CN-119950034-B - Endoscope adjustment system and endoscope adjustment method

CN119950034BCN 119950034 BCN119950034 BCN 119950034BCN-119950034-B

Abstract

The invention provides an endoscope adjusting system and an endoscope adjusting method, wherein the adjusting system comprises a key and a controller which are in communication connection, the key is configured to be arranged at a preset position of a control end of a surgical robot and used for an operator to input an endoscope control instruction and send the endoscope control instruction input by the operator to the controller, the endoscope control instruction comprises an endoscope movement instruction and an endoscope parameter adjusting instruction, and the controller is configured to be in communication connection with an endoscope and used for controlling the endoscope to perform corresponding movement or adjusting corresponding parameters according to the received endoscope control instruction. According to the invention, an operator can directly control the movement of the endoscope and adjust parameters of the endoscope through the keys, so that the endoscope can be controlled according to the intention of the operator, the communication cost between medical care is reduced, the adjustment of the endoscope can be realized without the need of greatly moving a main control arm, and the continuity of operation is ensured.

Inventors

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WANG JIAYIN

Assignees

上海微创医疗机器人（集团）股份有限公司

Dates

Publication Date: 20260512
Application Date: 20231108

Claims (9)

1. An endoscope adjusting system applied to a surgical robot is characterized by comprising at least two mechanical arms, wherein at least one mechanical arm is hung with an endoscope, at least one mechanical arm is hung with a surgical instrument, and the endoscope adjusting system comprises a key and a controller which are in communication connection; the button is configured to be arranged at a preset position of a control end of the surgical robot, so that an operator can input an endoscope control instruction and send the endoscope control instruction input by the operator to the controller, wherein the endoscope control instruction comprises an endoscope movement instruction and an endoscope parameter adjustment instruction; The controller is configured to be in communication connection with the endoscope, and control the endoscope to perform corresponding movement or adjustment of corresponding parameters according to the received endoscope control instruction while the surgical robot performs master-slave operation; Wherein the endoscope movement instructions include at least one of an endoscope translational movement instruction and an endoscope rotational movement instruction, the endoscope translational movement instruction includes a translational direction and a translational time, the endoscope rotational movement instruction includes a rotational direction and a rotational time, and the controller is configured to control the endoscope to perform translational movement according to the endoscope translational movement instruction or to control the endoscope to perform rotational movement according to the endoscope rotational movement instruction.
2. The endoscope adjustment system of claim 1, wherein the controller is configured to calculate a first target position of each joint of the mechanical arm where the endoscope is located according to the translation direction, the translation time, and a translation speed acquired in advance, and control the mechanical arm to drive the endoscope to perform a translation motion according to the first target position of each joint.
3. The endoscope adjustment system of claim 1, wherein the controller is configured to calculate a second target position of each joint of the mechanical arm where the endoscope is located according to the rotation direction, the rotation time, and a rotation speed acquired in advance, and to control the mechanical arm to drive the endoscope to perform a rotational movement according to the second target position of each joint.
4. The endoscope adjustment system of claim 1, wherein the endoscope parameter adjustment instructions comprise at least one of a picture auto-zoom instruction, a picture-light-dark adjustment instruction, a picture-capture mode adjustment instruction, a picture-flip instruction, and an auto-defogging instruction, the controller configured to display an endoscope parameter adjustment menu for an operator to enter the endoscope parameter adjustment instructions via the keys after the operator triggers the endoscope parameter adjustment mode.
5. The endoscope adjustment system of claim 1, wherein the endoscope control instructions further comprise a picture scaling instruction, the controller configured to control the endoscope to move forward or backward to scale a picture acquired by the endoscope in accordance with the picture scaling instruction while the surgical robot performs a master-slave operation, or the controller configured to control the endoscope to scale a picture acquired by the endoscope at a preset zoom speed in accordance with the picture scaling instruction.
6. The endoscope adjustment system according to claim 1, wherein the endoscope control instruction further includes a screen switching instruction, and the controller is configured to switch a currently controlled endoscope according to the screen switching instruction while the surgical robot performs a master-slave operation, and to take a screen acquired by the switched endoscope as a main screen.
7. The endoscope adjustment system of claim 1, wherein the key is configured to be mounted on an end joint of a master control arm of a surgical robot, the end joint being provided with a plurality of trigger positions along an axial direction thereof, the trigger positions being provided corresponding to the key, the key being movable along the axial direction of the end joint to reach the corresponding trigger positions.
8. The electronic equipment is applied to a surgical robot, and is characterized in that the surgical robot comprises at least two mechanical arms, wherein at least one mechanical arm is provided with an endoscope, at least one mechanical arm is provided with a surgical instrument, a preset part of a control end of the surgical robot is provided with a key, the key is configured for an operator to input various endoscope control instructions, the endoscope control instructions comprise endoscope movement instructions and endoscope parameter adjustment instructions, the electronic equipment comprises a processor and a memory, the memory is provided with a computer program, and when the computer program is executed by the processor, the following steps are realized: receiving an endoscope control instruction input by an operator; when the surgical robot executes master-slave operation, controlling the endoscope to perform corresponding movement or adjust corresponding parameters according to the endoscope control instruction; Wherein the endoscope movement instructions include at least one of an endoscope translational movement instruction and an endoscope rotational movement instruction, the endoscope translational movement instruction including a translational direction and a translational time, the endoscope rotational movement instruction including a rotational direction and a rotational time; the controlling the endoscope to perform corresponding movement according to the endoscope control instruction comprises the following steps: and controlling the endoscope to perform translational movement according to the endoscope translational movement instruction, or controlling the endoscope to perform rotational movement according to the endoscope rotational movement instruction.
9. The electronic device of claim 8, wherein the endoscope control instructions further comprise a screen zoom instruction, the computer program when executed by the processor further implementing the steps of: Controlling the endoscope to move forward or backward according to the picture zooming command to zoom the picture acquired by the endoscope while the surgical robot performs the master-slave operation, or And when the surgical robot executes master-slave operation, controlling the endoscope to zoom the picture acquired by the endoscope at a preset zooming speed according to the picture zooming instruction.

