CN102614019A

CN102614019A - Surgical robot system and adaptive control method thereof

Info

Publication number: CN102614019A
Application number: CN2011104232998A
Authority: CN
Inventors: 崔胜旭; 闵东明; 李珉奎
Original assignee: Eaton Corp
Current assignee: Eaton Corp
Priority date: 2010-12-17
Filing date: 2011-12-16
Publication date: 2012-08-01
Anticipated expiration: 2031-12-16
Also published as: KR20120068597A; CN104473693B; CN104473693A; CN102614019B; CN106214262B; CN106214262A

Abstract

A surgical robot system and an adaptive control method thereof are provided. A main interface is included in the surgical robot system which is equipped with an endoscope and more than one control objects of surgical tools and is used for controlling the positions of the control objects. The surgical robot system comprises an operation part for receiving the user instruction for moving the control objects; a storage part for storing more than one reference image in image information provided by the endoscope and the moving scale factor corresponding to the reference image; a scale factor calculation part for moving the scale factor in a proportionally amplifying or reducing manner by determining amplification or reduction compared with the reference image according to the current image information provided by the endoscope and then for performing setting; and an operation signal generating part for converting the user instruction of the operation part to the moving scale factor corresponding to the resetting and generating an operation signal for the control objects. The surgery time and the fatigue of a performer can be reduced, and the moving distance of the surgical tools can be directly determined according to the displayed image information.

Description

Surgical robot system and self-adaptation control method thereof

Technical field

The present invention relates to a kind of surgical robot system and self-adaptation control method thereof.

Background technology

Operation medically is meant the behavior of using medical apparatus and instruments that skin, mucosa or other tissue are cut, cut or operate and curing disease.Particularly, cutting operation position skin and its internal waited is treated, the laparotomy ventrotomy of shaping or excision etc., because problems such as hemorrhage, side effect, patient suffering, cicatrix use the operation of robot (robot) to enjoy great popularity recently.

Surgical robot system generally comprises main robot and from robot, and main robot and can be independent separately the realization from robot also can be that one realizes.

During the manipulator (for example handle) that on executing patient's operating host device people, had, combine with robotic arm or (be operating theater instruments: instrument) operated, thereby undergo surgery by the operation tool that robotic arm is controlled from robot.

In order to carry out the operation that basis is executed patient's manipulation device, surgical robot system is carried out specified action under multiple action pattern.Main robot reorientation pattern, peritoneoscope position control mode, maintenance mode declaration pattern specification to as the part action pattern in the multiple action pattern are following.

Main robot reorientation pattern does, the action pattern of the surgical robot system when pressing the main robot reorientation button that is had moves manipulator even execute the patient, also can not be delivered to the action pattern from robot according to the operational order of manipulator operation.The main robot reorientation button that is used to get into main robot reorientation pattern can be realized through the clutch button of following explanation.

The peritoneoscope position control mode be when execute the patient when moving manipulator peritoneoscope replace the operation tool that is installed in from the robot and operated action pattern.Execute and move manipulator under the situation that the patient pins the video camera button (for example pedal) that possesses in advance on the main robot, thereby can under the peritoneoscope position control mode, operate peritoneoscope to move modes such as peritoneoscope.

The maintenance pattern is to keep the action pattern of current operating state, is the action pattern that makes main robot and all stop in current state from robot.Press predefined button or facial from actions such as control station (console) leave through executing the patient, surgical robot system can get into the maintenance pattern.

Below, the main robot reorientation pattern of the surgical robot system that relates to reference to relevant drawings simple declaration prior art and the action of peritoneoscope position control mode.

Fig. 1 is the integrally-built vertical view of surgical robot system that the expression prior art relates to; Fig. 2 is the concept map at the surgical robot system master interface that relates to of expression prior art, and Fig. 3 a and Fig. 3 b are the concept maps of the mobile control procedure of the expression operating theater instruments that surgical robot system of the prior art had.

With reference to Fig. 1 and Fig. 2, surgical robot system comprises: from robot 2, to lying in directly real the operating on of patient on the operating-table; Main robot 1 is executed the patient and is used for remote control from robot 2.During when main robot 1 with from robot 2 one formation, main interface 4 can be corresponding to the interface portion of one-piece type operating robot.

Comprise robotic arm 3 and peritoneoscope 5 from robot 2.The main interface 4 of main robot 1 comprises display 6, handle 10, main robot reorientation button and video camera button.Main robot reorientation button and video camera button can be realized by forms such as clutch button 14 or pedals 30 respectively.

Main robot 1 with can be connected and send to the other side such as operation signal through cable network or wireless network from robot 2.If, two operation signals of two handles 10 that had on need transmitting through main interface 4 in identical and/or close time and/or when being used to regulate the operation signal of peritoneoscope 5 positions, each operation signal can send to from robot 2 independently of one another.

Can have the driving of multiple degrees of freedom ground from the robotic arm 3 of robot 2.Robotic arm 3 for example can comprise: operation tool is inserted in patient's operative site; Deflection driven portion, according to surgery location so that operation tool rotate to deflection (yaw) direction; The pitching drive division drives orthogonal pitching (pitch) direction rotary operation instrument to the rotation with deflection driven portion; Transfer drive division, move operation tool to length direction; Rotary driving part is used for the rotary operation instrument; The operation tool drive division is located at the end of operation tool, is used for cutting or the cutting operation focus.

Two handles 10 that had on the main interface 4 form, and can hold respectively at the enterprising line operate of both hands by executing the patient, be sent to from robot 2 according to the operation signal of executing patient's operating grip 10, thus control robotic arm 3.

Image through peritoneoscope 5 inputs is presented on the display 6 at main interface 4 with picture image.And, on display 6, can also increase electrocardiogram curve that shows patient for example etc.

The main robot reorientation button that on main interface 4, has is; Executing the patient undergos surgery in the process; After the operating area that will be used to undergo surgery (for example, the zone of taking through peritoneoscope 5 for the operation instrument) moved to the second position of diverse location from primary importance, the re-adjustment operational region (for example for the handle 10 of operating main interface 4; The home position of handle 10 is recovered to adjust in the center of current operating area) time, the control knob that can utilize.

(for example execute state that the patient imports main robot reorientation button; The state of pushes pedals 30) even down to arbitrary direction operating grip 10; Operation tool operational order that this operation causes or peritoneoscope 5 operational orders can not offer from robot 2 yet, therefore execute the patient and can handle 10 be returned to original state for the ease of the action that undergos surgery.

Promptly; When execute the patient with the operating area when primary importance moves to the second position; The video camera button that at first will be used for mobile peritoneoscope 5 is imported (promptly; Get into the peritoneoscope position control mode), and through operating grip 10 peritoneoscope 5 is moved to after the desired location,, moving by the handle 10 of arbitrary direction operation when returning to the origin-location for moving peritoneoscope 5 in order to prevent peritoneoscope 5; Under the state of pinning main robot reorientation button (main robot reorientation pattern), handle 10 operated and after returning to the origin-location; The state of pinning of End Host device people reorientation button, thus can the re-adjustment operational region, so that in the operating area of change, be used for the operation of the handle 10 of operation instrument.

But; The degree that peritoneoscope 5 moves to respective direction through operating grip 10 under the peritoneoscope position control mode; Be defined in the size of predefined operating area 310; So, during operating area 310 is moved to from (a) zone shown in Fig. 3 a (b) zone, give and execute the patient and bring very big inconvenience.

Promptly; In the time of will the operating area 310 in (a) zone being moved to (b) zone; Shown in Fig. 3 b; Executing the patient can only move operating area 310 with (a), (p1), (p2), (p3) and order (b) successively, moves in the step at each, execute that the patient need operate the video camera button repeatedly and move peritoneoscope 5, operating grip 10 make peritoneoscope 5 move, for handle 10 is returned to the origin-location and the process of operating host device people reorientation button and end operation; When the path changing in mobile operating zone 10, the number of operations of video camera button and main robot reorientation button also maybe be more.At this, expression such as the c-a of Fig. 3 b, c-b is along with the shift position of operating grip 10 peritoneoscopes 5.

And in the surgical robot system that prior art relates to, the problem points of the move mode of operation tool is irrespectively to remain unchanged with the image information multiplying power of importing through peritoneoscope 5.

Its reason is; Be used to define the moving ratio factor (MSF of operation tool moving interval; Motion Scale Factor) is fixed on certain value and moves, and do not consider to comprise which part and two ways fully through the image information of peritoneoscope 5 inputs can in predefined operating area 310, carry out the best.

