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WO2019206340A1 - 手术机器人系统 - Google Patents

手术机器人系统 Download PDF

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Publication number
WO2019206340A1
WO2019206340A1 PCT/CN2019/084889 CN2019084889W WO2019206340A1 WO 2019206340 A1 WO2019206340 A1 WO 2019206340A1 CN 2019084889 W CN2019084889 W CN 2019084889W WO 2019206340 A1 WO2019206340 A1 WO 2019206340A1
Authority
WO
WIPO (PCT)
Prior art keywords
surgical instrument
force
human tissue
tool arm
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/084889
Other languages
English (en)
French (fr)
Inventor
王家寅
何超
师云雷
袁帅
朱祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Microport Shanghai Medbot Co Ltd
Original Assignee
Microport Shanghai Medbot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Microport Shanghai Medbot Co Ltd filed Critical Microport Shanghai Medbot Co Ltd
Priority to JP2020560198A priority Critical patent/JP2021519660A/ja
Priority to EP19791730.5A priority patent/EP3785660B1/en
Priority to BR112020021799-9A priority patent/BR112020021799A2/pt
Priority to RU2020138536A priority patent/RU2758753C1/ru
Publication of WO2019206340A1 publication Critical patent/WO2019206340A1/zh
Priority to US17/051,027 priority patent/US20210121258A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Definitions

  • the present application relates to the field of medical device technology, and in particular to a surgical robot system.
  • a doctor to perform a surgical operation it is first required to accurately perform surgical operations such as cutting and suturing the diseased tissue during the operation; secondly, during the operation, the doctor requires a tool to remove the tissue when it is cut or inverted. Pulling the tissue, so that the cutting tissue is smooth, less bleeding, no obvious burns, in order to facilitate the patient's postoperative recovery; Finally, when the tissue requiring surgery is removed or inverted, the tools for pulling the tissue can be progressed according to different operations. Adjust the tension of the pulling.
  • the surgical robot system referred to in the patent document CN106028994A has four operating arms for surgical operation, and the fourth operating arm of the system can only perform a pulling operation on a fixed position of the tissue. Therefore, the surgical operation of the diseased tissue cannot be tracked during the operation, so that the cutting surface is rough, the bleeding is more, and the burn marks are obvious during the cutting process, which prolongs the healing time of the patient tissue, and increases the recovery time and the operation cost of the patient.
  • Patent document CN107427327A relates to a configurable robotic surgical system having a virtual trajectory and a flexible endoscope, when the user moves a single robotic arm in the robotic arm, the other robotic arms will automatically move to maintain virtual orbital alignment, which is only It is convenient to control the robot arm, which is not helpful for smooth tissue cutting, less bleeding, and no obvious burns during surgery.
  • Patent document CN108472087A relates to a system and method for a variable speed surgical instrument configured to set a speed set point of an actuator to an initial speed and to monitor a force applied by the actuator Or torque, when the applied force or torque is higher than the force or torque limit, determining whether the continuation condition for the operation is satisfied, suspending the operation when the continuation condition is satisfied, and determining whether the actuator should occur when the continuation condition is not satisfied Forced firing, which does not help to make the cut tissue smooth, less bleeding, and no significant burns during surgery.
  • the present application provides a surgical robot system including an execution end including a first tool arm on which a first surgical instrument is mounted, a second tool arm on which a second surgical instrument is mounted, and a drive a driving device for moving the first tool arm, the first surgical instrument, the second tool arm and the second surgical instrument, and a control unit communicably connected to the driving device,
  • the first tool arm and the first surgical instrument are used for pulling human tissue and organs
  • the second tool arm and the second surgical instrument are used for performing surgical operations on human tissues and organs;
  • the control unit is configured to acquire a magnitude of a Cartes force of the human tissue organ to the first surgical instrument, and a magnitude of the Cartes force of the human tissue organ to the first surgical instrument and a predetermined force Comparing values, if the Cartes force of the human tissue organ to the first surgical instrument is less than the preset force value, the control unit controls the driving device driving device according to the preset force value.
  • the first tool arm and the first surgical instrument are configured such that the pulling force of the first surgical instrument on the human tissue and organs reaches the preset force value.
