or the second surgical trolley 600 shown in fig. 6), and an operating table (e.g., the operating table 280 shown in fig. 2) or a surgical connection device on the operating table (e.g., the surgical connection device 270 shown in fig. 2, or the surgical connection device 570 shown in fig. 5A and 5C), respectively, as described in detail below. Those skilled in the art will appreciate that the position sensing unit is not limited to being provided on the equipment trolley. The positioning sensing unit may also be integrated onto a master or surgical trolley, or may be provided separately, such as positioning sensing unit 1030 shown in fig. 10. In some embodiments, the position sensing unit may also be located outside the surgical robotic system, for example in an operating room environment.

It will be appreciated by those skilled in the art that the surgical robotic system is not limited to the above-described structures, and may be actually combined according to the surgical needs. In some embodiments, the second surgical trolley of the surgical robotic system may be a vision trolley for carrying only slave vision equipment, and a plurality of slave tools may be carried on the first surgical trolley to perform a surgical operation under the manipulation of the first and second operators. For example, a first surgical trolley may carry a plurality of slave tools, such as first through fourth slave tools, and a second surgical trolley may carry slave vision equipment.

In some embodiments, the first and second surgical carts may also include a total of five or more driven tools to support complex surgical procedures. For example, the first surgical carriage is equipped with a fifth driven tool in addition to the first to third driven tools. Or the second surgical trolley may be a similar surgical trolley to the first surgical trolley to carry either the fourth slave fifth slave or the fourth slave and the slave vision device at the same time.

In the present disclosure, the surgical robotic system further includes a control device (e.g., control device 150 shown in fig. 1) configured to control the slave instrument movement of at least one of the plurality of slave tools based on the movement of the handle of at least one of the plurality of master operators to effect a surgical procedure. Those skilled in the art will appreciate that the control device may be integrated on at least one of a master trolley, a surgical trolley, or an equipment trolley of the surgical robotic system, or located outside of the surgical robotic system.

Before or during a surgical operation, at least one of the plurality of slave tools needs to be assigned to at least one of the plurality of master operators to establish an association between the at least one master operator and the at least one slave tool to enable the surgical function of the at least one slave tool to be assigned to the at least one master operator. By establishing a master-slave mapping between at least one master manipulator and at least one slave tool having an assigned relationship, a plurality of slave tools may be allowed to perform a surgical operation under master-slave teleoperation control of a first operator and/or a second operator.

Fig. 9 illustrates a schematic diagram of a dispensing state of a slave tool according to some embodiments of the present disclosure. In some embodiments, the control device may be configured to assign at least one of the plurality of slave tools to at least one of the plurality of master operators in response to a preset or assignment request. In some embodiments, as shown in fig. 9, the control device may be configured to assign the first driven tool 931, the second driven tool 932, the third driven tool 933, and the fourth driven tool 941 to the first left-hand main operator 911a, the first right-hand main operator 911b, the second left-hand main operator 912c, and the second right-hand main operator 912d, respectively (the assignment of at least one main operator to at least one driven tool is shown with solid arrows).

In some embodiments, the preset may include a plurality of tool allocation modes corresponding to surgical formulas to allow the control device to automatically allocate at least one of the plurality of slave tools to at least one of the plurality of master operators. The tool allocation pattern includes, for example, an allocation relationship of at least one of the plurality of slave tools to at least one of the plurality of master operators. For example, a plurality of slave tools may be allocated to a plurality of master operators in a one-to-one correspondence. Or in the case where the number of slave tools is greater than the number of master operators, the tool allocation pattern may also include allocating a plurality of slave tools (e.g., two slave tools) to one master operator and allocating other slave tools of the plurality of slave tools to other master operators of the plurality of master operators in a one-to-one correspondence to allow an operator to quickly switch between the plurality of slave tools associated with one master operator, e.g., the operator may implement quick switching of slave tools during a procedure by stepping on a switch pedal on a master trolley (e.g., first master trolley 300 shown in fig. 3). Or in the case where the number of slave tools is greater than the number of master operators, the tool allocation mode may further include allocating slave tools corresponding to the number of master operators among the plurality of slave tools to the plurality of master operators one by one, and placing the other slave tools in an unassigned state to allow the first operator or the second operator to issue an allocation request for the unassigned slave tools during the operation.

In some embodiments, the tool allocation pattern may be preset and stored into a memory of the surgical robotic system based on various surgical formulas. The control device may assign at least one of the plurality of slave tools to at least one of the plurality of master operators based on a tool assignment pattern corresponding to a current surgical style before the surgical operation. In some embodiments, the tool allocation pattern may also be preset based on the operator's operating habits and stored in association with the operator's identity identification in the memory of the surgical robotic system. The control device may select a corresponding tool allocation mode based on the identification of the operator and the current surgical style, and allocate at least one of the plurality of slave tools to at least one of the plurality of master operators before the surgical operation. It should be appreciated that the control device may perform the pre-dispensing of the plurality of slave tools either before or after the plurality of slave tools are installed. For example, the control device may be configured to pre-assign the plurality of slave tools to the plurality of master operators based on a predetermined distribution of the plurality of slave tools on a moving arm (e.g., the first surgical robot 500 shown in fig. 5A or the first moving arm 520 of the first surgical trolley 500' shown in fig. 5C) and a tool assignment pattern corresponding to a current surgical style, before mounting the plurality of slave tools on the surgical trolley. Alternatively, the control device may be configured to, after the plurality of slave tools are mounted on the surgical trolley, pre-allocate the plurality of slave tools to the plurality of master operators based on the distribution state of the plurality of slave tools on the moving arm (for example, the first surgical robot 500 shown in fig. 5A or the first moving arm 520 of the first surgical trolley 500' shown in fig. 5C) and the tool allocation pattern corresponding to the current surgical style.

In some embodiments, the allocation request may include a pre-operative allocation request and an intra-operative allocation request. The preoperative allocation request may be a tool allocation request input by the first operator and/or the second operator prior to the surgical operation to pre-allocate at least one of the plurality of slave tools to at least one of the plurality of master operators. The intra-operative allocation request may be a tool allocation request entered by the first operator and/or the second operator during the surgical operation to allocate at least one of the plurality of slave tools to at least one of the plurality of master operators.