And, be that peritoneoscope 5 mobile mechanisms of unit finally cause operating time to prolong with the operating area, also there is the problem of the doctor who under the high-pressure state, undergos surgery being brought serious feeling of fatigue.

Said background technology is the technical information that the inventor grasps in order to derive the present invention or in deriving process of the present invention, acquired, and it is preceding by the disclosed known technology of general public to be not necessarily application of the present invention.

Summary of the invention

The object of the invention is to provide a kind of surgical robot system and self-adaptation control method thereof, can take the photograph the moving ratio factor that body comes the adaptively modifying operation tool according to the quilt that by the peritoneoscope captured image information is and which scope regional about which.

The object of the invention is to provide a kind of surgical robot system and self-adaptation control method thereof; Can shorten operating time and alleviate the feeling of fatigue that operation carries out executing in the process patient, and can recognize the displacement of operation tool intuitively according to images displayed information.

The object of the invention is to provide a kind of surgical robot system and self-adaptation control method thereof, can improve the operation ease of peritoneoscope and/or operation tool to greatest extent.

The object of the invention is to provide a kind of surgical robot system and self-adaptation control method thereof, improves the video camera button that utilizes in order to operate peritoneoscope, and has increased separate location control/speed controlling button, thereby can implement new action.

According to an embodiment of the present invention; A kind of main interface is provided; Be included in and operation be installed with controlling more than in the surgical robot system of object in endoscope and the operation tool; And being used to control the position of said control object, this main interface comprises: operating portion receives the user command that is used for the control object is carried out move operation; Storage part is used for storing the more than one benchmark image of the image information that is provided with endoscope by operation and corresponding to the moving ratio factor (Motion Scale Factor) of benchmark image; The scale factor operational part; Judging that the current present image information that provides with endoscope through operation is compared with benchmark image is exaggerated or dwindles; And regulating the moving ratio factor, and set again with its amplification or the degree of dwindling the mode linear or non-linear ratio; Operation signal generation portion converts the user command of utilizing operating portion into set corresponding to again the moving ratio factor, thereby generates the operation signal for the control object.

The scale factor operational part is exaggerated or dwindles in order to judge that present image information is compared with benchmark image, can detect the consistent zone of present image information in benchmark image according to predefined image analysis technology, and regions.

The scale factor operational part can utilize more than one conversion information and in benchmark image, regulate the moving ratio factor corresponding to the proportionate relationship between the information of conversion information in lateral dimension, vertical dimension, catercorner length and the width that is set the zone.

According to the displacement of the control object of user command, can regulate through the moving ratio factor.

The operation with endoscope can be in peritoneoscope, thoracoscope, arthroscope, asoscope, cystoscope, rectoscope, duodenoscope, mediastinoscope, the cardioscope more than one.

According to an embodiment of the present invention; A kind of main interface is provided; Be included in and be equipped with in the surgical robot system of operation with more than one control object in endoscope and the operation tool; And being used to control the position of said control object, this main interface comprises: operating portion receives the user command that is used for the control object is carried out move operation; Storage part is used to store more than one based on the moving ratio factor of operation with the shooting condition of endoscope; The scale factor operational part receives the information of relevant operation with endoscope's shooting condition, at storage part retrieval corresponding mobile scale factor, and is set at the suitable moving ratio factor; Operation signal generation portion converts the user command of utilizing operating portion corresponding to the moving ratio factor that sets into, thereby generates the operation signal for the control object.

Shooting condition can be operation with the image taking zoom ratio of endoscope, camera site, in the actual size of surperficial distance of operative site and the operative site that is taken more than one.

The moving ratio factor when image taking zoom ratio is high magnification, the moving ratio factor in the time of can being low range than image taking zoom ratio has relatively little value.

Operation is inserted the moving ratio factor of inside of human body when dark relatively with endoscope, can insert the moving ratio factor when shallow relatively with endoscope than operation, has little value.

From being used to detect the pick off reception detected value apart from the distance on operative site surface, near more apart from the distance on operative site surface, the moving ratio factor can be set more little value for.

The actual size of the operative site that is taken is more little, and the moving ratio factor can be set more little value for.

According to the displacement of the operation tool of user command, can regulate through the moving ratio factor.

When user command belongs to when being used for move operation operation with the order of endoscope, perform the operation and to regulate through the moving ratio factor with the displacement of endoscope.

According to the variation of shooting condition, but the real-time operation moving ratio factor and be stored in storage part.

When in order to control the move operation of object, when operating portion is operated with big relatively operational ton, to compare when operating with few relatively operational ton with operating portion, the scale factor operational part can be set the bigger moving ratio factor.

Use endoscope when obtaining the device of 3-D view when operation, the information of relevant shooting condition can be the degree of depth (depth) information that is calculated with endoscope's captured image information by operation through resolving.

According to another embodiment of the present invention; A kind of self-adaptation control method of controlling object is provided; Be the operation on main interface, carried out self-adaptation control method with more than one control object in endoscope and the operation tool, comprise the steps: to store more than one benchmark image in the image information that provides with endoscope by operation and with the step of benchmark image corresponding mobile scale factor (Motion Scale Factor); The present image information that judgement is provided with endoscope by current operation is compared with benchmark image and is exaggerated or the step of dwindling; With the step of regulating the moving ratio factor and setting again with amplification of judging or the degree of dwindling the mode linear or non-linear ratio; The user command that to import for the control object is carried out move operation converts the moving ratio factor of setting corresponding to again to, and generates the step for the operation signal of control object.

In determining step, be exaggerated or dwindle in order to judge that present image information is compared with benchmark image, can detect the consistent zone of present image information in benchmark image according to predefined image analysis technology, thus regions.

In the step of regulating and setting again, can utilize in lateral dimension, vertical dimension, catercorner length and the width that is set the zone more than one conversion information and in benchmark image, regulate the moving ratio factor corresponding to the proportionate relationship between the information of conversion information.

According to another embodiment of the present invention; A kind of self-adaptation control method of operation tool is provided; Be the operation on main interface, carried out self-adaptation control method, comprise the steps: to store based on the step of operation with an above moving ratio factor of endoscope's shooting condition with more than one control object in endoscope and the operation tool; Receive the information of relevant operation, retrieve the corresponding mobile scale factor, and be set at the step of the suitable moving ratio factor at storage part with endoscope's shooting condition; The user command that to import for the control object is carried out move operation converts the moving ratio factor of setting corresponding to again into, and generates the step for the operation signal of control object.

Shooting condition can be operation with the image taking zoom ratio of endoscope, camera site, in the actual size of the surperficial distance of operative site and the operative site that is taken more than one.

Also comprise the step apart from the information of the distance on operative site surface of reception by sensor, near more apart from the distance on operative site surface, the moving ratio factor can be set at more little value.

The actual size of the operative site that is taken is more little, and the moving ratio factor can be set at more little value.

In setting step, when the user command that is used for move operation control object is the big relatively operational ton of relevant operating portion, compare when being operated with few relatively operational ton with operating portion, can set the bigger moving ratio factor.

Operation uses endoscope when obtaining the device of 3-D view, and the information of relevant shooting condition can be the degree of depth (depth) information that is calculated with endoscope's captured image information by operation through resolving.

According to another embodiment of the present invention; A kind of main interface is provided; Be included in and be equipped with in the surgical robot system of operation with more than one control object in endoscope and the operation tool; And being used to control the position of object, this main interface comprises: operating portion receives the user command that is used for move operation control object; The selection information of (Instrument/Vision Selection) input block is selected according to instrument/vision by operation signal generation portion, generates the operation signal of the position that is used to control corresponding control object accordingly with the operational ton of operating portion.

Operation signal generation portion judges whether to have selected position control mode, and only under selecteed situation, could generate the operation signal that is used to control said position.

According to instrument/vision select the selection information of input block, control object can be appointed as operation with in endoscope and the operation tool more than one.

Instrument/vision selects input block for the specified control object, can be made up of more than one button.

When the selection information of selecting input block according to instrument/vision; When the control object is designated as operation with endoscope and operation tool; Operation signal generation portion can the generating run signal, and this operation signal makes operation keep side by side under the state to moving with the corresponding direction of the direction of operating of operating portion with endoscope and operation tool.

When the selection information of selecting input block according to instrument/vision; When the control object is designated as operation with endoscope and operation tool; When being in the operation tool of clamping the state at arbitrary position in the operative site, the terminal operation tool of not taken with endoscope, operation tool, uke that clamp (jaw) is in closure state and being appointed as the operation tool that keeps stationary state and in the stationary state hold button that a plurality of operating portions have separately, pressing arbitrary stationary state button and in the operation tool set accordingly of this operating portion by operation more than one, can irrespectively not move with the operation of operating portion and keep its position.