  • the control unit has a preset action point Pointing to a direction of a Cartes force action point of the first surgical instrument of the human tissue organ as a preset force direction, and controlling the driving device to drive the first tool arm according to the preset force value And the first surgical instrument, the pulling force of the first surgical instrument on the human tissue and organs reaches the preset force value.
  • the preset action point is a position at which the second surgical instrument initially acts on a human tissue or organ, or
  • the preset action point is a position at which the second surgical instrument acts on a human tissue organ when the control unit acquires a preset action point.
  • the execution end further includes a third tool arm mounted with a third surgical instrument, and the third tool arm and the third surgical instrument are used for clamping human tissue organs
  • the preset action point is a position at which the third surgical instrument acts on a human tissue or a tissue.
  • the execution end further includes a force sensor communicably connected to the control unit, the force sensor is configured to detect the human tissue organ to the first surgical instrument Descartes force.
  • the control unit acquires a Cartesian force of the human tissue organ on the first surgical instrument, Comparing the preset force value with a Cartesian force of the first surgical instrument of the human tissue or organ, or
  • the control unit acquires a Cartes force of the human tissue organ to the first surgical instrument, and when the second surgical instrument starts the surgical operation on the human tissue and organ, the control unit sets the preset force value and the human body The tissue organ compares the magnitude of the Cartesian force of the first surgical instrument.
  • control unit is further configured to acquire a Cartes force applied by the second surgical instrument and to receive a Cartes force of the second surgical instrument a force threshold comparison, if the Cartesian force received by the second surgical instrument is greater than the force threshold, the control unit determines that the second surgical instrument begins surgical operation on a human tissue or organ; or
  • the control unit is further configured to acquire a Cartes force applied by the second surgical instrument, and compare a difference between a Cartes force applied by the second surgical instrument acquired twice before and after the force threshold And if the difference between Cartesian forces received by the second surgical instrument acquired twice before is greater than the force threshold, the control unit determines that the second surgical instrument begins surgical operation on the human tissue and organs.
  • the execution end further includes a first position sensor communicatively coupled to the control unit, the first position sensor for detecting the first tool arm and/or Position information of the first surgical instrument,
  • the control unit obtains a position of a point of action of the human tissue organ on the Cartesian force of the first surgical instrument according to the position information acquired by the first position sensor.
  • the execution end further includes a first position sensor communicatively coupled to the control unit, the first position sensor for detecting the second tool arm and/or Position information of the second surgical instrument,
  • the control unit obtains a position at which the second surgical instrument acts on a human tissue organ according to the position information acquired by the first position sensor.
  • the execution end further includes a third tool arm on which the third surgical instrument is mounted, and the third surgical instrument and the third tool arm are used to pull the human tissue organ ,
  • the preset action point includes a first preset action point and a second preset action point
  • the control unit compares a magnitude of the Cartes force of the human tissue organ to the first surgical instrument to the predetermined force value if the human tissue organ is Descartes of the first surgical instrument The force is less than the predetermined force value, and the control unit points the direction of the action point of the Cartesian force of the first surgical instrument to the human tissue organ by the first preset action point as a preset function. a force direction, and controlling the driving device to drive the first tool arm and the first surgical instrument according to the preset force value, so that the pulling force of the first surgical instrument on the human tissue and organs reaches the Preset force value;
  • the control unit compares a magnitude of the Cartes force of the human tissue organ to the third surgical instrument to the preset force value if the human tissue organ Descartes the third surgical instrument The force is less than the preset force value, and the control unit points the direction of the action point of the Cartesian force of the third surgical instrument to the human tissue organ by the second preset action point as a preset function. a force direction, and controlling the driving device to drive the third tool arm and the third surgical instrument according to the preset force value, so that the pulling force of the third surgical instrument on the human tissue and organs reaches the said Preset force value;
  • the first predetermined action point is a position at which the third surgical instrument acts on a human tissue organ
  • the second predetermined action point is a position at which the first surgical instrument acts on a human tissue organ.