In some embodiments, the control device may be configured to determine, based on the allocation request, whether the allocation condition is satisfied by at least one slave tool and/or at least one master operator to which the allocation request relates. In some embodiments, the allocation conditions include at least one slave tool not being allocated and/or at least one master operator being allocated a higher priority. It will be appreciated by those skilled in the art that in a cooperative surgical procedure for a first operator, which may be, for example, a primary surgeon, a teleoperated slave tool on a first master cart to perform a primary surgical operation in the surgical procedure, and a second operator, which may be, for example, a secondary surgeon, a teleoperated slave tool on a second master cart to perform a secondary surgical operation to assist the primary surgeon, there is a need to preferentially satisfy the operational and vision requirements of the primary surgeon during the surgical procedure. In the present disclosure, the allocation priority of the main manipulator means that among the plurality of main manipulators of the surgical robot system, a main manipulator operated by an operator having a high priority has a higher allocation priority. In some embodiments, as shown in fig. 9, among the plurality of main operators, the first left-hand main operator 911a and the first right-hand main operator 911b may have higher allocation priority than the second left-hand main operator 921a and the second right-hand main operator 921b, so that it is possible to ensure that the allocation request of the first operator, which is a doctor of the main knife, is preferentially satisfied. In some embodiments, the first left-hand main operator 911a and the first right-hand main operator 911b may have the same higher assigned priority, and the second left-hand main operator 921a and the second right-hand main operator 921b may have the same lower assigned priority.

In some embodiments, the control device may be further configured to assign the slave instrument of the at least one slave tool to the handle of the at least one master operator in response to the assignment condition being met. In some embodiments, the control device may be configured to assign the slave instrument of the at least one slave tool to the handle of the corresponding at least one master operator in response to the at least one slave tool involved in the assignment request being in an unassigned state. For example, as shown by the hollow line arrow in fig. 9, the control device may be configured to, in response to the second operator issuing an allocation request to allocate the fifth slave tool 951 in the unassigned state to the second right-hand master manipulator 921b, release the allocation relationship (or break the master-slave mapping) of the second right-hand master manipulator 921b to the fourth slave tool 941, and allocate the fifth slave tool 951 to the second right-hand master manipulator 921b.

Before or during a surgical operation, a situation may arise in which an operator issues an allocation request to at least one slave tool that has been allocated to at least one master operator. In some embodiments, the control device may be configured to reassign the slave tool assigned to the lower priority or the same master operator to the higher priority or the same master operator in response to an assignment request of the higher priority or the same master operator to the slave tool assigned to the lower priority or the same master operator. For example, the control device may be configured to prompt the second operator as the primary doctor when the first operator, which is the secondary doctor, issues an allocation request to at least one of the driven tools allocated to the second operator, which is the secondary doctor, and to allocate the driven tool to the primary operator operated by the first operator. As indicated by the dashed arrow in fig. 9, the control device may be configured to, when the first operator issues an allocation request to allocate the third slave tool 933 allocated to the second left-hand master operator 921a operated by the second operator to the first left-hand master operator 911a, release the allocation relationship (or break the master-slave mapping) of the second left-hand master operator 921a and the third slave tool 933 and allocate the third slave tool 933 to the first left-hand master operator 911a. Or the control device may be configured to, when the first operator or the second operator issues an allocation request to exchange the slave tools allocated to the left-hand master operator and the slave tools on the right-hand master operator operated by the first operator or the second operator, exchange the two slave tools with each other for allocation to the corresponding master operators. for example, as shown by the dashed-dotted arrow in fig. 9, the control device may be configured to release the allocation relationship (or the off-master-slave mapping) of the second left-hand master manipulator 921a and the third slave tool 933 and the allocation relationship (or the off-master-slave mapping) of the second right-hand master manipulator 921b and the fourth slave tool 941, and to allocate the third slave tool 933 and the fourth slave tool 941 to the second right-hand master manipulator 921b and the second left-hand master manipulator 921a, respectively, when the second operator issues an allocation request to exchange the third slave tool 933 allocated to the second left-hand master manipulator 921a and the fourth slave tool 941 allocated to the second right-hand master manipulator 921 b. In some embodiments, the control means may be configured to reassign the slave tool assigned to the higher priority master operator to the lower priority master operator based on the assignment grant in response to an assignment request by the lower priority master operator to the slave tool assigned to the higher priority master operator. For example, the control device may be configured to transmit request information to the first operator when the second operator as the secondary doctor issues a request for allocation to at least one slave tool allocated to the first operator as the primary doctor, and to allocate the slave tool to the master operator operated by the second operator when the first operator grants the request for allocation. As indicated by the two-dot chain line arrow in fig. 9, the control device may be configured to, when the second operator issues an allocation request to allocate the second slave tool 932 allocated to the first right-hand master operator 911b operated by the first operator to the second left-hand master operator 921a, send request information to the first operator, release the allocation relation (or disconnect the master-slave mapping) of the first right-hand master operator 911b and the second slave tool 932 when the first operator grants the allocation request, and allocate the second slave tool 932 to the second left-hand master operator 921a.

In a surgical operation, an operator controls the slave instrument position and posture of at least one slave tool by teleoperating a handle of at least one master operator. In the process of starting teleoperation, if the gesture (such as the direction or the angle) of the handle of the main operator is not matched with the gesture (such as the direction or the angle) of the driven instrument of the driven tool, the operator can hardly experience visual operation feel, and the control precision of the operator on the driven tool is reduced. Thus, in some embodiments, the control device may be configured to control the at least one master operator to match at least one slave tool having an allocation relationship after allocating at least one slave tool of the plurality of slave tools to the at least one master operator of the plurality of master operators and before establishing a master-slave mapping of the at least one master operator to the at least one slave tool, as will be described in detail below. In some embodiments, the control device may be further configured to establish a master-slave mapping of the handle of the at least one master operator with the slave implement of the at least one slave implement in response to the handle of the at least one master operator matching the slave implement of the at least one slave implement. By establishing the master-slave mapping, the position and posture change of the image of the slave instrument of the at least one slave tool sensed by the operator and the position and posture change of the handle of the at least one master operator sensed by the operator can be ensured to keep a preset conversion relation, and intuitive operation is realized, and the specific contents are described below.