Be controlled so as to position amount of movement, can determine through the moving ratio factor (Motion Scale Factor) corresponding to the control object of operating portion operational ton.

Also comprise: in the image information that storage part, storage are provided with endoscope by operation more than one benchmark image and with benchmark image corresponding mobile scale factor; The scale factor operational part; Judging that the current present image information that is provided with endoscope by operation is compared with benchmark image is exaggerated or dwindles; And regulating the moving ratio factor, thereby set again with its amplification or the degree of dwindling the mode linear or non-linear ratio; Operation signal generation portion can and make it corresponding to the moving ratio factor of setting again with the conversion of the operational ton of operating portion, and the generating run signal.

Also comprise: storage part, storage is based on the above moving ratio factor of operation with endoscope's shooting condition; The scale factor operational part receives the information of relevant operation with endoscope's shooting condition, and at storage part retrieval corresponding mobile scale factor, and be set at the suitable moving ratio factor; Operation signal generation portion can convert the operational ton of operating portion to and make it corresponding to the moving ratio factor of setting, and the generating run signal.

According to the variation of shooting condition, the real-time operation moving ratio factor can and be stored in storage part.

When the operating portion that is used for the move operation operation tool is operated with big relatively operational ton, to compare when operating with few relatively operational ton with operating portion, the scale factor operational part can be set the bigger moving ratio factor.

According to another embodiment of the present invention; A kind of position control method of relevant controlling object is provided; Be to the operation on main interface, carried out with the position control method of control object more than in endoscope and the operation tool, comprise the steps: to utilize operating portion to receive and be used for the step of the user command of move operation control object; Select the selection information of (Instrument/Vision Selection) input block according to instrument/vision, correspondingly generate the step of the operation signal that is used to control corresponding control object's position with the operational ton of operating portion.

When the selection information of selecting input block according to instrument/vision; When the control object is designated as operation with endoscope and operation tool; Generating run signal in generating step, this operation signal can make operation keep side by side under the state to moving with the corresponding direction of the direction of operating of operating portion with endoscope and operation tool.

When the selection information of selecting input block according to instrument/vision; When the control object is designated as operation with endoscope and operation tool; Be in operation tool that the operation tool of clamping the state at arbitrary position in the operative site, its end do not taken with endoscope by operation, operation tool that clamp (jaw) is in closure state, by execute the patient be designated as when pressing arbitrary stationary state button in operation tool that keeps stationary state and the stationary state hold button that in a plurality of operating portions, has separately and the operation tool of this operating portion respective settings in more than one, can irrespectively not move with the operation of operating portion and keep its position.

A kind of position control method of controlling object is provided; It is characterized in that, generate step and comprise: judging that the present image information that provided with endoscope by current operation is compared with the arbitrary benchmark image in the image information that provides with endoscope through operation is exaggerated or the step of dwindling; Be exaggerated or when dwindling, regulating the moving ratio factor with its amplification or the degree of dwindling the mode linear or non-linear ratio, and the step of setting again; The step of the operational ton corresponding operation signal that generates and change, the operational ton of this conversion meet the moving ratio factor of setting again.

Judgement be exaggerated or the step of dwindling in, can detect the consistent zone of present image information in benchmark image according to predefined image analysis technology, thus regions.

In generating step, can comprise: receive the step of relevant operation with the information of endoscope's shooting condition; From be stored in advance the storage part based on the step that extracts in the more than one moving ratio factor of shooting condition corresponding to the moving ratio factor of the information that receives; Its moving ratio factor corresponding to extraction is changed and made to the operational ton of operating portion, thus the step of generating run signal.

Shooting condition can be operation with the image taking zoom ratio of endoscope, camera site, apart from the distance on operative site surface and by operation with in the operative site actual size of endoscope's shooting more than one.

Comprise that also near more apart from the distance on operative site surface, the moving ratio factor can be set more little value for from being used to detect the step that receives detected value apart from the pick off of the surperficial distance of operative site.

When position for the control object, when operating portion is operated with big relatively operational ton, compare when operating with few relatively operational ton with operating portion, can set the bigger moving ratio factor.

According to another embodiment of the present invention; A kind of main interface is provided; Be included in and be equipped with in the surgical robot system of operation with more than one control object in endoscope and the operation tool; And being used to control the translational speed of object, this main interface comprises: operating portion receives the user command that is used for move operation control object; The selection information of (Instrument/Vision Selection) input block is selected according to instrument/vision by operation signal generation portion, generates the operation signal of the translational speed that is used to control corresponding control object accordingly with the operational ton of operating portion.

Operation signal generation portion judges whether to have selected speed control mode, and only under selecteed situation, could generate the operation signal that is used to control said translational speed.

The operational ton of operating portion is big more, and the translational speed of control object can be configured to big more value.

When the selection information of selecting input block according to instrument/vision; When the control object is designated as operation with endoscope and operation tool; Operation signal generation portion can the generating run signal, and this operation signal can make operation keep side by side under the state to moving with the corresponding direction of the direction of operating of operating portion with endoscope and operation tool.

When the selection information of selecting input block according to instrument/vision; When the control object is designated as operation with endoscope and operation tool; Be in the operation tool of clamping arbitrary position in the operative site, the terminal operation tool of not taken with endoscope, operation tool that clamp (jaw) is in closure state by operation, by execute the patient be designated as when pressing arbitrary stationary state button in operation tool that keeps stationary state and the stationary state hold button that in a plurality of operating portions, has separately and the operation tool of this operating portion respective settings in more than one, can irrespectively not move with the operation of operating portion and keep its position.

Be controlled so as to translational speed, can determine through the moving ratio factor (Motion Scale Factor) corresponding to the control object of operating portion operational ton.

Also comprise: in the image information that storage part, storage are provided with endoscope by operation more than one benchmark image and with the corresponding moving ratio factor of benchmark image; The scale factor operational part; Judging that the current present image information that is provided with endoscope by operation is compared with benchmark image is exaggerated or dwindles; And regulating the moving ratio factor, thereby set again with its amplification or the degree of dwindling the mode linear or non-linear ratio; Operation signal generation portion can and make it corresponding to the moving ratio factor of setting again with the conversion of the operational ton of operating portion, and the generating run signal.

The scale factor operational part is exaggerated or dwindles in order to judge that present image information is compared with benchmark image, can detect the consistent zone of present image information in benchmark image according to predefined image analysis technology, thus regions.

The scale factor operational part can utilize in lateral dimension, vertical dimension, catercorner length and the width in the zone that is set more than one conversion information and in benchmark image, regulate the moving ratio factor corresponding to the proportionate relationship between the information of conversion information.

Also comprise: storage part, storage is according to the more than one moving ratio factor of operation with endoscope's shooting condition; The scale factor operational part receives the information of relevant operation with endoscope's shooting condition, and at storage part retrieval corresponding mobile scale factor, thereby be set at the suitable moving ratio factor; Operation signal generation portion can be with the conversion of the operational ton of operating portion and corresponding to the moving ratio factor of setting, and the generating run signal.

From be used to detect and the operative site surface between the pick off of distance receive detected value, near more apart from the distance on operative site surface, the moving ratio factor is set more little value for.

According to another embodiment of the present invention; A kind of movement speed control method of controlling object is provided; Carry out in the surgical robot system of control object more than one in endoscope and operation tool in that operation is installed, comprise the steps: to utilize operating portion to receive to be used for the step of the user command of move operation control object; Select the selection information of (Instrument/Vision Selection) input block according to instrument/vision, generate the operation signal of the translational speed that is used to control corresponding control object accordingly with the operational ton of operating portion.

In generating step, the operational ton of operating portion is big more, and the translational speed of control object can be designated as big more value.

When the selection information of selecting input block according to instrument/vision; When the control object is designated as operation with endoscope and operation tool; Can the generating run signal in generating step, this operation signal makes operation keep side by side under the state to moving with the corresponding direction of the direction of operating of operating portion with endoscope and operation tool.

When the selection information of selecting input block according to instrument/vision; When the control object is designated as operation with endoscope and operation tool; Be in the operation tool of clamping the state at arbitrary position in the operative site, the terminal operation tool of not taken with endoscope, operation tool that clamp (jaw) is in closure state by operation, by execute the patient be designated as when pressing arbitrary stationary state button in operation tool that keeps stationary state and the stationary state hold button that in a plurality of operating portions, has separately and the operation tool of this operating portion respective settings in more than one, can irrespectively not move with the operation of operating portion and keep its position.