  • the execution end further includes a torque sensor communicably coupled to the control unit, the first tool arm including a plurality of first tool arm joints, the first surgery
  • the instrument includes a plurality of first surgical instrument joints, the torque sensor being disposed on each of the first tool arm joints and the first surgical instrument joint to detect each of the first tool arm joints due to deformation under static conditions And the moment the joint of the first surgical instrument is subjected to;
  • the control unit is further configured to acquire, from the torque sensor, an initial moment received by each of the first tool arm joint and the first surgical instrument joint when confirming a preset force;
  • the control unit is further configured to acquire, from the torque sensor, a current moment received by each of the first tool arm joint and the first surgical instrument joint, and obtain each of the first tool arm joints according to the initial torque And a torque increment of the first surgical instrument joint, thereby obtaining a command torque of each of the first tool arm joint and the first surgical instrument joint, and driving the first tool arm joint with the command torque control driving device and
  • the first surgical instrument joint is such that the pulling force of the first surgical instrument on the human tissue and organs reaches the predetermined force value.
  • the execution end further includes a second position sensor communicatively coupled to the control unit, the second position sensor for detecting each of the first tool arm joints And the position of the joint of the first surgical instrument;
  • the control unit obtains each of the first according to a torque increment of each of the first tool arm joint and the first surgical instrument joint and a control stiffness of each of the first tool arm joint and the first surgical instrument joint An increment of position of a tool arm joint and a first surgical instrument joint, and then obtaining each of the first tool arm joint and the first surgical instrument according to a current position of each of the first tool arm joint and the first surgical instrument joint
  • the commanded position of the joint to obtain the Jacobian matrix at the commanded position;
  • the control unit obtains the first surgical instrument to the human tissue and tissue under the command position according to the Jacobian matrix at the command position, the command torque of each of the first tool arm joint and the first surgical instrument joint Pulling force;
  • the control unit compares the magnitude of the pulling force of the first surgical instrument to the human tissue and organs at the command position and the preset force value, if the first surgical instrument is pulled at the command position The difference between the magnitude of the force and the magnitude of the preset force value is greater than a tolerance value, and the control unit adjusts the torque increment of the first tool arm joint and the first surgical instrument joint to make the command position The difference between the magnitude of the pulling force of the first surgical instrument on the human tissue and the organ and the preset force value is less than the tolerance value.
  • the execution end further includes an image arm on which the endoscope is mounted, and the preset force value is used to observe the pulled human tissue and organ through the image arm. State to determine.
  • the robot system further includes a control end, the control end includes a main operation hand, and the main operation hand is used to control the first tool arm and the first surgical instrument Moving and receiving a Cartes force of the human tissue organ to the first surgical instrument, the predetermined force value being according to a time when the human tissue organ received by the doctor through the main operating hand is being pulled The Cartesian force of the first surgical instrument is set.
  • the first tool arm and the first surgical instrument are used for pulling a human tissue organ
  • the second tool arm and the second surgical instrument are used for surgical operation of a human tissue organ.
  • the control unit is configured to obtain a magnitude of a Cartes force of the human tissue organ to the first surgical instrument, and a magnitude of the Cartes force of the human tissue organ to the first surgical instrument and a predetermined force value For comparison, if the Cartes force of the human tissue organ to the first surgical instrument is less than the preset force value, the control unit controls the driving device to drive the driving according to the preset force value.
  • the first tool arm and the first surgical instrument make the pulling force of the first surgical instrument on the human tissue and organs reach the preset force value, thereby realizing the effect of the autonomous pulling function of the surgical robot system .
  • FIG. 1 is a schematic structural view of a surgical robot system according to an embodiment of the present application.
  • FIG. 2 is a schematic view showing a state of stress of a tool arm and a surgical instrument in a pulling operation according to an embodiment of the present application;
  • FIG. 3 is a schematic view showing another state of stress of a tool arm and a surgical instrument in a pulling operation according to an embodiment of the present application;
  • FIG. 4 is a schematic view showing a state of force of two tool arms and a surgical instrument in a pulling operation in another embodiment of the present application;
  • the present application provides a surgical robot system including an execution end including a first tool arm on which a first surgical instrument is mounted, a second tool arm on which a second surgical instrument is mounted, and the driving a driving device for moving the first tool arm, the first surgical instrument, the second tool arm and the second surgical instrument, and a control unit communicably connected to the driving device, the first tool arm and the first surgical instrument are used for pulling a human body organ; the second tool arm and the second surgical instrument are used for performing a surgical operation on a human tissue organ; the control unit is configured to acquire a Cartes force force of the human tissue organ to the first surgical instrument, and Comparing the magnitude of the Cartesian force of the human tissue organ to the first surgical instrument and a predetermined force value if the Cartes force of the human tissue organ to the first surgical instrument is less than the preset a force value, the control unit controls the driving device to drive the first tool arm and the first surgical instrument according to the preset force value, so that the first Surgical instruments pulling force size to body tissues and organs of the force
  • the surgical robotic system includes an actuator and a control.
