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CN-121987348-A - Surgical tool mounting method, surgical robot system and related devices

CN121987348ACN 121987348 ACN121987348 ACN 121987348ACN-121987348-A

Abstract

The application discloses a surgical tool mounting method, a surgical robot system, an electronic device and a computer-readable storage medium. The surgical tool mounting method comprises the steps of controlling the manipulator assembly to be pushed to the inlet assembly to a mounting area when the fact that the surgical tool and the manipulator assembly are in a buckled and unassembled state is detected, enabling the distance between the initial position and the inlet assembly to be larger than or equal to a first preset distance, enabling the distance between the surgical tool and the inlet assembly under the mounting area to be smaller than or equal to a second preset distance, and controlling the manipulator assembly to be pushed continuously if the fact that the surgical tool and the manipulator assembly are successfully assembled in the mounting area is detected, so that the surgical tool assembled on the manipulator assembly is pushed out of the inlet assembly. The efficiency of surgical tool installation can be improved.

Inventors

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Assignees

  • 深圳康诺思腾科技有限公司

Dates

Publication Date
20260508
Application Date
20241107

Claims (14)

  1. 1. A surgical tool mounting method for mounting a surgical tool to a surgical robotic system including a manipulator assembly and an access port assembly, the method comprising: when the surgical tool and the manipulator assembly are detected to be in a buckled and unassembled state at an initial position, the manipulator assembly is controlled to be pushed to an assembling area towards the inlet assembly, the distance between the initial position and the inlet assembly is larger than or equal to a first preset distance, and the distance between the surgical tool and the inlet assembly in the assembling area is smaller than or equal to a second preset distance; and if the surgical tool is successfully assembled with the manipulator assembly in the assembly area, controlling the manipulator assembly to continue to advance so as to advance the surgical tool assembled with the manipulator assembly out of the inlet assembly.
  2. 2. The method of claim 1, wherein the initial position is a distance from the portal assembly that is the first preset distance that is less than or equal to a maximum distance that can be reached between the manipulator assembly and the portal assembly and that is greater than a length of the surgical tool, and wherein the second preset distance is associated with the length of the surgical tool.
  3. 3. The method according to claim 1, wherein the method further comprises: and if the surgical tool is detected to be assembled with the manipulator assembly in the assembling area, prohibiting the manipulator assembly from continuing to advance towards the inlet assembly.
  4. 4. The method according to claim 1, wherein the method further comprises: Upon detecting that the manipulator assembly enters the assembly area, the manipulator assembly is restricted from continuing to advance toward the inlet assembly.
  5. 5. The method according to claim 4, wherein the method further comprises: If it is detected that the surgical tool is successfully assembled with the manipulator assembly in the assembly area, the manipulator assembly is released from the restriction of continuing to advance toward the access assembly.
  6. 6. The method according to claim 4, wherein the method further comprises: if a failure of the surgical tool to assemble with the manipulator assembly in the assembly area is detected, a limit is maintained for continued advancement of the manipulator assembly toward the access assembly.
  7. 7. The method of claim 4, wherein the limiting the manipulator assembly from continuing to advance toward the inlet assembly comprises: applying resistance to the manipulator assembly to limit continued advancement of the manipulator assembly toward the inlet assembly, or The propulsion force applied to the manipulator assembly is reduced to limit continued propulsion of the manipulator assembly toward the inlet assembly.
  8. 8. The method of claim 7, wherein the applying resistance to the manipulator assembly comprises: determining a degree of deviation from a critical position point of the assembly region as the manipulator assembly passes the critical position point; And applying a resistance to the manipulator assembly that is compatible with the degree of deflection, wherein the resistance is capable of becoming greater as the degree of deflection becomes greater.
  9. 9. The method of claim 1, wherein the manipulator assembly includes a sensor, and the surgical tool and the manipulator assembly are in a buckled and unassembled state in an initial position, detected by: based on the sensing information of the sensor, the surgical tool and the manipulator assembly are detected to be in a buckled and unassembled state at an initial position.
  10. 10. The method of claim 1, wherein the manipulator assembly comprises a drive assembly, and wherein whether the manipulator assembly is in the initial position or the assembly area is detected by: Detecting whether the manipulator assembly is at the initial position or the assembly region based on encoder information of the driving assembly.
  11. 11. The method of claim 1, wherein the surgical robotic system is a single-hole surgical robotic system.
  12. 12. A surgical robotic system, comprising: a manipulator assembly operable to mount a surgical tool; An inlet assembly; The control device is used for controlling the manipulator assembly to be pushed to the assembling area when detecting that the surgical tool is in a buckled and unassembled state with the manipulator assembly at the initial position, and controlling the manipulator assembly to be pushed continuously when detecting that the surgical tool is assembled successfully with the manipulator assembly at the assembling area, so that the surgical tool assembled with the manipulator assembly is pushed out of the inlet assembly, wherein the distance between the initial position and the inlet assembly is larger than or equal to a first preset distance, and the distance between the surgical tool and the inlet assembly in the assembling area is smaller than or equal to a second preset distance.
  13. 13. An electronic device, comprising: A processor; A memory for storing processor-executable instructions; wherein the processor is configured to implement the method of any one of claims 1 to 11.
  14. 14. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 11.