A kind of position control method of controlling object is provided; It is characterized in that, generate step and comprise: judging that arbitrary benchmark image is compared in the present image information that provided with endoscope by current operation and the image information that provides with endoscope through operation is exaggerated or the step of dwindling; Be exaggerated or when dwindling, regulating the moving ratio factor with its amplification or the degree of dwindling the mode linear or non-linear ratio, thus the step of setting again; The step of the operational ton corresponding operation signal that generates and change, the operational ton of this conversion meet the moving ratio factor of setting again.

Generating step can comprise: receive the step of relevant operation with the information of endoscope's shooting condition; From be stored in advance the storage part based on the step that extracts in the more than one moving ratio factor of shooting condition corresponding to the moving ratio factor of the information that is received; Its moving ratio factor corresponding to extraction is changed and made to the operational ton of operating portion, thus the step of generating run signal.

Operation is inserted the moving ratio factor of inside of human body when dark relatively with endoscope, can insert the moving ratio factor when shallow relatively with endoscope than operation, has littler value.

When in order to control the Position Control of object, when operating portion is operated with big relatively operational ton, compare when operating with few relatively operational ton with operating portion, can set the bigger moving ratio factor.

Except that above-mentioned, other embodiment, characteristic, advantage can be clearer and more definite through following accompanying drawing, claim scope and detailed description of the invention meeting.

According to embodiments of the invention, can be according to taking the photograph body, the moving ratio factor of adaptively modifying operation tool for the quilt in relevant which zone and which scope through the peritoneoscope captured image information.

And, can shorten operating time and alleviate the feeling of fatigue that operation carries out executing in the process patient, and can be familiar with the displacement of operation tool intuitively according to images displayed information.

And, can maximize the operation ease of peritoneoscope and/or operation tool.

And improvement is used to operate laparoscopically video camera button, and has increased separate location control/speed controlling button, thereby can implement new action.

Description of drawings

Fig. 1 is the integrally-built vertical view of the surgical robot system that relates to of expression prior art.

Fig. 2 is the concept map at the main interface of the surgical robot system that relates to of expression prior art.

Fig. 3 a and Fig. 3 b are the concept maps of the mobile control procedure of the apparatus that surgical robot system had that relates to of expression prior art.

Fig. 4 a is the module map that the surgical robot system structure that one embodiment of the invention relate to represented in summary.

Fig. 4 b and Fig. 4 c are the sketch maps that is suitable for the notion of fixing (fixed) moving ratio factor (Motion Scale Factor) that expression one embodiment of the invention relate to.

Fig. 4 d and Fig. 4 e are the sketch maps of suitable self adaptation (adaptive) the moving ratio factor notion that relates to of expression one embodiment of the invention.

Fig. 5 a and Fig. 5 b are that the self adaptation of the moving ratio factor that relates to of expression one embodiment of the invention is regulated the sketch map of notion.

Fig. 6 is the precedence diagram of the adaptive regulation method of the moving ratio factor that relates to of expression one embodiment of the invention.

Fig. 7 is the precedence diagram of the position control mode determining method of the surgical robot system that relates to of expression one embodiment of the invention.

Fig. 8 is the precedence diagram of the speed control mode determining method of the surgical robot system that relates to of expression another embodiment of the present invention.

The specific embodiment

The present invention can carry out various improvement and can have various embodiments, and it is also shown in the drawings to be elaborated to concrete embodiment.Yet specific embodiment also is not intended to restriction the present invention, should be appreciated that, the present invention includes all improvement, equivalent and the alternative that belong to thought of the present invention and technical scope.When the detailed description of judging the known technology relevant with the present invention is blured purport of the present invention, will omit this detailed description.

Can use such as terms such as " first ", " second " and describe various elements, but said element is not limited by said term.Said term only is used for an element and another element are made a distinction.

The term that uses in this application only is used to describe concrete embodiment, and is not intended to restriction the present invention.Odd number representes to comprise complex representation, as long as can clearly distinguish understanding.Term such as " comprising " or " having " is intended to represent to exist characteristic, sequence number, step, operation, element, assembly or its combination of putting down in writing in the description in this application; And therefore; Should be appreciated that, do not get rid of the probability that exists or increase one or more different character, numbering, step, operation, element, assembly or its combination.

Below, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the explanation with reference to accompanying drawing, identical or corresponding element has been given identical Reference numeral, and omits the repeat specification to it.

Fig. 4 a is the module map that the surgical robot system structure that one embodiment of the invention relate to represented in summary; Fig. 4 b and Fig. 4 c are the sketch maps that has been suitable for fixing (fixed) moving ratio factor (Motion Scale Factor) notion that expression one embodiment of the invention relate to; Fig. 4 d and Fig. 4 e are the sketch maps that have been suitable for self adaptation (adaptive) moving ratio factor notion that relate to of expression one embodiment of the invention, and Fig. 5 a and Fig. 5 b are that the self adaptation of the moving ratio factor that relates to of expression one embodiment of the invention is regulated the sketch map of notion.

With reference to Fig. 4 a, surgical robot system can comprise main robot 1 and from robot 2, main robot 1 and can implement separately or one is implemented from robot 2.

Main robot 1 comprises image input part 410, picture display part 420, arm operating portion 430, operation signal generation portion 450, scale factor operational part 440 and control part 460.Though not shown, main robot 1 can also have storage part.Comprise robotic arm 3 and peritoneoscope 5 from robot 2.

Image input part 410 receives the image through the video camera input that has at the peritoneoscope 5 from robot 2 through wired or wireless communication network.

Picture display part 420 is with output of visual information form and the corresponding picture image of image that receives through image input part 410.Picture display part 420 can be realized with forms such as display 6, is used for the image that receives can be carried out by control part 460 or image processing part (not shown) with the image processing program of picture image output through picture display part 420.

Arm operating portion 430 is to execute the patient can operate robotic arm 3 and/or the position of peritoneoscope 5 and the unit of function from robot 2.430 as shown in Figure 2 can the forming of arm operating portion with handle shape, but be not limited to this shape, can implement with the multiple warpage of realizing identical purpose.And, for example also can part form, and other part forms with difformities such as clutch buttons with handle shape.For example, execute under the state that the patient holds arm operating portion 430 when arbitrary direction motion arm operating portion 430, operation tool is moved to this direction.Arm operating portion 430 for example also can carry out tilt operation at three dimensions, can have multiple according to its mode of operation of embodiment of arm operating portion 430.Promptly; In this manual; For move operation operation tool and/or peritoneoscope 5 etc.; With an end be fixed and through with the other end to arbitrary direction bending and the arm operating portion 430 of the structure of input operation order be that example is illustrated, can have multiple structure but be used to receive the arm operating portion 430 of executing patient's operational order, and the mode of ordering according to the structure input operation of adopting can have also multiple.

As stated; On the main interface 4 of main robot 1, can have the more than one function button; Each functional keys can be realized with the mechanism form button/switch with physical entity, perhaps through picture display part 420 demonstrations and through executing the button/switch realization that the patient touches the form of software of moving.

The functional keys that has on the main interface 4 can comprise in for example main robot reorientation button, instrument/vision selector button and the Position Control/speed control mode button more than one.

Main robot reorientation (Master Reposition:MR) button is, to execute the patient and do not pass to the button that surgical robot system is moved from robot 2 based on the operational order of utilizing main robot 1 operation under main robot reorientation pattern in order to make.Execute the patient and can utilize main robot reorientation button that arm operating portion 430 is returned to the origin-location, thus the starting point that under Position Control/speed control mode, is used for control position/speed of explanation below can resetting.

Instrument/vision selects (Instrument/Vision Selection:IVS) button to be, when executing the operation that the patient carries out arm operating portion 430 grades of utilizing main robot 1, and according to operating result, more than one button in operation peritoneoscope 5 and the operation tool.It is for improving and having expanded purposes and the function of using the video camera button on the surgical robot system in the prior art, execute the patient can utilize instrument/vision selector button specify according to the operation of arm operating portion 430 move operation tool the instrument control model, according to the operation of arm operating portion 430 move peritoneoscope 5 the vision control model, reach according to the operation of arm operating portion 430 and move an above action pattern in the Comprehensive Control pattern of operation tool and peritoneoscope 5.

As stated, select the arbitrary action pattern in a plurality of action patterns in order to utilize the IVS button, for example the IVS button can be made up of two buttons of vision control knob and Comprehensive Control button.At this moment,, can under the instrument control model, not drive, only, can under the vision control model, drive, only, can under the Comprehensive Control pattern, drive by under the state of Comprehensive Control button by under the state of vision control knob by under the state of arbitrary button.At this moment, under the state that two buttons are all pinned, can under aforesaid maintenance pattern, drive.

