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CN-115517778-B - Surgical robot and control method thereof

CN115517778BCN 115517778 BCN115517778 BCN 115517778BCN-115517778-B

Abstract

The application relates to a surgical robot and a control method of the surgical robot, wherein the surgical robot comprises a robot main system, a robot auxiliary system and scanning equipment, the robot main system is respectively in communication connection with the robot auxiliary system and the scanning equipment, the scanning equipment acquires real-time scanning images of a scanning object, the robot main system controls the robot auxiliary system to move according to the real-time scanning images and a movement path, and the movement path is obtained after planning according to the position of an interested region in the real-time scanning images.

Inventors

  • ZHAO ZHUO
  • SUN HONGYU
  • WANG CHANG

Assignees

  • 武汉联影智融医疗科技有限公司

Dates

Publication Date
20260512
Application Date
20210624

Claims (8)

  1. 1. The surgical robot is characterized by comprising a robot main system, a robot auxiliary system and scanning equipment, wherein the robot main system is respectively in communication connection with the robot auxiliary system and the scanning equipment; The robot main system controls the robot slave system to move according to the motion path according to the real-time scanning image and the motion path, wherein the motion path is obtained after planning according to the position of the region of interest in the real-time scanning image; The robot main system controls the robot slave system to move and comprises a semi-automatic movement mode, wherein the semi-automatic movement mode comprises that the robot slave system performs coarse positioning in a puncturing or cutting process after obtaining a planned path, and a mechanical arm of the robot main system controls a mechanical arm of the robot slave system to complete specific puncturing or cutting actions; the scanning device comprises a scanner and a console, and the scanner is in communication connection with the console; The control console also comprises a display device, wherein the display device is used for displaying the real-time scanning image and the motion path, and the display device is also used for displaying the current operation state and operation steps and prompting the operator of the next operation mode.
  2. 2. The surgical robot of claim 1, wherein the robotic slave system comprises a slave system robotic arm and a cutting device; the slave system mechanical arm is mechanically connected with the cutting device, and guides the cutting device to move according to the movement path.
  3. 3. The surgical robot of claim 2, wherein the cutting device includes a cutting instrument and a negative pressure portion, the cutting instrument and the negative pressure portion being in communication.
  4. 4. A surgical robot as claimed in claim 3, wherein the cutting instrument comprises an inner tube and an outer tube forming a chamber therebetween, the outer tube being movable relative to the inner tube.
  5. 5. The surgical robot of claim 4, wherein the cutting instrument includes a guide disposed at an end of the inner tube relatively remote from the outer tube and configured to engage the outer tube to form a closed chamber.
  6. 6. The surgical robot of claim 5, wherein an end of the outer tube adjacent the guide is beveled, an end of the guide adjacent the outer tube is beveled, and the outer tube cooperates with the guide to form a closed chamber.
  7. 7. A surgical robot as claimed in claim 4, wherein the cutting instrument comprises a control member and/or a connector member, the control member controlling the outer tube to move relative to the inner tube, the connector member being hollow and one end of the connector member being connected to the negative pressure portion and the other end of the connector member being connected to the chamber.
  8. 8. The surgical robot of claim 1, wherein the surgical robot is configured to, The scanner is used for acquiring the real-time scanning image, and the control console is used for controlling the scanner to scan the scanning object and transmitting the real-time scanning image to the robot main system.

Description

Surgical robot and control method thereof Technical Field The application relates to the technical field of medical equipment, in particular to a surgical robot and a control method of the surgical robot. Background With the development of imaging technology and surgical instruments, thoracoscopic surgery and laparoscopic surgery implemented with television assistance are currently one of the options for performing thoracotumor and peritoneal tumor resection. The incision of the thoracoscopic operation and the laparoscopic operation is small, the healing is quick, the thoracoscopic operation and the laparoscopic operation gradually become one of the mainstream operations, and the stability and the accuracy of the thoracoscopic operation and the laparoscopic operation are improved through the combination with a da vinci robot platform. However, in the related art, since the size of the thoracoscope or the laparoscope is small during the operation, the view of the lens is limited, so that an operator cannot acquire all effective information of an operation area, a certain difficulty exists in the operation, and the accuracy and the operation efficiency of the operation during the operation are reduced. At present, no effective solution is proposed for the problem of reduced accuracy in the operation process caused by limited field of view of a thoracoscope or a laparoscope used for observation in the related art. Disclosure of Invention The embodiment of the application provides a surgical robot and a control method of the surgical robot, which at least solve the problem that in the related art, the accuracy in the surgical process is reduced due to limited view of a thoracoscope or a laparoscope lens. In a first aspect, an embodiment of the present application provides a surgical robot, including a robot master system, a robot slave system, and a scanning device, where the robot master system is respectively connected with the robot slave system and the scanning device in a communication manner; The robot main system controls the robot slave system to move according to the motion path according to the real-time scanning image and the motion path, wherein the motion path is obtained after planning according to the position of the region of interest in the real-time scanning image. In some of these embodiments, the robotic slave system includes a slave system robotic arm and a cutting device; the slave system mechanical arm is mechanically connected with the cutting device, and guides the cutting device to move according to the movement path. In some of these embodiments, the cutting device includes a cutting instrument and a negative pressure portion, the cutting instrument and the negative pressure portion being in communication. In some of these embodiments, the cutting instrument includes an inner tube and an outer tube forming a chamber therebetween, the outer tube being movable relative to the inner tube. In some of these embodiments, the inner tube and the outer tube are helically or translationally telescoped between each other. In some of these embodiments, the cutting instrument includes a guide member disposed at an end of the inner tube relatively distal from the outer tube and configured to conform to the outer tube to form a closed chamber. In some of these embodiments, the cutting instrument includes a seal for forming a closed chamber when the guide and the outer tube are in apposition, the seal being disposed at an end of the guide adjacent the outer tube or the seal being disposed on an inner wall of the outer tube. In some embodiments, the outer tube has a beveled surface at an end thereof adjacent to the guide member, the guide member has a beveled surface at an end thereof adjacent to the outer tube, and the outer tube cooperates with the guide member to form a closed chamber. In some of these embodiments, the cutting instrument comprises a control member that controls the outer tube to move relative to the inner tube, and/or a connector that is hollow with one end of the connector connected to the negative pressure portion and the other end of the connector connected to the chamber. In some of these embodiments, the scanning device comprises a scanner and a console, the scanner and the console being communicatively connected; The scanner is used for acquiring the real-time scanning image, and the control console is used for controlling the scanner to scan the scanning object and transmitting the real-time scanning image to the robot main system. In some of these embodiments, the console further comprises a display device for displaying the real-time scanned image and the motion path. In a second aspect, an embodiment of the present application provides a control method of any one of the foregoing embodiments, including: acquiring a real-time scanning image of a scanning object through a scanning device; Planning according to the position of the region of interest in the real-time scanning