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CN-121987353-A - Surgical robotic system for double operation

CN121987353ACN 121987353 ACN121987353 ACN 121987353ACN-121987353-A

Abstract

The invention relates to the field of robot control, and discloses a surgical robot system which comprises a plurality of driven tools, a plurality of main operators and a control device, wherein the control device is in communication connection with the plurality of driven tools and the plurality of main operators and is configured to determine target poses of the plurality of driven tools based on movement of the plurality of main operators respectively, judge whether at least one driven tool in the plurality of driven tools meets movement conditions based on the target poses of the plurality of driven tools, the movement conditions comprise no collision risk between the at least one driven tool and the driven tools with higher movement priority, and control the at least one driven tool to move to the corresponding target poses in response to the at least one driven tool meeting the movement conditions.

Inventors

  • XU KAI
  • ZHAO JIANGRAN
  • JI LIYONG
  • ZHANG YU

Assignees

  • 术锐(上海)科技有限公司

Dates

Publication Date
20260508
Application Date
20241030

Claims (17)

  1. 1. A surgical robotic system, comprising: A plurality of driven tools; A plurality of main operators, and A control device communicatively coupled to the plurality of slave tools and the plurality of master operators, configured to: Determining target poses of the plurality of slave tools based on movements of the plurality of master operators, respectively; Judging whether at least one driven tool in the plurality of driven tools meets a motion condition based on the target pose of the plurality of driven tools, wherein the motion condition comprises no collision risk between the at least one driven tool and the driven tools with higher motion priority, and And controlling the at least one driven tool to move to the corresponding target pose in response to the at least one driven tool meeting the movement condition.
  2. 2. The surgical robotic system of claim 1, wherein, The plurality of slave tools includes at least a first slave tool, a second slave tool, a third slave tool, and a fourth slave tool, the plurality of master operators includes at least a first left master operator, a first right master operator, a second left master operator, and a second right master operator, and the control device is configured to: determining a target pose of the first slave tool based on the movement of the first left master manipulator, and/or Determining a target pose of the second slave tool based on the movement of the first right master manipulator, and/or Determining a target pose of the third slave tool based on the motion of the second left master manipulator, and/or A target pose of the fourth slave tool is determined based on the movement of the second right master operator.
  3. 3. The surgical robotic system of claim 2, wherein, The slave tools of the plurality of slave tools assigned to the first left and right master operators have a higher priority of movement than the slave tools assigned to the second left and right master operators.
  4. 4. A surgical robotic system as claimed in claim 3, wherein the collision risk comprises a first collision risk, the control means being further configured to: Judging whether the at least one driven tool has the first collision risk or not based on the initial pose of the at least one driven tool and the target pose of the driven tool with higher motion priority, and A first anti-collision operation for the at least one slave tool is determined in response to the at least one slave tool being at the first collision risk.
  5. 5. The surgical robotic system of claim 4, wherein the first anti-collision operation comprises at least one of: Controlling the at least one driven tool to perform an avoidance action, or Generating avoidance prompt information.
  6. 6. The surgical robotic system of claim 5, wherein the control device is further configured to: Determining an intermediate pose of the at least one driven tool; Determining a first motion path of the at least one slave tool based on the starting pose and the intermediate pose of the at least one slave tool; Determining a second motion path of the at least one slave tool based on the intermediate pose and the target pose of the at least one slave tool, and And controlling the at least one driven tool to execute avoidance actions based on the first motion path and the second motion path.
  7. 7. The surgical robotic system of claim 4, wherein the control device is further configured to: determining a start bounding box of the at least one driven tool based on the start pose of the at least one driven tool; Determining a target bounding box of the driven tool with higher motion priority based on the target pose of the driven tool with higher motion priority, and And judging whether the at least one driven tool has the first collision risk or not based on the initial bounding box of the at least one driven tool and the target bounding box of the driven tool with higher motion priority.
  8. 8. The surgical robotic system of claim 4, wherein the collision risk further comprises a second collision risk, the control device further configured to: Determining whether the at least one slave tool is at the second collision risk based on the target pose of the at least one slave tool and the target pose of the slave tool with higher motion priority in response to the at least one slave tool not being at the first collision risk, and A second collision avoidance operation for the at least one slave tool is determined in response to the at least one slave tool being at the second collision risk.
  9. 9. The surgical robotic system of claim 8, wherein the second anti-collision operation comprises at least one of: limiting the change in position of the at least one driven tool, or Collision warning information is generated.
  10. 10. The surgical robotic system of claim 8, wherein the control device is further configured to: determining a target bounding box of the at least one slave tool based on the target pose of the at least one slave tool; Determining a target bounding box of the driven tool with higher motion priority based on the target pose of the driven tool with higher motion priority, and And judging whether the at least one driven tool has the second collision risk or not based on the initial bounding box of the at least one driven tool and the target bounding box of the driven tool with higher motion priority.
  11. 11. The surgical robotic system of claim 2, wherein the control device is further configured to: And respectively distributing the first driven tool, the second driven tool, the third driven tool and the fourth driven tool to the first left main operator, the first right main operator, the second left main operator and the second right main operator in response to a preset or distribution request.
  12. 12. The surgical robotic system of claim 11, wherein the control device is further configured to assign the slave instrument of the at least one slave tool to the handle of at least one master manipulator of the plurality of master manipulators in response to meeting an assignment condition, the assignment condition including the at least one slave tool not being assigned and/or the at least one master manipulator being assigned a higher priority.
  13. 13. The surgical robotic system of claim 12, wherein the first left and right primary operators have a higher allocation priority than the second left and right primary operators.
  14. 14. The surgical robotic system of claim 13, wherein the control device is further configured to: Reassigning a slave tool assigned to a lower-priority or same-priority master operator to a higher-priority or same-priority master operator in response to an assignment request from the higher-priority or same-priority master operator to the slave tool assigned to the lower-priority or same-priority master operator, and/or Responsive to an allocation request from a master operator with a lower allocation priority to a slave tool allocated to a master operator with a higher allocation priority, the slave tool allocated to the master operator with a higher allocation priority is reassigned to the master operator with a lower allocation priority based on the allocation grant.
  15. 15. The surgical robotic system of claim 1, further comprising a slave vision device, the control device further configured to: controlling the slave instrument of the at least one slave tool to match with the handle of the at least one master manipulator and/or establishing a master-slave mapping of the slave instrument of the at least one slave tool to the handle of the at least one master manipulator based on the transformation relationship of the slave tool-based coordinate system of the at least one slave tool and the slave vision equipment-based coordinate system of the plurality of slave tools.
  16. 16. The surgical robotic system of claim 15, wherein the control device is further configured to: A target pose of the slave instrument of the at least one slave tool is determined 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 and the handle of the at least one master operator having established a master-slave map.
  17. 17. The surgical robotic system of any one of claims 1-16, wherein at least one surgical tool of the plurality of slave tools comprises 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, and a transurethral bladder surgical tool.