Fig. 10 illustrates a schematic diagram of a surgical robotic system 1000 of some embodiments of the present disclosure. The definition of each coordinate system in fig. 10 is as follows: the first surgical trolley coordinate system { V1}, the origin being located on the trolley body of the first surgical trolley 1010, the coordinate axis directions being as shown in FIG. 10. The second surgical trolley coordinate system { V2}, the origin is located on the trolley body of the second surgical trolley 1020, and the coordinate axis direction is shown in FIG. 10. A fourth slave base coordinate system { ok4} of a fourth slave tool as at least one slave tool, the origin being located at the base of the fourth slave tool (which may be, for example, the end of the moving arm of the second slave trolley, as shown in fig. 6 by the third swing arm 624),Is consistent with the direction of the extension line of the base,The direction is shown in fig. 10. A fourth slave instrument coordinate system { g4} of the fourth slave tool, the origin being located at or on the slave instrument at the tool arm end of the slave tool,In line with the axis of the tip or the axis of the driven instrument,The direction is shown in fig. 10. The slave vision device base coordinate system { o3}, the origin being located at the base of the slave vision device (which may be the drive means of the slave vision device, for example) or at the entrance sheath exit,Is consistent with the axial direction of the extension line of the base or the abdomen-entering sheath,The direction is shown in fig. 10. The camera coordinate system { ge } of the slave vision equipment, the origin is positioned at the tail end of the tool arm of the slave vision equipment or is arranged on an endoscope (such as the far end surface of the endoscope and the center line midpoint of the center line of the binocular camera), and the axis of the tail end or the axis direction of the endoscope isThe direction and the upper part are right after the vision is alignedDirection. The display coordinate system { D }, the origin point is located at the center of the display, the inward direction of the vertical screen isIn the positive direction, the upper part of the screen picture isDirection. At least one slave instrument image coordinate system { G } of the slave instrument, the origin being located at the end of the tool arm of the slave instrument or on an image of the slave instrument in the display screen,In line with the axis of the end image or the axis of the slave instrument image,The direction is shown in fig. 10. The main operator base coordinate system { M } of at least one main operator, the coordinate axis direction is shown in FIG. 10. The handle coordinate system { H } of at least one main manipulator, the coordinate axis direction is shown in FIG. 10. The reference coordinate system { w } may be the coordinate system of the space in which the master manipulator or slave tool or endoscope is located, such as the slave tool base coordinate system { ok }, or the world coordinate system, as shown in fig. 10. In some embodiments, the body feeling of the operator can be used as a reference, and when the operator sits in front of the main control desk, the body feeling is upwardThe direction and the motion sense are the forward directionDirection. It will be appreciated by those skilled in the art that the manner of defining the coordinate system is not limited to the above, and that other coordinate system definitions may be used to effect teleoperation of the surgical robotic system.

In some embodiments, as shown in fig. 10, a surgical robotic system 1000 may include a first surgical trolley 1010 and a second surgical trolley 1020. In some embodiments, the first surgical trolley 1010 may be used to carry a plurality of slave tools, such as a first slave tool, a second slave tool, and a third slave tool (not shown), and the second surgical trolley 1020 may be used to carry at least one slave tool, such as a fourth slave tool. In some embodiments, the first surgical cart 1010 or the second surgical cart 1020 may also be used to carry a slave vision device, such as an endoscopic device. The following description will take the first surgical cart 1010 with a slave vision device as an example.

In some embodiments, the control device may be configured to obtain a pose of the first surgical trolley; obtaining the pose of the second operation trolley; based on the pose of the first operation trolley and the second operation trolley, determining the transformation relation between the first operation trolley coordinate system and the second operation trolley coordinate system; and determining a transformation relationship of the slave tool base coordinate system of the at least one slave tool and the slave vision equipment base coordinate system based on the transformation relationship of the first surgical trolley coordinate system and the second surgical trolley coordinate system. In some embodiments, the pose of the first surgical trolley 1010 may include the pose of the first surgical trolley coordinate system { V1} relative to the reference coordinate system { w }, and the pose of the second surgical trolley 1020 may include the pose of the second surgical trolley coordinate system { V2} relative to the reference coordinate system { w }.

In some embodiments, the surgical robotic system 1000 may further include at least one positioning sensing unit 1030 for sensing positioning information of the first and/or second surgical trolley. The control device may be connected with at least one location sensing unit 1030. In some embodiments, the control device may be configured to obtain the pose of the first and second surgical carts based on the positioning information of the first and second surgical carts. In some embodiments, the at least one positioning sensing unit 1030 may include a first positioning sensing unit and a second positioning sensing unit for sensing positioning information of the first and second surgical dollies, respectively, and the first and second positioning sensing units may have a predetermined pose relationship. In some embodiments, the positioning sensing unit 1030 may be used to sense positioning information of a positioning unit, which may be disposed on each trolley of the surgical robotic system (e.g., a first surgical trolley, a second surgical trolley, etc.), including at least one of an acoustic positioning unit, an electromagnetic positioning unit, and an optical positioning unit, which may include at least one of acoustic positioning information, electromagnetic positioning information, and optical positioning information.

In some embodiments, the positioning sensing unit may comprise an image acquisition device for acquiring a positioning image of the surgical trolley. The image capture device may include, but is not limited to, a dual lens image capture device or a single lens image capture device, such as a monocular camera, a binocular camera, a monocular structured light camera, a binocular structured light camera, a TOF (Time of flight) camera, or the like. The image capturing device may be a video camera, an industrial camera, etc. according to different application environments. In some embodiments, the image acquisition device may implement at least one of visible band imaging, infrared band imaging, and the like. Depending on the kind of the acquired image, a person skilled in the art may select different image acquisition apparatuses as the image acquisition apparatuses. It will be appreciated by those skilled in the art that the at least one location sensing unit 1030 may also be integrated on an equipment trolley (e.g., the equipment trolley 800 shown in fig. 8), such as the at least one location sensing unit 830 shown in fig. 8. In some embodiments, at least one positioning sensing unit 1030 may also be integrated on the second surgical trolley 1020. The second surgical cart 1020 or the device cart 800 may recognize the target pose through the positioning sensing unit 1030, automatically reaching the target pose in the operating room. The target pose may be associated with the pose of the first surgical trolley 1010 or the surgical position of the patient.

In some embodiments, the control device may be configured to determine a pose of the surgical trolley based on the localization image. The control device can perform image processing based on the positioning image of the operation trolley shot by the image acquisition device so as to determine the pose of the operation trolley. For example, at least one positioning tag may be provided on the surgical trolley, and the at least one positioning tag may be provided on a trolley body of the surgical trolley (e.g., the first trolley body 510 of the first surgical trolley 500 shown in fig. 5A or the first surgical trolley 500' shown in fig. 5C, or the second trolley body 610 of the second surgical trolley 600 shown in fig. 6), for example. By identifying the positioning tag in the positioning image acquired by the image acquisition device, the pose of the surgical trolley can be determined.

In some embodiments, the control device may also be configured to determine the pose of the surgical trolley based on other types of positioning information detected by the positioning sensing unit. For example, the control device may determine the pose of the surgical trolley based on at least one of acoustic positioning information, electromagnetic positioning information, and optical positioning information detected by the positioning sensing unit.