Description

Endoscope adjustment system and endoscope adjustment method Technical Field The invention relates to the technical field of surgical robots, in particular to an endoscope adjusting system and an endoscope adjusting method. Background The surgical robot is designed to accurately implement complex surgical operations in a minimally invasive manner. The surgical robot includes a master device operated by a surgeon to generate and transmit necessary signals, and a slave device to receive signals from the master device to perform an actual operation on a patient. Further, a master control arm is mounted on the master end device, and a surgeon can control the mechanical arm mounted on the slave end device and the surgical instrument and the endoscope mounted on the tail end of the mechanical arm to move correspondingly by manipulating the master control arm. The control of the operation robot on the endoscope mainly depends on a main control arm in main end equipment, and the endoscope can be controlled to move only by operating the main control arm after the main end is identified to press an operation key of the endoscope or step on the endoscope. The mode needs a doctor to control the endoscope movement by simultaneously controlling the main control arm through two hands, and usually after the endoscope movement is controlled, the main control arm position needs to be readjusted by clutch due to larger operation movement range so as to achieve comfortable operation space. In addition, in the surgical robot, adjustment of the endoscope parameters depends on the operation performed by the nurse on the endoscope side. The mode can lead to that the adjustment of the related parameters of the endoscope can not be directly adjusted according to the wishes of the doctor of the main knife, and the communication time between the doctor of the main knife and a nurse is increased. It should be noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art. Disclosure of Invention The invention aims to provide an endoscope adjusting system and an endoscope adjusting method, so that an operator can directly control the movement of an endoscope and adjust parameters of the endoscope through keys, thereby not only controlling the endoscope according to the wish of the operator and reducing the communication cost between medical care, but also realizing the adjustment of the endoscope without greatly moving a main control arm, further avoiding readjusting the position of the main control arm by master-slave clutch, and ensuring the continuity of operation. In order to achieve the above object, the present invention provides an endoscope adjusting system applied to a surgical robot, the surgical robot comprising at least two mechanical arms, wherein at least one mechanical arm is mounted with an endoscope, at least one mechanical arm is mounted with a surgical instrument, the endoscope adjusting system comprises a key and a controller which are in communication connection; the button is configured to be arranged at a preset position of a control end of the surgical robot, so that an operator can input an endoscope control instruction and send the endoscope control instruction input by the operator to the controller, wherein the endoscope control instruction comprises an endoscope movement instruction and an endoscope parameter adjustment instruction; The controller is configured to be in communication connection with the endoscope and control the endoscope to perform corresponding movement or adjustment of corresponding parameters according to the received endoscope control instruction while the surgical robot performs master-slave operation. Optionally, the endoscope movement instructions include at least one of an endoscope translational movement instruction and an endoscope rotational movement instruction, and the controller is configured to control the endoscope to perform translational movement according to the endoscope translational movement instruction or to control the endoscope to perform rotational movement according to the endoscope rotational movement instruction. Optionally, the endoscope translational motion instruction includes a translational direction and a translational time, and the controller is configured to calculate a first target position of each joint of the mechanical arm where the endoscope is located according to the translational direction, the translational time and a pre-acquired translational speed, and control the mechanical arm to drive the endoscope to perform translational motion according to the first target position of each joint. Optionally, the rotation movement instruction of the endoscope includes a rotation direction and a rotation time, and th