  • the executive end may include an image cart 10, a side cart 11, a surgical cart 12, and a tool cart 13, the control end including a doctor console 20.
  • the main purpose of the surgical robotic system is to perform microtrauma surgical treatment on a patient on the surgical trolley 12.
  • the side cart 11 includes at least one image arm 110 that is mounted with an endoscope 111, such as a 3D laparoscope.
  • the endoscope 111 is used to acquire human tissue, surgical instruments, and surgical environment information.
  • the side cart 11 further includes three tool arms 112, namely a first tool arm 112a, a second tool arm 112b, and a third tool arm 112c.
  • Each of the tool arms 112 respectively mounts a surgical instrument 113, that is, the first tool arm 112a mounts the first surgical instrument 113a, the second tool arm 112b mounts the second surgical instrument 113b, and the third tool arm 112c mounts the third operation.
  • Instrument 113c The endoscope 111 and the surgical instrument 113 enter the patient's position through a wound on the patient's body.
  • the doctor console 20 includes a main operator (also referred to as a master hand, not shown in the figure).
  • the main operating hand and the tool arm 112 and the surgical instrument 113 in the executive end form a master-slave control relationship. Specifically, the tool arm 112 and the surgical instrument 113 are moved according to the movement of the main operation hand during the operation, that is, according to the operation of the doctor's hand. Further, the main operator also receives the force information of the human tissue organ on the surgical instrument and feeds it back to the doctor's hand, so that the doctor can more intuitively feel the surgical operation.
  • the doctor console 20 also includes a display device 21. The surgeon 30 can view the condition inside the patient and the state of motion of the end of the surgical instrument 113 through the display device 21 (which can be a two-dimensional display or a three-dimensional display) within the physician console 20.
  • the first tool arm 112a and the first surgical instrument 113a are used to pull a human tissue organ
  • the second tool arm 112b and the second surgical instrument 113b are used to perform a surgical operation (including tissue cutting
  • the third tool arm 112c and the third surgical instrument 113c are used to clamp the human tissue organ.
  • the first tool arm 112a and the first surgical instrument 113a, the third tool arm 112c and the third surgical instrument 113c can also be used to perform surgical operations (including tissue cutting, suturing, peeling, etc.).
  • the second tool arm 112b and the second surgical instrument 113b can also be used to pull or clamp a human tissue organ.
  • the third tool arm 112c and the third surgical instrument 113c can also be used to pull a human tissue organ.
  • the side cart 11 may also include only two tool arms 112, or include more tool arms 112, including, for example, four tool arms 112 or five tool arms 112, and the like.
  • the second tool arm 112b and the second surgical instrument 113b can perform a cutting operation on the human tissue organ 40, and the first tool arm 112a and the first surgical instrument 113a are used to pull a human tissue organ. Due to the presence of the first tool arm 112a and the first surgical instrument 113a, the human tissue organ 40 relatively easily produces surface tension and internal tension, as shown by the dashed line in FIG. The surface tension of the human tissue organ 40 ensures that the action point of the second surgical instrument 113b is in an "outer stretch" state during the operation, and the internal tension of the human tissue organ 40 ensures the “continuous tension" during tissue cutting. "status.
  • the point of action of the second surgical instrument 113b acting on the human tissue organ 40 will change, and the Cartes force of the human tissue organ 40 to the first surgical instrument 113a will also A change has occurred. If the first tool arm 112a and the first surgical instrument 113a are not adjusted, the pulling force of the first surgical instrument 113a on the human tissue organ 40 will be smaller than the predetermined force value, thereby causing the human tissue and organs. 40 can't be in a tight state.
