CN-121987354-A - Surgical robot system for simultaneous operation of two persons

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 (18)

1. 1. A surgical robotic system, comprising: a plurality of driven tools including at least a first driven tool, a second driven tool, a third driven tool, and a fourth driven tool; A plurality of main operators including at least a first preferred main operator and a first auxiliary main operator for operation by a first operator and a second preferred main operator and a second auxiliary main operator for operation by a second operator, 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 first, second, third, and fourth slave tools based on movements of the first, second, and second preference 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 a slave tool of the plurality of slave tools assigned to the first preferred master operator has a higher motion priority than a slave tool assigned to the first auxiliary master operator, wherein a slave tool assigned to the first auxiliary master operator has a higher motion priority than a slave tool assigned to the second preferred master operator, and wherein a slave tool assigned to the second preferred master operator has a higher motion priority than a slave tool assigned to the second auxiliary master operator.
3. 3. The surgical robotic system of claim 2, wherein the control device is further configured to update the movement priorities of the first, second, third, and fourth slave tools based on control information for controlling at least one of the first, second, third, and fourth slave tools, wherein the control information is used to adjust an operational state of a slave instrument of the at least one slave tool.
4. 4. A surgical robotic system as claimed in claim 3, wherein the control information includes at least one of: first control information for controlling the opening and closing of the slave instrument of the at least one slave tool, or And second control information for controlling the on-off of the slave instrument of the at least one slave tool.
5. 5. The surgical robotic system of claim 1, wherein the collision risk comprises a first collision risk, the control device 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.
6. 6. The surgical robotic system of claim 5, 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.
7. 7. The surgical robotic system of claim 6, 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.
8. 8. The surgical robotic system of claim 5, 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.
9. 9. The surgical robotic system of claim 5, 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.
10. 10. The surgical robotic system of claim 9, 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.
11. 11. The surgical robotic system of claim 9, 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.
12. 12. The surgical robotic system of claim 1, 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 preference master operator, the first auxiliary master operator, the second preference master operator and the second auxiliary master operator in response to a preset or distribution request.
13. 13. The surgical robotic system of claim 12, 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.
14. 14. The surgical robotic system of claim 13, wherein the first preferred primary operator and first auxiliary primary operator have a higher allocation priority than the second preferred primary operator and second auxiliary primary operator.
15. 15. The surgical robotic system of claim 14, 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.
16. 16. 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.
17. 17. The surgical robotic system of claim 16, 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.
18. 18. The surgical robotic system of any one of claims 1-17, 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 robot system for simultaneous operation of two persons Technical Field The present disclosure relates to the field of robotic control, and more particularly to a surgical robotic system for simultaneous operation by two persons. 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 including at least a first slave tool, a second slave tool, a third slave tool, and a fourth slave tool, a plurality of master operators including at least a first preferred master operator and a first auxiliary master operator for operation by a first operator and a second preferred master operator and a second auxiliary master operator for operation by a second operator, 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 first slave tool, the second slave tool, the third slave tool, and the fourth slave tool based on movements of the first preferred master operator, the first auxiliary master operator, the second preferred master operator, and the second auxiliary master operator, respectively, determine whether at least one 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 at least one slave tool and a slave tool having a higher movement priority, and controlling movement of the at least one slave tool in response to the at least one of the slave tools corresponding to a risk of collision. 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 diagram of a first preference master manipulator in accordance with 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. 12A illustrates a schematic diagram of updating a motion priority of a slave tool according to some embodiments of the present disclosure; FIG. 12B illustrates a schematic diagram of an operational state of a driven tool according to some 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 pre