Certainly, the IVS button also can be realized by a button.For example the IVS button can be implemented in through rotary manipulation and select arbitrary action pattern in the multiple action pattern.As other example; The IVS button also can form the structure that can press, under the state that this button is not pinned, can under the instrument control model, drive; Under the state that keeps pinning; Can under the vision control model, drive, also can begin the Comprehensive Control pattern during double-click, finish the Comprehensive Control pattern during again by one time.

According to the mode of operation of the IVS button of executing the patient, that is, the picture display part 420 that can pass through for information about of action pattern shows.

Like this, be used to specify the way of realization and the push-botton operation form of the button of surgical robot system action pattern can be by multiple, this notion also can be suitable equally for the Position Control/speed control mode button of following explanation.

Position Control/speed control mode (Position/Velocity Mode:PVM) button is that to execute the operation that the patient is used to specify arm operating portion 430 grades of utilizing main robot 1 be action or the button that under speed control mode, moves under position control mode.At this; Position control mode is (for example to wait to move operation tool or peritoneoscope position according to motion arm operating portion 430; The operation of operation tool etc.) action pattern, speed control mode are to wait the action pattern that changes the speed (can also comprise direction) that operation tool or peritoneoscope move according to motion arm operating portion 430.

Through selecting the PVM button, surgical robot system moves under position control mode or speed control mode, is that the center is put in order with the object of under each action pattern, operating, like following table 1.

Table 1

Continue to explain earlier the self adaptation adjusting notion of the surgical robot system and the moving ratio factor below, refer again to Fig. 7 and Fig. 8 afterwards and specify position control mode and speed control mode respectively with reference to Fig. 4 a to Fig. 5 b.

Execute the patient for the position of mobile apparatus arm 3 and/or peritoneoscope 5 or when undergoing surgery operation and operating operation portion 430, operation signal generation portion 450 generates with the action pattern of surgical robot system and the mode of operation corresponding operation signal of arm operating portion 430 and also sends to from robot 2.At this moment, operation signal generation portion 450 can generate and execute action pattern (for example, position control mode, the speed control mode etc.) corresponding operation signal that the patient selects through the control of control part 460.As stated, the operation signal of generation can transmit, receive through wired or wireless communication network.

And as described below, when scale factor operational part 440 more during the new settings moving ratio factor, operation signal generation portion 450 can generate therewith corresponding operation signal and send to from robot 2.

The image that 440 identifications of scale factor operational part are taken by peritoneoscope 5 is that the quilt in much sizes and/or relevant which zone is taken the photograph body; And regulate the moving ratio factor (MSF:Motion Scale Factor), so that peritoneoscope 5 or operation tool are manipulated into is corresponding with arm operating portion 430 operational tons of executing the patient.For example, the operative relationship between the mobile and arm operating portion 430 of operation tool can be defined as " operational ton of the amount of movement=k of operation tool * MSF * arm operating portion ".At this, k is a proportionality constant.This operative relationship also can be useful on the amount of movement of operational ton and peritoneoscope 5 of arm operating portion 430.

The MSF that passing ratio factor operational part 440 is regulated executes the patient and can from fixed value, select arbitrary value to specify, and also can regulate suitable adaptively according to operative status.

Shown in Fig. 4 b and 4c, preestablish and fixed pattern (that is, general mode, fine pattern, hyperfine pattern) in when selecting one, can be suitable for preassigned MSF according to the pattern of being selected.For example, under general mode, be designated as at 1: 1 o'clock as main robot with from the MSF of robot ratio, when utilizing arm operating portion 430 move operations 1, from robot (that is, operation tool or peritoneoscope) also be moved operation onesize 1.During with reference to illustrated example, under fine pattern, main robot moved 3 o'clock, was moved operation 1 from robot, and under hyperfine pattern, main robot moved 5 o'clock, was moved operation 1 from robot.

MSF adopts in the mode of fixed value; As stated; Also can preestablish MSF, also can from a plurality of selective values of being presented at picture display part 420 (for example, 1: 1,3: 1,5: 1,7: 1,10: 1 etc.), select arbitrary value to be appointed as MSF but execute the patient by each pattern.

Like this, MSF needn't change according to main robot or from the situation of robot (for example, the operational ton of arm operating portion, laparoscopically insertion degree, apart from the distance of affected part etc.), but fixing be suitable for (with reference to Fig. 4 c).

And as stated, MSF can regulate adaptively according to operative status (for example, main robot and/or from the present situation of robot etc.) and be suitable for (adaptive MSF: adaptive M SF).

Regulate adaptively and suitable situation as MSF, can be according to regulating adaptively through the picture characteristics (the image actual size of for example, on picture, seeing) of picture display part 420 outputs.For example, when making peritoneoscope 5 dwindle (zoom out) away from affected part (that is, operative site) position or with multiplying power, on picture display part 420, show meticulous relatively inadequately but the image of wide region, MSF can be adjusted to adaptively and have big relatively value this moment.On the contrary, when making peritoneoscope 5 amplify (zoom in) near affected part (that is, operative site) position or with multiplying power, on picture display part 420, show meticulous relatively but the image in narrower zone, MSF can be adjusted to adaptively and have relatively little value this moment.

As for other situation; Shown in Fig. 4 d; As method also applicable SASC (Slave-dependent Adaptive Scaling Control: based on self adaptation proportion control from the robot) mode of basis from the situation decision of living in MSF of robot, this moment, MSF can use the function representation from robotary.For example; Can be suitable for following the whole bag of tricks; Grasping picture through image analysis is exaggerated or dwindles and according to its change MSF; Or change MSF through peritoneoscope 5 insertion degree; Or peritoneoscope 5 ends be provided with that the distance detecting pick off is measured and affected part between distance (depth) and according to its change MSF, or under the situation of three-dimensional peritoneoscope 5 through Flame Image Process measure apart from affected part distance (depth) and according to its change MSF, or change MSF (with reference to Fig. 5 a and 5b) etc. according to the actual size in the zone that shows through picture display part 420.Specify every kind of situation with reference to Fig. 5 a and Fig. 5 b below.

As stated, MSF needn't can regulate according to main robot or from the situation (for example, the distance between the operational ton of arm operating portion, laparoscopically insertion degree and the affected part etc.) of robot and fix adaptively.

Likewise; Shown in Fig. 4 e; As the also applicable MASC of method (Master-dependent Adaptive Scaling Control: based on the self adaptation proportion control of the main robot) mode according to main robot situation decision of living in MSF, this moment, MSF can use the function representation of main robot state.

For example, when arm operating portion 430 moved from moving the starting position a little, MSF had relatively little value (promptly; Critically slowly move from robot); But when moving starting position mobile, can MSF be adjusted to big relatively (that is, make from the big fast distance of robot move).At this moment, during by above-mentioned main robot reorientation button, then can set mobile starting position again, and during from the mobile starting position operation set again, as stated, MSF can be conditioned according to amount of movement.

At this moment, MSF can be with linear change, also can be with nonlinear change.And MSF can use the value of real-time calculating, also can use the value of storage in advance.

Below, regulate the mode of the moving ratio factor adaptively with reference to Fig. 5 a and 5b simple declaration passing ratio factor operational part 440.The current shooting zone that Reference numeral 510 expressions of Fig. 5 a and Fig. 5 b are taken through current peritoneoscope 5, Reference numeral 520 expressions can be passed through the benchmark shooting area that peritoneoscope 5 is taken.The actual size of the shooting area of taking through peritoneoscope 5 can have multiple according to factors such as the far and near degree of peritoneoscope 5 and affected part, amplification/dwindle degree, also can make the current shooting zone consistent with the benchmark shooting area through modes such as multiplying power adjustings.

If; When the shooting multiplying power of peritoneoscope 5 is set at high magnification or peritoneoscope 5 near operative site; Shown in 510 and Fig. 5 b of Fig. 5 a, by the current shooting zone 510 that peritoneoscope 5 is taken, the benchmark shooting area 520 of under predetermined location and multiplying power, taking operative site than this peritoneoscope 5 is little.

If but when the shooting multiplying power of peritoneoscope 5 was set at low range or peritoneoscope 5 away from operative site, the current shooting zone of being taken by peritoneoscope 5 510 might be consistent or greater than benchmark shooting area 520.