  • the control unit receives the Cartesian force received by the first surgical instrument 113a, and determines whether the first tool arm 112a and the first surgical instrument need to be adjusted according to the preset force value. 113a, the pulling force of the first surgical instrument 113a on the human tissue organ 40 reaches the predetermined force value, so that the human tissue organ 40 is always in a tight state, and the surgical robot system is realized. The effect of autonomous pulling function.
  • the execution end further includes a force sensor (not shown) communicatively coupled to the control unit, the force sensor is configured to detect the body tissue organ 40
  • the Cartes force of the first surgical instrument 113a is described.
  • the position of the force sensor is not particularly limited in this embodiment, for example, the force sensor is disposed at the end of the first surgical instrument 113a.
  • the control unit compares the magnitude of the Cartesian force obtained from the force sensor with the preset force value, and if the preset force value is greater than the Cartes force, the body tissue is illustrated
  • the organ 40 is in a non-tensioned state, and the control unit can point the direction of the action point of the human tissue organ 40 to the Cartes force of the first surgical instrument 113a as a preset force direction.
  • controlling the driving device to drive the first tool arm 112a and the first surgical instrument 113a according to the preset force value, so that the pulling force of the first surgical instrument 113a on the human tissue organ 40 is reached.
  • the preset force That is, the human tissue organ 40 in a non-tensioned state is again in a taut state, thereby achieving the effect of the autonomous pulling function.
  • the control unit controls the driving device to drive the first tool arm 112a and the first surgical instrument 113a to achieve the pulling force of the first surgical instrument 113a on the human tissue organ 40.
  • the specific method of the preset force is not particularly limited.
  • the first tool arm 112a includes n first tool arm joints (not shown) that act on each of the first tool arm joints.
  • the first surgical instrument 113a includes m first surgical instrument joints (not shown) that also act on each of the first surgical instrument joints.
  • the control unit according to the following formula, according to the Cartesian force F B of the human tissue organ 40 expected by the first surgical instrument 113a (the size is equal to the preset force, and the direction is opposite to the preset force direction), Obtaining the torque received by each of the first tool arm joints and the first surgical instrument joint, that is, obtaining the torque required to drive the first tool arm joint and the first surgical instrument joint by the driving device:
  • F B indicates that the first surgical instrument 113a is expected to receive the Cartes force of the human tissue organ 40
  • n represents the number of first tool arm joints on the first tool arm 112a
  • ⁇ i represents the number on the first tool arm 112a
  • the moments of the i first tool arm joints, m represents the number of first surgical instrument joints of the first surgical instrument 113a
  • ⁇ ' j represents the moment of the jth first surgical instrument joint of the first surgical instrument 113a
  • J represents The first tool arm 112a and the kinematic Jacobian matrix of the current position of the first surgical instrument 113a, that is, the Cartesian spatial positional relationship of the end of the surgical instrument relative to the partial matrix of the joint space angle.
  • the second surgical instrument 113b and the third surgical instrument 113c may also be provided with the force sensor at the end to facilitate the second surgical instrument 113b and the third surgical instrument.
  • the Cartesian force of the human tissue organ 40 on the corresponding surgical instrument is detected.
  • the control unit when the second surgical instrument 113b begins a surgical operation on the human tissue organ 40, the control unit receives a Cartes force applied by the first surgical instrument 113a, or the control unit receives The Cartes force of the first surgical instrument 113a, the control unit receives the Cartesian force of the first surgical instrument 113a when the second tool arm 112b starts the surgical operation on the human tissue organ 40 Compare with the preset force value.
  • the present embodiment is not particularly limited as to how to determine whether the second surgical instrument 113b starts a surgical operation on the human tissue organ 40.
  • the end of the second surgical instrument 113b is provided with a force sensor in communication with the control unit, and the control unit acquires a Cartes force applied by the second surgical instrument 113b according to the force sensor. If the Cartesian force received by the second surgical instrument 113b exceeds a predetermined force threshold, then the second surgical instrument 113b is considered to begin a surgical procedure on the human tissue organ 40. Or alternatively, the difference between the Cartes force applied by the control unit to the second surgical instrument 113b acquired twice before and after is compared with the force threshold, if the second surgical instrument 113b is received twice before and after If the difference in Cartes force is greater than the force threshold, the control unit determines that the second surgical instrument 113b begins surgical operation on a human tissue.