In some embodiments, the control device may be configured to determine a transformation relationship of the first and second surgical trolley coordinate systems based on the pose of the first and second surgical trolleys. For example, the control device may be configured to determine the transformation relationship of the first surgical dolly coordinate system { V1} and the second surgical dolly coordinate system { V2} based on the pose of the first surgical dolly coordinate system { V1} with respect to the reference coordinate system { w } and the pose of the second surgical dolly coordinate system { V2} with respect to the reference coordinate system { w }.

In some embodiments, the control device is further configured to determine a transformation relationship of the slave tool base coordinate system of at least one slave tool of the plurality of slave tools to the slave vision equipment base coordinate system based on the transformation relationship of the first and second surgical trolley coordinate systems. For example, the control device may determine a conversion relationship between the fourth slave tool base coordinate system of the fourth slave tool on the second surgical dolly, on which the slave vision device is not mounted, and the slave vision device base coordinate system of the slave vision device mounted on the first surgical dolly, based on the conversion relationship between the first surgical dolly coordinate system and the second surgical dolly coordinate system.

As shown in fig. 10, the control device may be further configured to determine a transformation relationship between the fourth slave-tool-based coordinate system { ok4} and the slave-visual-device-based coordinate system { o3} based on a transformation relationship between the slave-visual-device-based coordinate system { o3} of the slave visual device mounted on the first surgical dolly and the first surgical dolly coordinate system { V1}, a transformation relationship between the fourth slave-tool-based coordinate system { ok4} of the fourth slave tool mounted on the second surgical dolly and the second surgical dolly coordinate system { V2}, and a transformation relationship between the first surgical dolly coordinate system { V1} and the second surgical dolly coordinate system { V2 }. In some embodiments, the slave vision device-based coordinate system { o3} may have a predetermined transformation relationship with the first surgical trolley coordinate system { V1}, e.g., may be determined based on the configuration of the first surgical trolley, and the fourth slave tool-based coordinate system { ok4} of the fourth slave tool may have a predetermined transformation relationship with the second surgical trolley coordinate system { V2}, e.g., may be determined based on the configuration of the second surgical trolley. In the present disclosure, the configuration of the surgical trolley may include the dimensions of the surgical trolley (e.g., height, length, etc. of the surgical trolley) and/or the configuration of a motion arm provided on the surgical trolley.

It should be understood that, as the first surgical dolly on which the slave vision device is mounted, the slave tool base coordinate system { ok1} - { ok3} of the first to third slave tools (not shown in the figure) mounted on the first surgical dolly and the slave vision device base coordinate system { o3} may have a predetermined conversion relationship. In some embodiments, as shown in fig. 5A, the slave vision device 560 and at least one slave tool (e.g., three slave tools 530 as first through third slave tools) may each extend into the patient through a sheath on the surgical attachment 570. Thus, the transformation relationship of the slave tool base coordinate system { ok1} - { ok3} of the first to third slave tools and the slave vision equipment base coordinate system { o3} can be determined based on the pose relationship between the sheath for passing through at least one slave tool (e.g., three slave tools 530 as the first to third slave tools) and the sheath for passing through the slave vision equipment 560.

In some embodiments, the control device may be further configured to: based on the transformation relation between the driven tool base coordinate system and the driven vision equipment base coordinate system of the at least one driven tool, the driven instrument of the at least one driven tool is controlled to be matched with the handle of the at least one main operator and/or a master-slave mapping of the driven instrument of the at least one driven tool and the handle of the at least one main operator is established. In some embodiments, the control device may be configured to control the slave instrument of the at least one slave tool to match the handle of the at least one master operator and/or to establish a master-slave mapping of the slave instrument of the at least one slave tool to the handle of the at least one master operator based on a transformation of the slave tool base coordinate system { ok1} { ok4} of the first to fourth slave tools with the slave vision equipment base coordinate system { o3} and a transformation of the master operator base coordinate system { M } of the at least one master operator of the plurality of master operators with the display coordinate system { D }. In some embodiments, the transformation relationship between the at least one main operator and the display may be predetermined, for example, the at least one main operator and the display may be fixedly disposed on the master cart, respectively, and the main operator base coordinate system { M } of the at least one main operator has a predetermined transformation relationship with the display coordinate system { D }. Or the transformation relation between the main operator base coordinate system { M } of the at least one main operator and the display coordinate system { D } may be obtained based on the transformation relation between the main operator base coordinate system { M } of the at least one main operator and the reference coordinate system { w } and the transformation relation between the display coordinate system { D } and the reference coordinate system { w }.

In the present disclosure, the mating of the handle of the at least one master manipulator with the slave instrument of the at least one slave tool may include the mating of the pose of the handle of the at least one master manipulator with the pose of the slave instrument of the at least one slave tool. In some embodiments, matching the at least one master manipulator handle to the at least one slave instrument of the slave tool may include matching the pose of the at least one master manipulator handle to the reference frame with the pose of the at least one slave instrument of the slave tool in the display relative to the reference frame in order to match the pose change perceived by the operator by teleoperating the at least one master manipulator handle to the pose change perceived by the operator in the display of the slave instrument of the at least one slave tool.

In some embodiments, the control device may be configured to obtain an initial pose of the slave instrument of the at least one slave tool; obtaining an initial pose of a handle of at least one master manipulator in a dispensing relationship with a slave instrument of at least one slave tool; determining whether the handle of the at least one master operator matches the slave instrument of the at least one slave tool based on the initial pose of the handle of the at least one master operator and the initial pose of the slave instrument of the at least one slave tool; and generating a master operator control signal responsive to the at least one master operator handle not matching the at least one slave tool slave instrument, the master operator control signal for adjusting the pose of the at least one master operator handle to match the pose of the at least one slave tool slave instrument.

In some embodiments, the control device may be configured to control the at least one master operator to match with the at least one slave tool having the dispensing relationship in response to detecting the match trigger. In some embodiments, the match trigger may include an operation of a trigger device provided on the master manipulator or the master trolley. The operation of the triggering device can be, for example, stirring a switch on the main operator, touching an induction position on the main operator, long-pressing or clicking a key on the main operator, stepping on a pedal of the main control trolley, operating a display screen of the main control trolley, and the like. It should be appreciated that the matching trigger may be preset and stored in the memory of the surgical robotic system. In some embodiments, the control device may also be configured to automatically control the at least one master manipulator to match the at least one slave tool having the allocation relationship after allocating the at least one slave tool of the plurality of slave tools to the at least one master manipulator of the plurality of master manipulators.

In some embodiments, the control device may be further configured to establish a master-slave mapping of the handle of the at least one master operator with the slave instrument of the at least one slave tool in response to the handle of the at least one master operator matching the slave instrument of the at least one slave tool to ensure intuitive operation by the operator. In some embodiments, the control device may be configured to issue control of the slave instrument of the at least one slave tool to the handle of the at least one master manipulator after establishing a master-slave mapping between the handle of the at least one master manipulator and the slave instrument of the at least one slave tool to allow an operator to perform a surgical procedure by teleoperation.