Shown in Fig. 5 a and Fig. 5 b, current shooting zone 510 is executed the patient and is generally carried out precision operation in narrower zone, so need critically regulate the moving ratio of the operation tool of operating according to arm operating portion 430 than benchmark shooting area 520 hours.On the contrary; Current shooting zone 510 is consistent or during greater than benchmark shooting area 520; Execute the general whole observation operative site of patient and maybe need the surgical operation zone be moved to other position; So need the moving ratio of bigger adjusting, execute patient's operation instrument intuitively according to the operation tool of arm operating portion 430 operations.

Like this, take the photograph the body size and pass through its corresponding image information content that picture display part 420 shows according to the quilt that peritoneoscope 5 is taken, the method for regulating the moving ratio factor (MSF) adaptively has multiple.

The several method that illustrates in the method for regulating the moving ratio factor adaptively is following.Certainly, the method for regulating the moving ratio factor adaptively is not limited to following illustrational item, and is noted that protection scope of the present invention also is not limited to the example of following explanation.

As an example, scale factor operational part 440 shown in Fig. 5 a and Fig. 5 b, can utilize the benchmark image that is stored in storage part, to regulate the moving ratio factor with the proportional mode of difference of the size in the size of benchmark shooting area 520 and current shooting zone 510.

Promptly; Shown in Fig. 5 a; Suppose to take the image information that is presented in the display device when being the information of the relevant actual size length affected part that is 12cm, can be defined as 1 by window size at this moment, and the moving ratio factor also is defined as 1 through benchmark shooting area 520.In this case, execute the patient when arbitrary direction motion arm operating portion 430, operation tool moves to arm operating portion 430 operated directions from the central point of benchmark shooting area 520.

But; Shown in Fig. 5 a and Fig. 5 b; Because peritoneoscope 5 is taken the actual size length of the current shooting regional 510 of the subregion that is equivalent to benchmark shooting area 520 when being the affected part of 4cm near operative site or through amplifying (zoom-in) operation, can window size at this moment be resolved to 0.33 (that is, 4cm/12cm); Again regulate and reduce the moving ratio factor (for example, 0.33).At this moment, integral body shows (that is, part is exaggerated and clearly demonstration in whole operative site) current shooting zone 510 on the viewing area of picture display part 420, but the reduction of the moving ratio factor, thereby can more critically control.

At this moment; Current shooting zone 510 is compared with benchmark shooting area 520 has much sizes; (for example can utilize image analysis technology; In two images, detect same area and carry out regional preset image analytic technique) discern; For example will be stored in storage part as benchmark image, and regulate according to multiplying power afterwards and/or in benchmark image, belong to which zone and much size along the image information in the current shooting zone 510 of peritoneoscope 5 length directions (axle axially) when moving in benchmark shooting area 520 captured image information.

In above-mentioned example, suppose to be illustrated with the situation of vertical extension as the benchmark of regulating the moving ratio factor, for example catercorner length, lateral length, width etc. are multiple but the adjusting benchmark of the moving ratio factor can have.

As another example, scale factor operational part 440 can utilize image taking multiplying power, the position of peritoneoscope 5 to move, wait apart from the surperficial distance of operative site and regulate the moving ratio factor.

Promptly; When being set at high magnification in order to take and with the image taking multiplying power of peritoneoscope 5 than close limit; Scale factor operational part 440 reduces the moving ratio factor; Thereby can carry out accurate operation to operation tool, and when laparoscopically image taking multiplying power being set at low range, can regulate the moving ratio factor through the mode that improves the moving ratio factor in order to take relative broad range.The pairing moving ratio factor of each multiplier value that can on peritoneoscope 5, set can be calculated in advance through test statistics and is stored in storage part in advance.

And scale factor operational part 440 also can be regulated scale factor according to the degree that peritoneoscope 5 (for example, is inserted into the initial position of patient with operation abdominal part) from the reference position and relatively moves to length direction (for example, inserting or draw human body).The information of relevant peritoneoscope 5 positions can directly be calculated by main robot 1 or from receiving from robot 2, the reference position for example can be appointed as peritoneoscope 5 insert in the bodies after arm operating portion 430 initial operated positions or by executing the arbitrary appointment of patient.

If peritoneoscope 5 further inserts inside of human body (promptly; Near the operative site side) time; Can reduce the moving ratio factor, so that the accurate operation of the instrument that can undergo surgery moves (promptly if peritoneoscope 5 is drawn direction to human external; Away from operative site) time, can improve the moving ratio factor.With peritoneoscope 5 from the reference position to the corresponding moving ratio factor of length direction displacement, can calculate in advance through test statistics and be stored in storage part in advance.

And the distance value to the operative site surface that scale factor operational part 440 also can utilize the distance detecting pick off that has on the peritoneoscope 5 to provide is regulated the moving ratio factor.If peritoneoscope 5 during apart from the close together on operative site surface, can reduce the moving ratio factor, so that the accurate operation of the instrument that can undergo surgery, if peritoneoscope 5 when far away, can improve the moving ratio factor apart from the distance on operative site surface.With the corresponding moving ratio factor of distance between peritoneoscope 5 and the operative site surface, can calculate in advance and be stored in storage part in advance through test statistics.

And,, can pass through Flame Image Process compute depth (depth), and also can utilize this value computing moving ratio factor during through picture display part 420 images displayed for the image that provides by the peritoneoscope 5 of 3-D view deriving means.

With reference to Fig. 4 a, the action of control part 460 each element of control is so that can carry out above-mentioned functions once more.Control part 460 can also be carried out and will become the function through picture display part 420 picture displayed images through the image transitions of image input part 410 inputs.And control part 460 can also be carried out following processing, carries out main robot reorientation button when input when executing the patient, under the situation of the position of not moving peritoneoscope 5 and operation tool, carries out the reset operation of handle 10.

Below, the embodiment with reference to the adaptive regulation method of the relevant drawings explanation moving ratio factor (MSF) explains position control mode and speed control mode respectively with reference to relevant drawings afterwards.

Even do not describe separately in the declarative procedure, the notion of the relevant moving ratio factor of above-mentioned explanation all is suitable for.

This is carried out simple declaration, under fixed MSF position control mode, when main robot (for example; Also (for example move 1cm from robot when arm operating portion etc.) moving 1cm; General mode), or when main robot moves 3cm can move 1cm (for example, fine pattern) from robot.

In contrast to this; Under adaptive M SF position control mode; According to the current amplification of seeing picture, dwindle degree that distance or main robot between insertion degree, endoscope tip and the affected part of degree, endoscope move from starting point etc.; Linear or the variation non-linearly of MSF determines moving from robot thus.

Likewise; Under fixed MSF speed control mode, can irrespectively control with main robot or from the robot situation, promptly; When main robot moves 1cm/sec from robot when starting point moves 1cm, when main robot moves 5cm/sec from robot when starting point moves 5cm.

In contrast to this; Under adaptive M SF speed control mode; Even main robot likewise moves 1cm from starting point, when situation, endoscope that picture is exaggerated insert when dark or and affected part between close together the time etc. situation, can move 0.5cm/sec from robot; When situation that picture is dwindled, endoscope insert when more shallow or and affected part between distance situation such as when far away, can move 1.5cm/sec from robot.That is, according to main robot or from the robot situation, the linear or variation non-linearly of MSF, final, move and the variable quantity of velocity variations according to main robot, can change adaptively according to MSF.

With reference to Fig. 6, in step 610, main robot 1 will be taken and the image information that provides is stored as the benchmark image that is used for regulating adaptively the moving ratio factor through peritoneoscope 5.

In step 620, main robot 1 judges whether to have imported benchmark image and sets request again.

Set again when asking if imported benchmark image, carry out step 630, thereby set the benchmark image of relevant operative site again.

When the input reference image is not set request again or set benchmark image again according to step 630 according to the judgement of step 620, carry out step 640.

In step 640, main robot 1 judges whether to have imported the zoom-out request of the shooting area of taking for peritoneoscope 5 through executing patient's motion arm operating portion 430.The zoom-out request of shooting area for example is used for, and peritoneoscope 5 shows more clear but the image (that is enlarged image) in narrower zone near affected part or through narrower zones of indication shooting such as processing and amplifying thereby pass through picture display part 420.

If when not imported the shooting area zoom-out request, carry out step 660.

But if when having imported the shooting area zoom-out request, main robot 1 carry out step 650, thereby sets the moving ratio factor again.

That is, the image of taking through peritoneoscope 5 is the image that amplifies the specific region in the whole surgery position, so for the accurate operation of the instrument of undergoing surgery, the moving ratio factor diminishes.At this moment; Main robot 1 (for example can utilize image analysis technology; In two images, detect same area and carry out regional preset image analytic technique) identification; Image information according to peritoneoscope 5 current shooting of shooting area zoom-out request zone 510 belongs to which zone and the much size in the benchmark image of setting in step 610 or the step 630, thereby judges which kind of rank is the moving ratio factor be adjusted into.