  • the preset action point is a point of action of the second surgical instrument 113b initially acting on the human tissue organ 40.
  • the position of the second surgical instrument 113b initially acting on the action point of the human tissue organ 40, the position of the human tissue organ 40 on the position of the Cartes force of the first surgical instrument 113a There are no special restrictions on the acquisition method.
  • the actuator further includes a first position sensor communicatively coupled to the control unit, the first position sensor for detecting the position of the first tool arm 112a and/or the first surgical instrument 113a information.
  • the first position sensor comprises an optical target mirror system
  • the optical target mirror is placed on the tool arm, and the position of the optical target mirror and the Euler angle are measured by using an optical tracker to obtain the optical target mirror at the base coordinate.
  • the posture is then based on the posture of the surgical instrument in the optical target coordinate system, thereby obtaining the posture of the surgical instrument in the base coordinate system.
  • the first position sensor includes an angle sensor that can detect the first tool arm 112a, the second tool arm 112b, the first surgical instrument 113a, and the second surgical instrument 113b.
  • the position of each joint by the calculation of positive kinematics (for example, DH method), the Cartesian position of the point of action (ie, the end of the first surgical instrument, the end of the second surgical instrument) in space (in the base coordinate system) is obtained.
  • the broken line portion in Fig. 2 indicates the current state of the human tissue organ 40, and the solid line portion indicates the initial state of the human tissue organ 40.
  • the position of the predetermined action point may also be as described.
  • the second surgical instrument 113b is currently acting at the position of the point of action of the human tissue organ 40, i.e., the current position of the end of the second surgical instrument 113b is determined.
  • the "current” here is the time at which the control unit acquires the preset action point.
  • the preset force direction is a position point at which the first surgical instrument 113a pulls the human tissue organ 40 from a current position at which the second surgical instrument 113b performs a surgical operation on the human tissue organ 40.
  • the execution end further includes a third tool arm 112c and a third surgical instrument 113c for clamping human tissue and organs
  • the predetermined action point may also be a point of action of the third surgical instrument 113c on the human tissue and organs.
  • the predetermined force value is determined by the endoscope 111 observing the state of the human tissue organ being pulled. Before the surgical operation or during the operation, when the surgical robot system does not open the autonomous pulling function, the doctor pulls the human tissue and organ 40 through the tool arm and the surgical instrument, and according to the tension state of the human tissue and organs being observed. Determining a predetermined force value.
  • the predetermined force value may also be an empirical value obtained by the doctor based on a plurality of surgical factors such as the type of surgery, the type of tissue and organ, and the gender age of the patient.
  • doctor console 20 further includes an autonomous pulling lock switch that can notify the control unit to turn on and off the autonomous pulling function of the robot system.
  • the doctor console 20 may notify the control unit to turn off the autonomous pulling function of the robot system by the autonomous pulling lock switch, and the control unit does not acquire the control unit.
  • the lock switch notifies the control unit to turn on the autonomous pulling function of the robot system, so that the pulling force of the first surgical instrument 113a on the human tissue and organs reaches the preset force value.
  • the control unit knows the Cartes force of the first surgical instrument 113a and ensures that the human tissue and organs are in a constant and reasonable tension state, thereby ensuring the sustainability of the diseased tissue tension;
  • the second surgical instrument 113b performs a surgical operation
  • the surgical operation of the tissue can be completed using a small operation, and the incision presents a smooth state, and at the same time, the incision is less bleeding; in particular, for a relatively thick tissue such as a kidney. It becomes easier when the operation is performed.
  • the difference from the above embodiment is that, in the embodiment, the third tool arm 112c and the third surgical instrument 113c are also used to pull the human tissue organ 40, the control.
  • the unit also compares the magnitude of the Cartes force of the human tissue organ 40 to the third surgical instrument 113c to the predetermined force value.