In some embodiments, the master-slave mapping of the handles of the at least one master manipulator to the slave instruments of the at least one slave tool may include a pose relationship of the handles of the at least one master manipulator to the slave instruments of the at least one slave tool. The pose relationship of the handle of the at least one master manipulator and the slave instrument of the at least one slave tool may include a positional relationship and a pose relationship of the handle and the slave instrument. In some embodiments, the positional relationship of the handle of the at least one master operator and the slave instrument of the at least one slave tool may include a relationship between a change in position of the handle and a change in position of the slave instrument. The attitude relationship of the handle of the at least one master operator and the slave instrument of the at least one slave tool may include a relationship between an amount of attitude change of the handle and an amount of attitude change of the slave instrument.

In some embodiments, the control device is further configured to generate a slave tool control signal based on movement of the handle of the at least one master operator in response to the slave instrument of the at least one slave tool having established a master-slave map with the handle of the at least one master operator, the slave tool control signal for controlling slave instrument movement of the at least one slave tool. For example, the control device may be configured to obtain a current pose of the handle of the at least one primary operator; obtaining a previous pose of a handle of at least one primary manipulator; obtaining a starting pose of a driven instrument of at least one driven tool; determining a target pose of the slave instrument of the at least one slave tool based on a previous pose of the handle of the at least one master manipulator, a current pose of the handle of the at least one master manipulator, a starting pose of the slave instrument of the at least one slave tool, and a pose relationship of the handle of the at least one master manipulator and the slave instrument of the at least one slave tool; and generating a slave tool control signal based on the target pose of the slave instrument of the at least one slave tool, the slave tool control signal for controlling the slave instrument motion of the at least one slave tool.

In some embodiments, the control device may be configured to obtain a current pose of the handle of the at least one primary operator, the current pose comprising a current position and a current pose. In some embodiments, the pose of the handle of the at least one primary operator may be a pose of the handle of the at least one primary operator with respect to the reference coordinate system { w }, e.g., a current pose of the handle coordinate system { H } of the at least one primary operator with respect to the reference coordinate system { w }. In some embodiments, the current pose of the handle coordinate system { H } of the at least one primary manipulator relative to the reference coordinate system { w } may be derived based on the current pose of the handle coordinate system { H } of the at least one primary manipulator relative to the primary manipulator base coordinate system { M } and the transformation of the primary manipulator base coordinate system { M } to the reference coordinate system { w }. In some embodiments, obtaining the current position of the handle of the at least one primary operator comprises obtaining the current position of the handle coordinate system { H } of the at least one primary operator relative to the reference coordinate system { w }, and obtaining the current pose of the handle of the at least one primary operator comprises obtaining the current pose of the handle coordinate system { H } of the at least one primary operator relative to the reference coordinate system { w }.

In some embodiments, the control device may be further configured to obtain current joint information of the at least one joint, and determine the current pose of the handle of the at least one primary operator based on the current joint information of the at least one joint, similar to determining the initial pose of the handle of the at least one primary operator. In some embodiments, the control device may be configured to calculate the current pose of the handle of the at least one primary manipulator based on the primary manipulator sensor acquiring joint information (position or angle) of the corresponding joint. For example, the control device may be configured to calculate the current pose of the handle of the at least one primary manipulator based on joint information (e.g., angle) acquired by the primary manipulator sensor of the at least one pose joint and a forward kinematic algorithm, and calculate the current position of the handle of the at least one primary manipulator based on joint information (e.g., position) acquired by the primary manipulator sensor of the at least one position joint and the forward kinematic algorithm.

In some embodiments, the control device may be configured to obtain a previous pose of the handle of the at least one primary operator, the previous pose comprising a previous position and a previous pose. In some embodiments, obtaining the previous position of the handle of the at least one primary operator comprises obtaining the previous position of the handle coordinate system { H } of the at least one primary operator relative to the reference coordinate system { w }, and obtaining the previous pose of the handle of the at least one primary operator comprises obtaining the previous pose of the handle coordinate system { H } of the at least one primary operator relative to the reference coordinate system { w }.

In some embodiments, the control device may receive previous joint information of at least one joint of the at least one main operator and determine the previous pose of the handle of the at least one main operator based on the previous joint information of the at least one joint, similar to determining the initial pose of the handle of the at least one main operator and obtaining the current pose of the handle of the at least one main operator. For example, the control device may determine the previous and current pose of the handle of the at least one main operator based on the main operator sensor reading joint information of the at least one main operator at the previous time and the current time.

In some embodiments, the control device may be configured to obtain a starting pose of the slave instrument of the at least one slave tool, the starting pose comprising a starting position and a starting pose. In some embodiments, the starting pose of the slave instrument of the at least one slave tool may be a starting pose of the slave instrument of the at least one slave tool with respect to the slave tool base coordinate system { ok }, e.g., a starting pose of the slave instrument coordinate system { g } of the at least one slave tool with respect to the slave tool base coordinate system { ok }. In some embodiments, obtaining the starting position of the slave instrument of the at least one slave tool comprises obtaining a starting position of a slave instrument coordinate system { g } of the at least one slave tool relative to a slave tool base coordinate system { ok } and obtaining the starting pose of the slave instrument of the at least one slave tool comprises obtaining a starting pose of the slave instrument coordinate system { g } of the at least one slave tool relative to the slave tool base coordinate system { ok }. In some embodiments, the control device may receive the target pose of the slave instrument of the at least one slave tool obtained in the previous round of control cycle as the starting pose of the slave instrument of the at least one slave tool in the present round of control cycle. For the first wheel control cycle, an initial pose of the slave instrument of the at least one slave tool (e.g., a zero position of the at least one slave tool) may be employed as a starting pose of the first wheel control cycle.

In some embodiments, the control device may be configured to determine the amount of change in the pose of the handle of the at least one primary operator based on the previous pose and the current pose of the handle of the at least one primary operator. For example, the amount of change in position of the handle of the at least one main operator in the reference coordinate system { w } may be determined based on the previous position and the current position of the handle coordinate system { H } of the at least one main operator with respect to the reference coordinate system { w }, and the amount of change in posture of the handle of the at least one main operator in the reference coordinate system { w } may be determined based on the previous posture and the current posture of the handle coordinate system { H } of the at least one main operator with respect to the reference coordinate system { w }.