In step 660, main robot 1 judges whether to have imported the amplification request for the shooting area of peritoneoscope 5 photographic images through executing patient's motion arm operating portion 430.The amplification request of shooting area for example is used for peritoneoscope 5 and waits indication to take broader area away from affected part or through dwindling to handle, thereby shows also unintelligible but the image (that is downscaled images) of wide region through picture display part 420.

Do not amplify when having asked if import shooting area, carry out step 620 once more.

But, if when having imported shooting area and amplify request, carry out step 670 according to the judgement of step 660, main robot 1 is a benchmark with the benchmark image of setting, and sets the moving ratio factor in the current shooting zone 510 that is exaggerated for shooting area again.

The adaptive regulation method of the moving ratio factor of utilizing benchmark image has been described with reference to Fig. 6 so far; But in order to regulate the moving ratio factor adaptively, certainly separately or increase utilize image taking multiplying power, the position of peritoneoscope 5 as stated move, apart from the distance on operative site surface etc.

As stated, execute Position Control/speed control mode (PVM) that the patient can utilize main robot 1 to have, the given surgical robot system drives under position control mode or under speed control mode, drives.And, to execute the patient and can utilize instrument/vision to select (IVS) button, the object that decision is operated through motion arm operating portion 430 is operation tool or peritoneoscope, or operation tool and peritoneoscope.

And as stated, PVM button and IVS button can be made up of the appointed respectively a plurality of buttons of its function, perhaps also can be buttons can selecting drive pattern with multiple mode of operation.Certainly, in addition the implementation of PVM button and IVS button has multiple.

The position control mode of the surgical robot system that present embodiment relates to can comprise, be used to control the operation tool position the operation tool position control mode, be used to control the peritoneoscope position control mode of peritoneoscope 5 positions and be used for the Comprehensive Control operation tool and the integrated location control model of peritoneoscope position.Below, the position control mode determining method of surgical robot system is described with reference to Fig. 7.

With reference to Fig. 7, in step 705, arm operating portion 430 is operated by executing the patient.

In step 710, control part 460 judges whether Position Control/speed control mode (PVM) button is selected to moves surgical robot system under position control mode.Position Control/speed control mode (PVM) button is used to specify the operating in of arm operating portion 430 grades of utilizing main robot 1 to move under the position control mode or the button of action under speed control mode.

The judged result of step 710, if the PVM button is selected to surgical robot system when under speed control mode, working, the step 810 of execution graph 8.

But,, carry out step 720 if the PVM button is selected to when being used for controlling the position control mode of operation tool and peritoneoscope 5 more than one positions.

In step 720, control part 460 judges whether instrument/vision selection (IVS) button is selected to surgical robot system is moved under the instrument control model.It is when executing the operation that the patient carries out arm operating portion 430 grades of utilizing main robot 1, according to more than one button in operating result operation peritoneoscope 5 and the operation tool that instrument/vision is selected (IVS) button.

The judged result of step 720; When if the IVS button is selected to and moves with the instrument control model; Carry out step 730; And operation signal generation portion 450 generating run signals and sending to from robot 2, this operation signal is used for making the Position Control that is applicable to operation tool in step 705 based on the operational order of arm operating portion 430 operations.At this moment, the operation signal of generation can generate through the fixing or self adaptation moving ratio factor of explanation above being suitable for.

In step 730, according to being sent to, correspondingly be moved control in the operation of operation tool that has from robot 2 and arm operating portion 430 from the operation signal of robot 2.

But, if the judged result of step 720 is when the IVS button is not selected to and moves with the instrument control model, carry out step 740.

In step 740, control part 460 judges whether instrument/vision selection (IVS) button is selected to surgical robot system is moved under the vision control model.

The judged result of step 740; When if the IVS button is selected to and moves with the vision control model; Carry out step 750; And operation signal generation portion 450 generating run signals and sending to from robot 2, this operation signal is used for making the Position Control that is applicable to peritoneoscope 5 in step 705 based on the operational order of arm operating portion 430 operations.At this moment, the operation signal of generation can generate through the fixing or self adaptation moving ratio factor of explanation above being suitable for.

In step 750, according to sending to, correspondingly be moved control in the operation of the peritoneoscope that has from robot 25 and arm operating portion 430 from the operation signal of robot 2.

But, if the judged result of step 740 is when the IVS button is not selected to and moves with the vision control model, carry out step 760.

In step 760, control part 460 judges whether instrument/vision selection (IVS) button is selected to surgical robot system is moved under the Comprehensive Control pattern.

If the judged result of step 760 does; When the IVS button is selected to and moves with the Comprehensive Control pattern; Carry out step 770; And operation signal generation portion 450 generating run signals and sending to from robot, this operation signal is carried out both Position Control of operation tool and peritoneoscope 5 according to the operation of arm operating portion 430.

At this, operation signal make operation tool and peritoneoscope 5 one in the same way the direction of operating of arm operating portion 430 move, but keep each other moving under the situation of (for example, keeping mutual relative position etc.) of state side by side.That is, according to moving of peritoneoscope 5, even the change of the physical location of shooting area, but executing in the display frame of patient through picture display part 420 affirmations, be benchmark with the shooting area central point, the relative allocation position of operation tool remains unchanged.Executing the patient for example can be through selecting main robot reorientation button, or converts action pattern the operation of to other pattern etc., finishes the interlock of peritoneoscope 5 and operation tool and moves.

The operating state of simple declaration integrated location control model is following for example.

Execute the patient in order to change purposes such as shooting area 510; The PVM button is chosen to position control mode; When the IVS button is chosen to the Comprehensive Control pattern; Operation signal generation portion 450 generating run signals also send to from robot 2, thus make peritoneoscope 5 and operation tool one in the same way the direction of operating of arm operating portion 430 move.

At this moment; Peritoneoscope 5 keeps side by side with operation tool each other, and state moves; But arbitrary operation tool is clamped under the state of thing (for example, clamping the state at arbitrary position in the operative site, with reference to Fig. 5 a and 5b); For the safety of patient with operation, this operation tool can be not move with peritoneoscope 5 interlocks and in this position standby.

And; When display part 420 images displayed information are passed through in reference; The operation tool that its end does not show in display frame (that is, the operation tool end is positioned at outside the coverage of taking through peritoneoscope 5) can not move with peritoneoscope 5 interlocks yet, and in this position standby.

And the clamp of operation tool (jaw) is when being in closure state, and for patient's safety, this operation tool can not be controlled so as to yet and move.

In addition, controlling the not mobile method of arbitrary operation tool can also have multiple.For example can make and execute the direct specified operation tool of patient and do not move; Or also can on left and right arms operating portion 430, specific button be set (for example; Main robot reorientation button can lay respectively on the arm operating portion 430); Through pressing this button, so that the operation tool of arm operating portion 430 administrations that touched the button does not move.

But; If the judged result of step 760; When the IVS button is not selected to and moves with the Comprehensive Control pattern; Carry out step 780, and operation signal generation portion 450 generating run signals and sending to from robot, this operation signal is used to make operation tool and/or peritoneoscope 5 under appointed action pattern, to operate.For example under maintenance pattern or main robot reorientation pattern, the generating run signal also sends to from robot, thereby can irrespectively make operation tool and/or peritoneoscope 5 keep final control position with the operation of main frame.

As stated, execute Position Control/speed control mode (PVM) button that the patient can utilize main robot 1 to be had, the action pattern of surgical robot system is designated as position control mode or speed control mode.And, execute the patient and can utilize instrument/vision to select (IVS) button, will be through motion arm operating portion 430 operated object decision be in operation tool and the peritoneoscope more than one.

The speed control mode of the surgical robot system that present embodiment relates to can comprise: be used to control the translational speed of operation tool the operation tool speed control mode, be used to the comprehensive speed control model controlling the peritoneoscope speed control mode of peritoneoscope 5 translational speeds and be used to control the translational speed of operation tool and peritoneoscope.Below, the speed control mode determining method of surgical robot system is described with reference to Fig. 8.

Before as said with reference to Fig. 7; In step 710; Control part 460 judges whether Position Control/speed control mode (PVM) button is selected to moves surgical robot system under position control mode; If the PVM button is selected to when surgical robot system is moved, carry out the step 810 of Fig. 8 under speed control mode.

With reference to Fig. 8, in step 810, control part 460 judges whether instrument/vision selection (IVS) button is selected to surgical robot system is moved under the instrument control model.