Description

Surgical tool mounting method, surgical robot system and related devices Technical Field The present application relates to the field of surgical tool mounting, and more particularly, to a surgical tool mounting method, a surgical robot system, an electronic device, and a computer-readable storage medium. Background The surgical robot system is widely applied to various operations, has the advantages of accurate positioning, stable operation, strong dexterity, large working range, radiation resistance, infection resistance and the like, is beneficial to improving the precision of the operation of a surgeon, can enable the surgeon to perform the operation in the most comfortable state, and has important value for improving the success rate of the operation and relieving the pain of the patient. The surgical robotic system includes a manipulator assembly capable of mounting a surgical tool and an access assembly, wherein the surgical tool is accessible through the access assembly into a patient for performing a procedure. In the related art, the surgical tool is assembled with the manipulator assembly directly at the top position of the manipulator assembly, which may result in the tip of the surgical tool not being aligned with the access port of the access assembly, resulting in the need to be reassembled back to the top position of the manipulator assembly, which is inefficient in the installation of the surgical tool. Disclosure of Invention In view of the above technical problems, the present application provides a surgical tool mounting method, a surgical robot system, an electronic device, and a computer readable storage medium, which have the following technical schemes: According to a first aspect of the present application, there is provided a surgical tool mounting method for mounting a surgical tool to a surgical robotic system comprising a manipulator assembly and an inlet assembly, the method comprising: when the surgical tool and the manipulator assembly are detected to be in a buckled and unassembled state at an initial position, the manipulator assembly is controlled to be pushed to an assembling area towards the inlet assembly, the distance between the initial position and the inlet assembly is larger than or equal to a first preset distance, and the distance between the surgical tool and the inlet assembly in the assembling area is smaller than or equal to a second preset distance; and if the surgical tool is successfully assembled with the manipulator assembly in the assembly area, controlling the manipulator assembly to continue to advance so as to advance the surgical tool assembled with the manipulator assembly out of the inlet assembly. According to a second aspect of the present application, there is provided a surgical robotic system comprising: a manipulator assembly operable to mount a surgical tool; An inlet assembly; The control device is used for controlling the manipulator assembly to be pushed to the assembling area when detecting that the surgical tool is in a buckled and unassembled state with the manipulator assembly at the initial position, and controlling the manipulator assembly to be pushed continuously when detecting that the surgical tool is assembled successfully with the manipulator assembly at the assembling area, so that the surgical tool assembled with the manipulator assembly is pushed out of the inlet assembly, wherein the distance between the initial position and the inlet assembly is larger than or equal to a first preset distance, and the distance between the surgical tool and the inlet assembly in the assembling area is smaller than or equal to a second preset distance. According to a third aspect of the present application, there is provided an electronic device comprising: A processor; A memory for storing processor-executable instructions; Wherein the processor is configured to implement the method according to the first aspect. According to a fourth aspect of the present application there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method according to the first aspect. According to the technical scheme, at the initial position where the distance from the inlet component is greater than or equal to the first preset distance, the surgical tool and the manipulator component are buckled, but not assembled, after the surgical tool and the manipulator component are buckled, the manipulator component is controlled to be pushed to the direction of the inlet component to an assembling area where the distance from the inlet component is smaller than or equal to the second preset distance, namely the assembling area is closer to the inlet component, the assembling process is finished, the front end of the surgical tool can be aligned with the inlet component while the assembling is not influenced, so that the surgical tool can be efficiently installed to the in