CN117958985B - Surgical robot multiterminal control cooperation device - Google Patents
Surgical robot multiterminal control cooperation device Download PDFInfo
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- CN117958985B CN117958985B CN202410384265.XA CN202410384265A CN117958985B CN 117958985 B CN117958985 B CN 117958985B CN 202410384265 A CN202410384265 A CN 202410384265A CN 117958985 B CN117958985 B CN 117958985B
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- 230000000977 initiatory effect Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 abstract description 3
- 230000002792 vascular Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 206010028980 Neoplasm Diseases 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 230000002526 effect on cardiovascular system Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The invention provides a surgical robot multi-terminal control cooperation device, which comprises: a local end collaborator and at least one remote end collaborator; the remote terminal collaborator interacts with the local terminal collaborator, initiates a remote access control request instruction and sends a control command input by a remote terminal operator; the local end collaborator is used for controlling and obtaining the control command and summarizing the control command to a navigation host of the surgical robot, and the navigation host realizes the remote control of the surgical robot according to the control command. According to the invention, the local end collaborators and the plurality of remote end collaborators are arranged, and the control right conversion of the surgical robot is controlled by an operator through the local end collaborators by utilizing the instruction interaction of the local end collaborators and the remote end collaborators, so that the multi-terminal joint control of the surgical robot is realized.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical robot multi-terminal control cooperation device.
Background
With the continued advancement of medical technology, vascular interventional procedures have become an important treatment for many diseases. The vascular intervention operation has the advantages of small wound, quick recovery, good curative effect and the like, and is widely applied to the fields of cardiovascular, cerebrovascular, tumor and the like. Along with the progress of medical technology, the indications of vascular interventional operations are continuously expanded, the operation difficulty is also continuously improved, and the requirements on the accuracy and safety of the operations are also higher and higher. This provides an important opportunity for the development of vascular interventional surgical robots.
The development of vascular interventional surgical robots has become an important trend in the medical field, and the accuracy and safety of surgery are one of the important indexes for evaluating the medical quality. The traditional vascular intervention operation is influenced by artificial factors, so that the accuracy and safety of the operation are difficult to ensure. And the vascular intervention operation robot adopts a high-precision mechanical arm and sensor technology, so that accurate positioning and operation can be realized, the requirement of the operation on the skill of a doctor is reduced, and the accuracy and safety of the operation are improved. The application range of the vascular interventional operation robot is further expanded, and the vascular interventional operation robot is also widely applied in the fields of cardiovascular, cerebrovascular, tumor and the like
However, the current vascular interventional surgical robots are single in control aspect, lack of collaborative control modes, the existing surgical robots are only provided with a single controller, doctors cannot perform collaborative operation, and cannot control the surgical robots to perform joint operation together by multiple operators, although the technical execution angle is capable of changing the architecture design of products and adding new functional modules, the problems that the development and production execution period is long, the marketization propelling progress is influenced and the like are faced in the actual operation process because the product architecture design with no universality is added.
Disclosure of Invention
The invention aims to solve the technical problem of how to realize switching of the control right of the surgical robot among operators. To improve the operation quality and efficiency; in view of this, the present invention provides a surgical robot multi-terminal control cooperative apparatus.
The technical scheme adopted by the invention is that the surgical robot multi-terminal control cooperation device comprises:
A local end collaborator and at least one remote end collaborator;
The remote terminal collaborator interacts with the local terminal collaborator, initiates a remote access control request instruction and sends a control command input by a remote terminal operator;
The local end collaborator is used for controlling a navigation host machine which acquires the control command and gathers the control command to the surgical robot, and the navigation host machine realizes the remote control of the surgical robot according to the control command.
In one embodiment, the local collaborator is provided with a doctor control system interface, a navigation host interface, a local communication interface, a power interface and a power switch; the doctor control system interface is used for connecting a local doctor operation end, and the navigation host interface is used for connecting a surgical robot navigation host.
In one embodiment, the remote collaborator is provided with a remote doctor control system interface, a remote communication interface, a power interface and a power switch; the remote doctor control system interface is used for connecting an operation end of a remote doctor, and the local communication interface and the remote communication interface are used for realizing command interaction of the local doctor control system interface and the remote doctor control system interface.
In one embodiment, the local collaborator and the remote collaborator are respectively provided with a touch display screen and a control request key; the control request key is used for initiating a surgical robot control right taking over application so as to realize the switching of the surgical robot control right.
In one embodiment, in a local control mode, the local collaborator acquires a control command sent out by a local doctor operation end and sends the control command to a navigation host of the surgical robot, so that the surgical robot is controlled to perform a corresponding surgical action.