If the judged result of step 810 does; When the IVS button is selected to and moves with the instrument control model; Carry out step 820; And operation signal generation portion 450 generating run signals and sending to from robot 2, this operation signal is used for making the speed controlling that is applicable to operation tool in step 705 (with reference to Fig. 7) based on the operational order of arm operating portion 430 operations.According to being sent in the step 820, correspondingly be moved control in the operation of operation tool that has from robot 2 and arm operating portion 430 from the operation signal of robot 2.

At this moment, the operation signal of generation can generate through the fixing or self adaptation moving ratio factor of explanation above being suitable for.

And operation signal can be generated as, and changes the translational speed of operation tool from the mobile degree of starting point according to arm operating portion 430.Promptly; Arm operating portion 430 moves (promptly to specific direction a little; The mode of operation of keeping arm operating portion 430 after mobile a little) time, operation tool is controlled so as to and can continues slowly to move to this direction, and arm operating portion 430 moves greatly (promptly to this direction; The mode of operation of keeping arm operating portion 430 after big the moving) time, operation tool is controlled so as to and can moves continuously and healthily.For example, during arm operating portion 430 formation as shown in Figure 2, can compare with the translational speed of the operation tool of arm operating portion 430 when arbitrary direction operation 5 is spent, the translational speed of the operation tool of arm operating portion 430 when this direction operation 30 is spent is faster.

The translational speed that can preestablish operation tool is big and accelerate along with the operation quantitative change of arm operating portion 430, and can be stored in the storage part that is had on the main interface 4 in advance about the translational speed information with the corresponding operation tool of operational ton of arm operating portion 430.

Certainly, when arm operating portion 430 returned to starting point, the mobile of said operation tool was stopped.As a reference, under position control mode, when arm operating portion 430 reset to starting point, operation tool also reset to original position, but under speed control mode, when arm operating portion 430 resets to starting point, speed vanishing (that is, stopping to move).

But, if the judged result of step 810 when the IVS button is not selected to and moves with the instrument control model, carry out step 830.

In step 830, control part 460 judges whether instrument/vision selection (IVS) button is selected to surgical robot system is moved under the vision control model.

If the judged result of step 830 does; When the IVS button is selected to and moves with the vision control model; Carry out step 840; Operation signal generation portion 450 generating run signals also send to from robot 2, and this operation signal makes the control that is applicable to peritoneoscope 5 translational speeds based on the operational order of arm operating portion 430 operations.At this moment, the operation signal of generation can generate through the fixing or self adaptation moving ratio factor of explanation above being suitable for.In step 840, according to being sent to, correspondingly be moved control in the operation of the peritoneoscope that has from robot 25 and arm operating portion 430 from the operation signal of robot 2.

The translational speed control mode of peritoneoscope 5 is identical with the translational speed control mode of the operation tool of top explanation, and the Therefore, omited is to its explanation.

But, if the judged result of step 830 is when the IVS button is not selected to and moves with the vision control model, carry out step 850.

In step 850, control part 460 judges whether instrument/vision selection (IVS) button is selected to surgical robot system is moved under the Comprehensive Control pattern.

If the judged result of step 850; When the IVS button is selected to and moves with the Comprehensive Control pattern; Carry out step 860; And operation signal generation portion 450 generating run signals and sending to from robot 2, this operation signal is carried out the control to both translational speeds of operation tool and peritoneoscope 5 according to the operation of arm operating portion 430.

At this, operation signal make operation tool and peritoneoscope 5 one in the same way the direction of arm operating portion 430 operation move, move with the corresponding speed of the operational ton of arm operating portion 430 under the situation of (for example, keeping mutual relative position etc.) of state side by side keeping each other.That is,,, but execute the patient through being that the relative allocation position of the operation tool of benchmark remains unchanged with the shooting area central point in the display frame of picture display part 420 affirmations even the physical location of shooting area changes according to moving of peritoneoscope 5.

And, when operation tool moves, also can there be the mobile confined situation of the operation tool of the duty illustrated of superincumbent integrated location control model under speed control mode.For example; An operation instrument in office is in (for example clamps thing; Clamp the state at arbitrary position in the operative site, with reference to Fig. 5 a and 5b) state, or the end of operation tool is not presented at the state in the display frame; Or the clamp of operation tool (jaw) is in closed situation; Perhaps execute the patient in order to keep stationary state specified operation tool, or the stationary state hold button that has on the arm operating portion 430 its corresponding operation tool etc. when being pressed, moving of these operation tools possibly be limited.

But; If the judged result of step 850 does; When the IVS button is not selected to and moves with the Comprehensive Control pattern; Carry out step 870, and operation signal generation portion 450 generating run signals and sending to from robot, this operation signal is operated operation tool and/or peritoneoscope 5 under specified action pattern.For example, under maintenance pattern or main robot reorientation pattern, can the generating run signal and send to from robot, so that irrespectively make operation tool and/or peritoneoscope 5 keep final control position with the operation of main frame.

The adaptive regulation method of the said moving ratio factor and according to the self-adaptation control method of arm operating characteristic also can be carried out by the automatic sequence of time sequence order through the interior software program in the digital processing unit etc. of being contained in.Constitute the code and the code segment of said procedure, can infer easily by the computer in this field personnel that weave into.Said procedure stores and is read execution by computer on computer-readable medium (computer readable media), thereby realizes said method.Said computer-readable medium comprises magnetic recording medium, optical recording media and carrier wave medium.

Be illustrated with reference to the preferred embodiments of the present invention in the above; Those of ordinary skill for affiliated technical field; Be construed as, in the scope that does not exceed the thought of the present invention put down in writing in claims and field, the present invention can carry out various deformation and change.

Claims

1. main interface is included in and operation is installed with in endoscope and the operation tool more than one in the surgical robot system of control object, and is used to control the position of said control object, and this main interface comprises:

Operating portion receives the user command that is used for said control object is carried out move operation;

Storage part is used for storing the more than one benchmark image of image information that provided with endoscope by said operation and corresponding to the moving ratio factor of said benchmark image;

The scale factor operational part; Judging that the current present image information that provides with endoscope through said operation is compared with said benchmark image is exaggerated or dwindles; And regulating the said moving ratio factor, and set again with its amplification or the degree of dwindling the mode linear or non-linear ratio; And

Operation signal generation portion will convert the said moving ratio factor of setting corresponding to again through the user command of said operating portion into, thereby generate the operation signal for said control object.

2. main interface according to claim 1 is characterized in that,

Said scale factor operational part is exaggerated or dwindles in order to judge that said present image information is compared with said benchmark image; Detect the consistent zone of said present image information in said benchmark image according to predefined image analysis technology, and regions.

3. main interface according to claim 2 is characterized in that,

Said scale factor operational part utilizes more than one conversion information and in said benchmark image, regulate the said moving ratio factor corresponding to the proportionate relationship between the information of said conversion information in said lateral dimension, vertical dimension, catercorner length and the width that is set the zone.

4. main interface according to claim 1 is characterized in that,

Based on the displacement of the said control object of said user command, regulate through the said moving ratio factor.

5. main interface according to claim 1 is characterized in that,

Said operation with endoscope be in peritoneoscope, thoracoscope, arthroscope, asoscope, cystoscope, rectoscope, duodenoscope, mediastinoscope, the cardioscope more than one.

6. main interface is included in and operation is installed with in endoscope and the operation tool more than one in the surgical robot system of control object, and is used to control the position of said control object, and this main interface comprises:

Storage part is used to store more than one based on the moving ratio factor of operation with the shooting condition of endoscope;

The scale factor operational part receives the information of relevant said operation with endoscope's shooting condition, and at said storage part retrieval corresponding mobile scale factor, and be set at the suitable moving ratio factor; And

Operation signal generation portion converts the user command of utilizing said operating portion into corresponding to said setting the moving ratio factor, thereby generates the operation signal for said control object.

7. main interface according to claim 6 is characterized in that,

Said shooting condition be said operation with the image taking zoom ratio of endoscope, camera site, in the actual size of the distance on operative site surface and the operative site that is taken more than one.

8. main interface according to claim 7 is characterized in that,

Moving ratio factor when said image taking zoom ratio is high magnification, the moving ratio factor when being low range than said image taking zoom ratio has relatively little value.

9. main interface according to claim 7 is characterized in that,

Said operation is inserted the moving ratio factor of inside of human body when dark relatively with endoscope, inserts the moving ratio factor when shallow than said operation relatively with endoscope, has little value.

10. main interface according to claim 7 is characterized in that,

From be used to detect and said operative site surface between the pick off of distance receive detected value,

Distance apart from said operative site surface is near more, and the moving ratio factor is set more little value for.