In some embodiments, the control device may be further configured to determine the amount of change in pose of the slave instrument of the at least one slave tool based on the amount of change in pose of the handle of the at least one master operator and the pose relationship of the handle of the at least one master operator to the slave instrument of the at least one slave tool. For example, the position change amount of the slave device of the at least one slave tool may be determined based on the position change amount of the handle of the at least one master manipulator and the position relationship between the handle and the slave device, and the posture change amount of the slave device of the at least one slave tool may be determined based on the posture change amount of the handle of the at least one master manipulator and the posture relationship between the handle and the slave device.

In some embodiments, the control device may be further configured to determine a target pose of the slave instrument of the at least one slave tool based on the starting pose of the slave instrument of the at least one slave tool and the pose change amount of the slave instrument of the at least one slave tool, the target pose including the target position and the target pose. In some embodiments, the target pose of the slave instrument of the at least one slave tool may be a target pose of the slave instrument of the at least one slave tool with respect to the slave tool base coordinate system { ok }, e.g., a target pose of the slave instrument coordinate system { g } of the at least one slave tool with respect to the slave tool base coordinate system { ok }. For example, the target position of the slave device of the at least one slave tool may be determined based on the start position of the slave device of the at least one slave tool and the amount of change in position of the slave device of the at least one slave tool, and the target pose of the slave device of the at least one slave tool may be determined based on the start pose of the slave device of the at least one slave tool and the amount of change in pose of the slave device of the at least one slave tool.

In some embodiments, the pose relationship may include that the amount of change in position of the image of the slave instrument of the at least one slave tool in the display relative to the reference coordinate system { w } is proportional to the amount of change in position of the handle of the at least one master manipulator relative to the reference coordinate system { w }, and/or that the amount of change in pose of the image of the slave instrument of the at least one slave tool in the display relative to the reference coordinate system { w } is consistent with the amount of change in pose of the handle of the at least one master manipulator relative to the reference coordinate system { w }. For example, the pose relationship may include that a position change amount of the slave instrument image coordinate system { G } of the at least one slave tool with respect to the reference coordinate system { w } is proportional to a position change amount of the handle coordinate system { H } of the at least one master manipulator with respect to the reference coordinate system { w }, and/or that a pose change amount of the slave instrument image coordinate system { G } of the at least one slave tool with respect to the reference coordinate system { w } coincides with a pose change amount of the handle coordinate system { H } of the at least one master manipulator with respect to the reference coordinate system { w }.

In some embodiments, the control device may be configured to generate a slave tool control signal based on the start pose and the target pose of the slave instrument of the at least one slave tool, the slave tool control signal being used to control the slave instrument motion of the at least one slave tool. In some embodiments, the control device may be further configured to determine a pose difference based on the starting pose and the target pose of the slave instrument of the at least one slave tool; and determining a drive signal for controlling the slave instrument motion of the at least one slave tool based on the pose difference and the inverse kinematics model of the tool arm of the at least one slave tool. For example, based on the difference between the target pose and the starting pose of the slave instrument operating at least one slave tool in the world coordinate system, the drive values of the plurality of joints included in the tool arm (or the drive values of the corresponding plurality of motors controlling the motion of the operating arm) within the current motion control cycle may be determined by an inverse kinematics numerical iterative algorithm of the tool arm kinematics model. It should be appreciated that the kinematic model may represent a mathematical model of the kinematic relationship of the joint space and task space of the tool arm. For example, the kinematic model can be established by DH (Denavit-Hartenberg) parameter method, exponential product representation method and the like.

In some embodiments, the slave instrument of the at least one slave tool may be iteratively controlled to move to the target pose by a plurality of motion control loops having a predetermined period.

The operator also needs to teleoperate the slave vision device to adjust the surgical field prior to or during the surgical procedure. In some embodiments, the control device may be further configured to assign the slave visual device to the handle of at least one of the plurality of master operators in response to an assignment request of the slave visual device; establishing a master-slave mapping of the handles of the at least one master operator and the slave vision equipment; disconnecting master-slave mapping of the handles of other ones of the plurality of master operators to the slave instruments of other ones of the plurality of slave tools; and controlling the slave visual device movement to change the field of view of the slave visual device based on the handle movement of the at least one master manipulator.

Before or during a surgical operation, at least one of the plurality of slave tools or the slave vision device needs to be assigned to at least one of the plurality of master operators to establish an association between the at least one master operator and the at least one slave tool, so that a surgical function of the at least one slave tool or a vision adjustment function of the slave vision device is assigned to the at least one master operator. By establishing a master-slave mapping between at least one master manipulator and at least one slave tool or slave vision device having an assigned relationship, multiple slave tools may be allowed to perform a surgical procedure under master-slave teleoperation control of a first operator and/or a second operator or slave vision devices may be allowed to adjust a surgical field under master-slave teleoperation control of a first operator and/or a second operator.

Fig. 11 illustrates a schematic diagram of a dispensing state of a slave vision apparatus of some embodiments of the present disclosure. In some embodiments, as shown in fig. 11, the surgical robotic system is in a state in which a first slave tool 1131, a second slave tool 1132, a third slave tool 1133, and a fourth slave tool 1134 are assigned to a first left-hand master manipulator 1111a, a first right-hand master manipulator 1111b, a second left-hand master manipulator 1121a, and a second right-hand master manipulator 1121b, respectively (the assignment of at least one master manipulator to at least one slave tool is shown in solid arrows).

In some embodiments, similar to the dispensing of the at least one slave tool, the control means may be configured to determine, based on the vision equipment dispensing request, whether the at least one master manipulator involved in the dispensing vision equipment request satisfies a vision equipment dispensing condition, and to dispense a slave vision instrument of the slave vision equipment to the handle of the at least one master manipulator in response to the vision equipment dispensing condition being satisfied. In some embodiments, the slave vision device may be operated by one master operator alone or both master operators simultaneously. In some embodiments, the visual device assignment condition may include an assignment priority of at least one primary operator being higher. It should be appreciated that the operational and vision requirements of a first operator, which is a primary surgeon, need to be preferentially met during a surgical procedure, and therefore the first left-hand and right-hand primary operators operated by the first operator may have a higher assigned priority than the second left-hand and right-hand primary operators operated by the second operator.