In one embodiment, in a remote control mode, a remote operator inputs a control command to a remote coordinator through the remote doctor control system interface, the remote coordinator transmits the control command to the local coordinator, and the control command is transmitted to a navigation host of the surgical robot, so that the surgical robot is controlled to perform a corresponding surgical action.
By adopting the technical scheme, the invention has at least the following advantages:
According to the invention, the local end collaborators and the plurality of remote end collaborators are arranged, and the control right conversion of the surgical robot is controlled by an operator through the local end collaborators by utilizing the instruction interaction of the local end collaborators and the remote end collaborators, so that the multi-terminal joint control of the surgical robot is realized.
Drawings
Fig. 1 is a schematic diagram of a multi-terminal control cooperative device of a surgical robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an overall application architecture according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the internal architecture of a collaborator according to an embodiment of the invention;
FIG. 4 is a schematic diagram of control command logic according to an embodiment of the present invention;
FIG. 5 is a schematic view of a surgical control assignment flow according to an embodiment of the present invention;
fig. 6 is a schematic diagram of another surgical control assignment flow according to an embodiment of the present invention.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description of the present invention is given with reference to the accompanying drawings and preferred embodiments.
In the drawings, the thickness, size and shape of the object have been slightly exaggerated for convenience of explanation. The figures are merely examples and are not drawn to scale.
As used herein, the terms "substantially," "about," and the like are used as terms of a table approximation, not as terms of a table level, and are intended to illustrate inherent deviations in measured or calculated values that would be recognized by one of ordinary skill in the art.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In an embodiment of the present invention, as shown in fig. 1, a surgical robot multi-terminal control collaboration device includes:
A local end collaborator and at least one remote end collaborator;
the remote terminal collaborator interacts with the local terminal collaborator, initiates a remote access control request instruction and sends a control command input by a remote terminal operator;
The local end collaborator is used for controlling and obtaining control commands and summarizing the control commands to a navigation host of the surgical robot, and the navigation host realizes remote control of the surgical robot according to the control commands.
In the embodiment, a doctor control system interface, a navigation host interface, a local communication interface, a power interface and a power switch are arranged on the local collaborator; the doctor control system interface is used for connecting a local doctor operation end, and the navigation host interface is used for connecting a surgical robot navigation host.
In the embodiment, a remote doctor control system interface, a remote communication interface, a power interface and a power switch are arranged on the remote collaborator; the remote doctor control system interface is used for connecting an operation end of a remote doctor, and the local communication interface and the remote communication interface are used for realizing command interaction of the remote doctor control system interface and the remote doctor control system interface.
In this embodiment, a touch display screen and a control request key are respectively disposed on the local collaborator and the remote collaborator; the control request button is used for initiating a surgical robot control right taking over application so as to realize the switching of the surgical robot control right.
In this embodiment, in the local control mode, the local coordinator obtains a control command sent by the local doctor operation end, and sends the control command to the navigation host of the surgical robot, so as to control the surgical robot to perform a corresponding surgical action.
In this embodiment, in the remote control mode, the remote operator inputs a control command to the remote collaborator through the remote doctor control system interface, and the remote collaborator sends the control command to the local collaborator and sends the control command to the navigation host of the surgical robot, thereby controlling the surgical robot to perform a corresponding surgical action.
The device provided by the invention will be described in detail below based on fig. 1 to 6.
The embodiment provides a multi-terminal control cooperation device of a surgical robot, which comprises a local terminal cooperation device and a remote terminal cooperation device, wherein the number of the remote terminal cooperation devices is not less than one, and the multi-terminal control of the surgical robot can be realized by controlling the cooperation devices on the basis of not changing the software and hardware of the original master-slave surgical robot. The local end collaborators are used for summarizing and controlling the control commands of the screening input navigation host to realize control right management of the surgical robot, and the remote end collaborators are used for interacting with the local end collaborators, initiating the access remote control request command and sending the control commands input by the remote end operators to realize remote control of the surgical robot.
As shown in FIG. 1, a doctor control system interface, a navigation host interface, a collaborator local communication interface, a power interface and a power switch are arranged on the local collaborator, the doctor control system interface is used for connecting a local doctor operation end, and the navigation host interface is used for connecting a surgical robot navigation host.
The remote collaborator is provided with a remote doctor control system interface, a remote communication interface, a power interface and a power switch, wherein the remote doctor control system interface is used for connecting a remote operation end of a superior hospital or an expert, and the communication interfaces of the local end and the remote collaborator are used for realizing command interaction of the remote doctor control system interface and the power switch.