Description

Surgical robotic system for double operation Technical Field The present disclosure relates to the field of robotic control, and more particularly to a surgical robotic system for two-person operation. 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. And surgical tools are prone to collision when multiple operators are operating 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 slave tools, a plurality of master operators, and a control device communicatively coupled to the plurality of slave tools and the plurality of master operators and configured to determine target poses of the plurality of slave tools based on movements of the plurality of master operators, respectively, determine whether at least one slave tool of the plurality of slave tools satisfies a movement condition based on the target poses of the plurality of slave tools, the movement condition including no risk of collision between the at least one slave tool and a slave tool having a higher movement priority, and control the at least one slave tool to move to a corresponding target pose in response to the at least one slave tool satisfying the movement condition. 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 primary operator according to some embodiments of the present disclosure; FIG. 5 illustrates a schematic view of a first surgical trolley according to some 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 coordinate system diagram in teleoperation according to some embodiments of the present disclosure; FIG. 11 illustrates a schematic diagram of a motion priority of a slave tool according to some embodiments of the present disclosure; FIG. 12 illustrates a schematic diagram of a motion priority of a slave tool according to further embodiments of the present disclosure; FIG. 13 illustrates a schematic of collision detection between driven tools in some embodiments of the present disclosure; FIG. 14 illustrates a schematic diagram of bounding box updating in some embodiments of the present disclosure; fig. 15 illustrates a schematic view of collision detection between driven tools in other 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, i