In some embodiments, the control means may be configured to assign the slave visual device to the higher priority master operator in response to an assignment request of the higher priority master operator to the slave visual device. For example, as indicated by a broken-line arrow in fig. 11, the control means may be configured to assign the slave visual device 1160 to the first left-hand master operator 1111a and/or the first right-hand master operator 1111b operated by the first operator when the first operator issues a visual device assignment request to the slave visual device 1160 in the unassigned state. Or the control means may be configured to prompt the second operator when the first operator issues a visual device allocation request to the slave visual device 1160 which is in the state of having been allocated to the second operator, and allocate the slave visual device 1160 to the first left-hand main operator 1111a and/or the first right-hand main operator 1111b operated by the first operator. In some embodiments, the control means may be configured to allocate the slave visual device to the lower priority master operator based on the allocation grant in response to an allocation request of the lower priority master operator to the slave visual device. For example, as indicated by the dashed arrow in fig. 11, the control means may be configured to transmit request information to the first operator when the second operator makes a visual device allocation request to the slave visual device 1160 in the unassigned state or having been allocated to the first operator, and to allocate the slave visual device to the second left-hand main operator 1121a and/or the second right-hand main operator 1121b operated by the second operator when the first operator grants the allocation request.

In some embodiments, the control device may be further configured to control the slave visual device movement to change the field of view of the slave visual device based on the handle movement of the at least one master manipulator. In some embodiments, the control means may be configured to generate a vision device control signal for controlling the movement of the slave vision device's slave vision instrument based on the change in pose of the handle of the at least one master manipulator and the master-slave mapping of the handle of the at least one master manipulator to the slave vision device.

In some embodiments, similar to the at least one slave tool, the control device may be further configured to determine whether the handle of the at least one master operator matches the slave vision apparatus of the slave vision apparatus after assigning the slave vision apparatus to the corresponding at least one master operator. In some embodiments, the control device may be further configured to generate a handle primary operator control signal for controlling the at least one primary operator in response to the handle of the at least one primary operator not matching the slave vision apparatus of the slave vision apparatus; or in response to the handle of the at least one master manipulator matching the slave visual device, establishing a master-slave mapping of the handle of the at least one master manipulator to the slave visual device of the slave visual device. Those skilled in the art will appreciate that a master-slave mapping of the handle of the master operator to the slave visual instrument may be established without regard to the match between the handle of the master operator and the slave visual instrument of the slave visual instrument.

In some embodiments, the slave vision device may be adjusted based on the amount of change in the pose of the handle of the at least one master manipulator. In the case where the slave visual apparatus is operated by the two master operators at the same time, the position change amount of the slave visual apparatus may be a combination of the position change amounts of the two master operators, and the posture change amounts may be a combination of the posture change amounts of the two master operators, respectively. The master-slave mapping of the handles of the at least one master manipulator to the slave visual device may include that the amount of change in position of the slave visual instrument of the slave visual device is proportional to the amount of change in position of the handles of the at least one master manipulator; or the amount of change in the pose of the slave visual instrument of the slave visual device is consistent with or proportional to the amount of change in the pose of the handle of the at least one master manipulator.

In some embodiments, the control device may be further configured to break the master-slave mapping of the handles of the other ones of the plurality of master operators with the slave instruments of the other ones of the plurality of slave tools in response to the handles of the at least one master operator establishing the master-slave mapping with the slave instruments of the slave vision apparatus to prevent non-intuitive surgical operation by the operator due to the field of view change from causing a surgical accident.

After the teleoperation of the slave vision apparatus is completed, the operator needs to re-operate the slave tool to perform the surgical operation. As the slave vision device moves causing a change in the surgical field of view, there is a need to re-match at least one of the plurality of slave tools and at least one of the plurality of master operators in order to re-achieve intuitive operation. In some embodiments, the control device may be further configured to resume the assigned relationship of the at least one of the plurality of slave tools to the at least one of the plurality of master operators in response to a master-slave mapping of the slave vision apparatus breaking; and controlling the handle of at least one of the plurality of master operators to mate with the slave instrument of at least one of the plurality of slave tools having a dispensing relationship in response to a change in the field of view of the slave vision device. As shown in fig. 11, the control device may disconnect the master-slave mapping between the slave vision apparatus and the at least one master manipulator after the operator confirms that the teleoperation of the slave vision apparatus is completed, and restore the allocation relationship between the at least one of the plurality of slave tools and the at least one of the plurality of master manipulators to the state before the teleoperation of the slave vision apparatus is performed. In some embodiments, the control device may be configured to control the handle of at least one of the plurality of master operators to mate with the slave instrument of at least one of the plurality of slave tools having the assigned relationship in response to a change in the pose of the slave vision apparatus, and to establish a master-slave mapping of the handle of the at least one master operator with the slave instrument of the at least one slave tool in response to the handle of the at least one master operator mating with the slave instrument of the at least one slave tool.

In some embodiments, the control device may be further configured to determine whether the slave instrument of the plurality of slave tools is located within the field of view after the field of view of the slave vision apparatus has changed, and in response to the slave instrument of at least one of the plurality of slave tools being located outside the field of view, generate a prompt to direct the operator to control the slave tool to move, return the slave instrument to within the field of view, or return the slave vision apparatus to a pose before the field of view has changed, to direct the operator to control the slave tool to reach within the region after the field of view has changed.

Note that the above is merely exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A surgical robot system, comprising:

A plurality of operating trolleys for carrying a plurality of slave tools and slave vision devices, the plurality of operating trolleys at least comprising a first operating trolley and a second operating trolley, the plurality of slave tools at least comprising a first slave tool, a second slave tool, a third slave tool and a fourth slave tool, the plurality of operating trolleys being configured such that the first operating trolley is used to carry at least the first slave tool, the second slave tool, the third slave tool and the slave vision device, and the second operating trolley is used to carry at least the fourth slave tool, or configured such that the first operating trolley is used to carry at least the first slave tool, the second slave tool, the third slave tool and the fourth slave tool, and the second operating trolley is used to carry at least the slave vision device;

a plurality of master operators, the plurality of master operators comprising at least a first left-hand master operator, a first right-hand master operator, a second left-hand master operator, and a second right-hand master operator; and

A control device is connected to the plurality of slave tools and the plurality of master operators, and is configured to control the movement of a slave instrument of at least one of the plurality of slave tools based on the movement of a handle of at least one of the plurality of master operators.

2. The surgical robot system according to claim 1, wherein the control device is further configured to:

Obtaining the position and posture of the first operating table;

Obtaining the position and posture of the second operating table;

Determining a transformation relationship between a first operating trolley coordinate system and a second operating trolley coordinate system based on the positions and postures of the first operating trolley and the second operating trolley; and

Based on the transformation relationship between the first operating trolley coordinate system and the second operating trolley coordinate system, the transformation relationship between the driven tool base coordinate system of the at least one driven tool and the driven vision device base coordinate system is determined.

3. The surgical robot system according to claim 2, wherein the control device is further configured to:

Based on the transformation relationship between the slave tool base coordinate system of the at least one slave tool and the slave vision device base coordinate system, the slave instrument of the at least one slave tool is controlled to match the handle of the at least one master operator and/or a master-slave mapping between the slave instrument of the at least one slave tool and the handle of the at least one master operator is established.