The local collaborator and the remote collaborator are respectively provided with a touch display screen and a control request button, and the control request button is used for initiating a surgical robot control right taking over application so as to realize the switching of the surgical robot control right.
As shown in FIG. 2, which is a dual-control surgical robot architecture diagram, the local end of the cooperative system is in communication connection with the remote end, and the multi-terminal control of the surgical robot can be realized by adding the control cooperative system on the basis of not changing the software and hardware of the master-slave surgical robot.
In the local control mode, the control command is input to the local control cooperative system by the local doctor-side robot control system, and the control command is sent to the navigation software computer host by the local control cooperative system, so that the robot motion control system in an operating room is controlled to perform corresponding operation actions.
The remote end collaborators are also provided with control request keys, when an upper-level hospital expert is required to perform operation, the remote end control collaborators initiate control request commands to the local end control collaborators, after the local operating doctors agree to the requests, the control right of the operation robot can be transferred to the upper-level hospital operation end, the remote end control collaborators can continuously send operation control signals to the local end collaborators, the upper-level hospital operators input the control commands to the remote end collaborators through the remote end operation end, the remote end collaborators send the control commands to the local end collaborators, finally, the local end collaborators transmit the control commands to the navigation software computer host, the operation robot in the local operating room is controlled to perform appointed actions, and the operation robot control right switching is achieved.
Therefore, compared with the original master-slave operation robot, the invention can upgrade the original single control structure into a multi-control structure, and can complete the multi-terminal control cooperation to complete the operation without changing the original software and hardware design.
The internal modules of the local end cooperation device and the remote end cooperation device are shown in fig. 3, and each of the local end cooperation device and the remote end cooperation device comprises a transmission module, a data encryption module, a main control module, a navigation computer host interface module and a doctor control system interface module, wherein the navigation computer host interface module of the remote end cooperation device does not need to be externally connected with a navigation computer host, and the device can be externally connected with the navigation computer host when being used as the local end cooperation device.
The working mode of the local end collaborator is as follows:
The navigation host of the surgical robot is connected to the main control module through the built-in interface module, and the control system of the local doctor is also connected with the main control module through the built-in controller interface module. The local control system transmits the operation robot control signal to the local cooperation system, the main control module judges, if the system is in the local control mode, the main control system forwards the received local doctor control system input signal to the navigation host, and after the navigation host processes the received local doctor control system input signal, the robot execution system is controlled to complete operation, if the system is in the remote control mode, the main control module transmits the signal received by the transmission port to complete decoding of the data encryption module, and then the signal is transmitted to the operation robot navigation host to complete operation robot control.
The working mode of the remote terminal collaborator is as follows:
The remote doctor control system is connected to the remote end collaborator main control module through the built-in interface module, and the main control module encrypts doctor control signals through the protocol encryption module, and sends the signals to the local end collaborator through the transmission module.
The remote control collaboration device is also provided with a control request button, when a remote operator needs to operate the operation in a different place, the control request button is pressed down, a surgical control request is sent to the local control collaboration system, and after the request is received, the remote control collaboration system can continuously send a surgical operation control signal to the local control collaboration system, so that the remote surgical control is completed.
The information flow chart of the control process is shown in fig. 4, the local end collaborator is respectively connected with the doctor controller, the robot navigation host and the communication port, wherein the navigation host and the surgical robot slave end executor are directly connected, the local end collaborator can receive control signals from the doctor controller and the communication port at the same time after the surgery starts, and if the system is in a local control mode, the main control module only receives an operation command from the local doctor controller and forwards the operation command to the navigation host to finish the control of the slave end surgical robot executor; if the system is in the remote control mode, the main control module only receives the command of the remote controller from the communication port and then forwards the command to the navigation host to complete the control of the slave end executor of the surgical robot.
As shown in fig. 5 and 6, the surgical control right distribution flow chart is shown in fig. 5 and 6, the surgical control right distribution is completed cooperatively by the double-control collaboration system, the signal flow charts of the remote control request and the local control request are shown in the figure, the surgical control right defaults to the local control mode after the system initialization is completed, an operator can control the surgical robot executor to perform surgical actions through the local operation end, in the surgical process, the remote operator can initiate the remote control request through the remote end collaboration, after the local end collaboration receives the remote control request through the communication port, the main control module can display the confirmation state on the touch screen, whether the remote control mode is switched or not, and after the confirmation is used by the user, the remote control mode is switched to the remote control mode.