  • the control unit points to the human tissue organ pair with the preset action point a direction of a Cartes force action point of the third surgical instrument 113c as the preset force direction, and controlling the driving device to drive the third tool arm 112c and the third surgery according to the preset force value
  • Each of the joints of the instrument 113c causes the pulling force of the third surgical instrument 113c to the human tissue organ 40 to reach the predetermined force value.
  • a force sensor may be disposed at the ends of the first surgical instrument 113a and the third surgical instrument 113c to detect the human body separately.
  • the Cartes force of the tissue organ 40 on the first surgical instrument 113a and the third surgical instrument 113c, that is, the first surgical instrument 113a and the third surgical instrument 113c are obtained for the human tissue organ 40 Pulling force.
  • control unit may compare the magnitude of the Cartesian force of the human tissue organ 40 to the first surgical instrument 113a and the preset force value, respectively, and the human tissue organ 40 to the third surgical instrument. Comparing the magnitude of the Cartes force of 113c with the preset force value, and controlling the driving device to drive the first tool arm 112a and the first surgical instrument 113a when the preset force value is large, The third tool arm 112c and the third surgical instrument 113c cause the pulling force of the first surgical instrument 113a to the human tissue organ 40 and the pulling effect of the third surgical instrument 113c on the human tissue organ 40 The force magnitude reaches the preset force value.
  • the preset force value may be determined by the doctor feeling the force exerted by the main operator. That is, before the operation or during the operation, the surgical system is in a non-pull state, and the doctor pulls the human tissue and organ 40 through the surgical instrument to make it in a tight state. At this time, the main operator receives the body organ 40 and the flute of the surgical instrument. Carl forces and feeds back to the doctor. The doctor determines the predetermined force value based on the force.
  • the human tissue organ 40 If the size of the Cartesian force of the surgical instrument received by the human tissue organ is less than the predetermined force value, the human tissue organ 40 is in a non-tensioned state, and the control unit needs to drive the first tool.
  • the arm 112a, the first surgical instrument 113a, the third tool arm 112c, and the third surgical instrument 113c adjust the force of the first surgical instrument 113a and the third surgical instrument 113c to the human tissue organ 40.
  • the position of the predetermined action point is according to the third surgery mounted by the third tool arm 112c.
  • the position of the end of the instrument 113c is determined, that is, the predetermined force F 1B direction is a position at which the action point of the human tissue organ 40 is pulled from the third surgical instrument 113c, and the first surgical instrument 113a is pulled to the human body.
  • the location of the action point of the tissue organ 40 For the third tool arm 112c and the third surgical instrument 113c, the position of the predetermined action point is determined according to the position of the end of the first surgical instrument 113a mounted by the first tool arm 112a, that is, the preset force
  • the F 3B direction is a position at which the action point of the human tissue organ 40 is pulled from the first surgical instrument 113a toward the action point position at which the third surgical instrument 113c pulls the human tissue organ 40.
  • the preset action point includes a first preset action point and a second preset action point, wherein the first preset action point is a position at which the third surgical instrument 113c acts on a human tissue organ, and the second The preset action point is a position at which the first surgical instrument 113a acts on a human tissue organ.
  • the dotted line portion in Fig. 4 indicates the current state of the human tissue organ 40, and the solid line portion indicates the initial state of the human tissue organ 40.
  • the third surgical instrument 113c pulls the position of the action point of the human tissue organ 40, and the method of acquiring the position of the action point of the first surgical instrument 113a pulling the human tissue organ 40 is not limited.
  • the respective joint positions of the first tool arm 112a, the first surgical instrument 113a, the third tool arm 112c, and the third surgical instrument 113c detected by the angle sensor may be calculated by positive kinematics (for example, DH method).
  • the Cartesian position of the point of action (the end of the first surgical instrument, the end of the third surgical instrument) in space (in the base coordinate system) is obtained.
  • the control unit After obtaining the preset force direction of the first surgical instrument 113a and the third surgical instrument 113c, the control unit obtains the driving device according to the preset force value and the preset force direction according to the Jacobian matrix. Each joint needs an output torque, and the driving device drives the first tool arm joint and the first surgical instrument, the third tool arm joint, and the third surgical instrument to make the first surgical instrument 113a and the third surgery
  • the pulling force of the instrument 113c on the human tissue organ 40 reaches the predetermined force value. That is, the human tissue organ 40 in the non-tensioned state (non-stretched state) is again in a taut state (stretched state), thereby achieving the effect of the autonomous pulling function.