4. The surgical robot system according to claim 3, characterized in that the control device is further configured to:

In response to a master-slave mapping having been established between the slave instrument of the at least one slave tool and the handle of the at least one master operator, a slave tool control signal is generated based on the movement of the handle of the at least one master operator, and the slave tool control signal is used to control the movement of the slave instrument of the at least one slave tool.

5. The surgical robot system according to claim 1, wherein the control device is further configured to:

In response to a preset or assignment request, the at least one slave tool is assigned to the at least one master operator.

6. The surgical robot system according to claim 1, wherein the control device is further configured to:

In response to an assignment request of the slave visual device, assigning the slave visual device to a handle of at least one master operator;

Establishing a master-slave mapping between a handle of the at least one master operator and the slave visual device;

Disconnecting the master-slave mapping between the handles of other master operators among the plurality of master operators and the associated slave instruments of the at least one slave tool; and

Based on the handle movement of the at least one master operator, the slave vision device is controlled to move to change the field of view of the slave vision device.

7. The surgical robot system according to claim 6, wherein the control device is further configured to:

In response to the master-slave mapping of the slave vision device being disconnected, restoring the assignment relationship between the at least one slave tool and the at least one master operator; and

In response to a change in the field of view of the slave visual device, a handle of the at least one master operator is controlled to match a slave instrument of the at least one slave tool having an assigned relationship.

8. The surgical robot system according to claim 1, wherein the first surgical trolley further comprises:

The first vehicle body; and

a first moving arm, wherein the proximal end of the first moving arm is used for rotationally connecting with the first trolley body, and the distal end is used for carrying at least the first driven tool, the second driven tool, the third driven tool and the fourth driven tool or the driven visual device,

The first moving arm comprises:

a positioning link mechanism, the proximal end of which is rotatably connected to the first trolley body; and

A remote center of motion (RCM) mechanism, wherein the RCM mechanism is configured such that the proximal end can rotate relative to the distal end of the positioning link mechanism, the RCM mechanism comprises a plurality of arcuate arms, the proximal ends and the distal ends of the plurality of arcuate arms are respectively and sequentially rotationally connected, and the rotation axes of the plurality of arcuate arms intersect at the remote center of motion.

9. The surgical robot system according to claim 8, characterized in that:

The first vehicle body comprises:

Pedestal;

A column, arranged on the base;

A crossbeam is arranged at the top end of the column, and the distal end of the crossbeam is rotatably connected to the proximal end of the positioning link mechanism.

The first operating trolley is configured as follows: the column of the first trolley body includes a column lifting joint for enabling the column to be lifted and lowered relative to the base, or the first motion arm also includes a vertical arm lifting mechanism, the proximal end of the vertical arm lifting mechanism is connected to the distal end of the positioning link mechanism, and the distal end is connected to the proximal end of the RCM mechanism, and the vertical arm lifting mechanism includes a vertical arm and a vertical arm lifting joint for enabling the vertical arm to be lifted and lowered relative to the positioning link mechanism.

10. The surgical robot system according to claim 8, wherein the first motion arm further comprises:

A mounting platform, fixedly disposed at a distal end of an arc-shaped arm located at a side away from the positioning link mechanism among the plurality of arc-shaped arms, the mounting platform comprising a plurality of mounting positions;

A plurality of linear modules, wherein the plurality of linear modules are respectively arranged on the plurality of installation positions; and

A plurality of driving devices are used to drive at least the first driven tool, the second driven tool, the third driven tool and the fourth driven tool or the driven visual device. The plurality of driving devices are respectively mounted on the plurality of linear modules to perform linear motion under the drive of the plurality of linear modules.

11. The surgical robot system according to claim 10, characterized in that:

The plurality of driving devices at least include a first driving device, a second driving device, a third driving device and a fourth driving device, which are used to drive the first driven tool, the second driven tool, the third driven tool and the fourth driven tool or the driven visual device respectively.

The plurality of linear modules at least include a first linear module, a second linear module, a third linear module and a fourth linear module, which are used to carry the first driving device, the second driving device, the third driving device and the fourth driving device respectively.

The multiple mounting positions include at least a first mounting position, a second mounting position, a third mounting position and a fourth mounting position which are arranged at intervals around the center of the mounting platform, and are used to respectively mount the first linear module, the second linear module, the third linear module and the fourth linear module. When the first linear module, the second linear module, the third linear module and the fourth linear module are mounted on the mounting platform, the extension lines of the far ends converge toward the remote motion center.

12. The surgical robot system according to claim 1, wherein the second surgical trolley further comprises:

A second vehicle body; and

A second moving arm, wherein the proximal end of the second moving arm is used for connecting with the second trolley body, and the distal end is used for carrying at least the fourth driven tool or the driven visual device.

13. The surgical robot system according to claim 12, characterized in that:

The second operating table vehicle further includes a fourth driving device for driving the fourth driven tool or the driven visual device, and the fourth driving device is mounted at the distal end of the second motion arm.

The second moving arm includes a vertical arm and at least one swing arm connected in sequence, the proximal end of the vertical arm is rotationally or fixedly connected to the second trolley body, the proximal end of the at least one swing arm is rotationally connected to the distal end of the vertical arm so as to rotate around a horizontal axis relative to the vertical arm, and the proximal end of the at least one swing arm is used to carry the fourth driving device or the slave visual device.

14. A surgical robot system according to any one of claims 1-13, characterized in that the control device is also configured to assign the slave instrument of the at least one slave tool to the handle of the at least one master operator in response to satisfying an assignment condition, the assignment condition including that the at least one slave tool is not assigned and/or the at least one master operator has a higher assignment priority.

15 . The surgical robot system of claim 14 , wherein the first left-hand master manipulator and the first right-hand master manipulator have a higher assignment priority than the second left-hand master manipulator and the second right-hand master manipulator.

16. The surgical robot system according to claim 15, characterized in that the control device is further configured to:

In response to an assignment request from a master operator with a higher or same priority for a slave tool assigned to a master operator with a lower or same priority, reallocating the slave tool assigned to the master operator with a lower or same priority to the master operator with a higher or same priority; or

In response to an assignment request from a lower priority master operator for a slave tool assigned to a higher priority master operator, the slave tool assigned to the higher priority master operator is reallocated to the lower priority master operator based on the assignment approval.

17. The surgical robot system according to any one of claims 1 to 13 and 15-16 is characterized in that, when mounted on the second operating trolley, the fourth slave tool includes at least one of a laparoscopic system surgical tool, an orthopedic surgical tool, a neurosurgery tool, a puncture surgical tool, an interventional surgical tool, and a transurethral bladder surgical tool.