Likewise, the local doctor may initiate a local surgical control request.
In summary, by adopting the above technical solution, the present embodiment has at least the following advantages:
1) According to the invention, the local end collaborators and the plurality of remote end collaborators are arranged, and the control right conversion of the surgical robot is controlled by an operator through the local end collaborators by utilizing the instruction interaction of the local end collaborators and the remote end collaborators, so that the multi-terminal joint control of the surgical robot is realized.
2) The multi-terminal control function is modularized to form the multi-terminal control cooperative device, so that the universality of equipment is improved, and the multi-terminal control function can be realized without changing the software and hardware of the existing surgical robot.
While the invention has been described in connection with specific embodiments thereof, it is to be understood that these drawings are included in the spirit and scope of the invention, it is not to be limited thereto.
Claims (3)
1. A surgical robot multi-terminal control cooperative apparatus, comprising: the system comprises a local collaborator and at least one remote collaborator, wherein the local collaborator and the remote collaborator are used for realizing multi-terminal control of the surgical robot on the basis of not changing the software and hardware of the original master-slave surgical robot, and specifically configured as follows:
The remote collaborator interacts with the local collaborator, initiates a remote access control request instruction and sends a control command input by a remote end operator;
The local collaborator is used for controlling a navigation host machine which acquires the control command and gathers the control command to the surgical robot, and the navigation host machine realizes the remote control of the surgical robot according to the control command;
The local collaborator is provided with a doctor control system interface, a navigation host interface, a local communication interface, a power interface and a power switch; the doctor control system interface is used for connecting a local doctor operation end, and the navigation host interface is used for connecting a surgical robot navigation host;
The remote collaborator is provided with a remote doctor control system interface, a remote communication interface, a power interface and a power switch; the remote doctor control system interface is used for connecting an operation end of a remote doctor, and the local communication interface and the remote communication interface are used for realizing command interaction of the local doctor control system interface and the remote doctor control system interface;
the local collaborators and the remote collaborators are respectively provided with a touch display screen and a control request key; the control request button is used for initiating a surgical robot control right taking over application so as to realize the switching of the surgical robot control right.
2. The surgical robot multi-terminal control cooperative apparatus according to claim 1, wherein in a local control mode, the local cooperative apparatus acquires a control command issued via a local doctor operation terminal and transmits the control command to a navigation host of the surgical robot, thereby controlling the surgical robot to perform a corresponding surgical action.
3. The surgical robot multi-terminal control cooperative apparatus according to claim 1, wherein in a offsite control mode, an offsite operator inputs a control command to an offsite coordinator through the offsite doctor manipulation system interface, the control command is transmitted to the local coordinator by the offsite coordinator, and the control command is transmitted to a navigation host of the surgical robot, thereby controlling the surgical robot to perform a corresponding surgical action.
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| CN202410384265.XA CN117958985B (en) | 2024-04-01 | 2024-04-01 | Surgical robot multiterminal control cooperation device |
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| WO2002049509A2 (en) * | 2000-12-21 | 2002-06-27 | Insulet Corporation | Medical apparatus remote control and method |
| CN102048580A (en) * | 2009-11-02 | 2011-05-11 | 俞青 | User terminal of telemedicine system |
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| CN107049497B (en) * | 2017-05-02 | 2020-12-04 | 浙江伽奈维医疗科技有限公司 | Puncture navigation robot system |
| US20200152190A1 (en) * | 2017-06-06 | 2020-05-14 | Intuitive Surgical Operations, Inc. | Systems and methods for state-based speech recognition in a teleoperational system |
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| CN117226828A (en) * | 2023-09-04 | 2023-12-15 | 成都博恩思医学机器人有限公司 | Surgical robot, control system, control method, and storage medium |
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| CN218279794U (en) * | 2021-01-14 | 2023-01-13 | 科林达斯公司 | System for controlling a robot drive |
| CN115592667A (en) * | 2022-10-28 | 2023-01-13 | 李汉忠（Cn） | A low-latency remote control system for surgical robots |
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Effective date of registration: 20240819 Address after: Office Building 501, No. 1423 Renmin Road, Gaobu Street, Yuecheng District, Shaoxing City, Zhejiang Province, 312000 Patentee after: Shaoxing Mayo Heart Magnetism Medical Technology Co.,Ltd. Country or region after: China Address before: Room 102, Building 15, No. 698 Xixi Road, Liuliu Street, Xihu District, Hangzhou City, Zhejiang Province, 310012 Patentee before: Mayo Xinci (Hangzhou) Medical Technology Co.,Ltd. Country or region before: China |