  • the first tool arm 112a and the first surgical instrument 113a are used to pull a human tissue organ
  • the second tool arm 112b and the second surgical instrument 113b are used to perform a surgical operation (including tissue cutting
  • the third tool arm 112c and the third surgical instrument 113c are also used to pull the human tissue organ 40.
  • the first tool arm 112a and the first surgical instrument 113a can also be used to perform surgical procedures (including tissue cutting, suturing, peeling, etc.) while the remaining two tool arms and surgical instruments are used to Pull the human tissue and organs.
  • the third tool arm 112c and the third surgical instrument 113c can also be used to perform surgical procedures (including tissue cutting, suturing, peeling, etc.) while the remaining two tool arms and surgical instruments are used to pull human tissue and organs.
  • the side cart 11 may also include more tool arms 112 and their mounted surgical instruments 113, including, for example, four tool arms 112 or five tool arms 112 and the like.
  • the execution end includes a plurality of torque sensors and a second position sensor communicably connected to the control unit.
  • the first tool arm 112a includes n first tool arm joints (not shown).
  • the first surgical instrument includes m first surgical instrument joints (not shown).
  • the torque sensor is configured to detect a moment received by each of the first tool arm joints of the first tool arm 112a and the first surgical instrument joint due to deformation under static conditions.
  • the second position sensor is configured to detect the position of each first tool arm joint and each first surgical instrument joint.
  • the preset force F ini is determined and the joints are locked (because the first tool arm joint and the first surgical instrument joint are to acquire the torque and position information, for the sake of description)
  • the first robot arm 112a and the first surgical instrument 113a remain stationary.
  • the torque sensor installed at each joint detects the moment caused by the deformation of the Cartesian force on the joint, which is the initial moment, and the torque sensor of the i-th joint has a corresponding reading ⁇ i_ini .
  • the control unit obtains an initial moment of each joint through a torque sensor of each joint.
  • the tissue is inevitably caused to be in a relaxed state (non-tensioned state).
  • the current torque detected by the torque sensor of the i-th joint is ⁇ i .
  • the control unit obtains a kinematic Jacobian matrix of the first tool arm 112a and the first surgical instrument 113a at the command position by kinematic calculation. Further, the pulling force F cmd of the first surgical instrument 113a to the human tissue and organs at the command position is obtained.
  • the first tool arm and the first surgical instrument are used for pulling human tissue organs
  • the second tool arm and the second surgical instrument are used for performing surgery on human tissues and organs.
  • the control unit includes a predetermined force value
  • the control unit compares a magnitude of a Cartes force of the human tissue organ to the first surgical instrument and the predetermined force value, if the The force value is greater than a Cartes force of the human tissue organ to the first surgical instrument, and the control unit controls the driving device to drive the first tool arm and the first according to the preset force value
  • the surgical instrument causes the pulling force of the first surgical instrument to the human tissue and organs to reach the predetermined force value.
  • control unit adjusts the pulling force of the first surgical instrument on the human tissue and organs according to the preset force value, so as to increase the pulling force of the first surgical instrument on the human tissue and organs.
  • the preset force value is reached, thereby achieving the effect of the autonomous pulling function of the surgical robot system.

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Abstract

本发明提供了一种手术机器人系统，第一工具臂及第一手术器械用于牵拉人体组织器官，第二工具臂及第二手术器械用于对人体组织器官手术操作，控制单元用于获取人体组织器官对第一手术器械的笛卡尔作用力大小，并且将人体组织器官对第一手术器械的笛卡尔作用力大小与一预设作用力值作比较，如果人体组织器官对第一手术器械的笛卡尔作用力小于所述预设作用力值，控制单元根据预设作用力值控制驱动装置驱动第一工具臂及第一手术器械，使第一手术器械对人体组织器官的牵拉作用力大小达到预设作用力值，从而实现自主牵拉功能的效果。

Description

手术机器人系统
援引加入
本申请要求将于2018年04月27日提交中国专利局、申请号为201810395743.1、发明名称为“手术机器人系统”的中国专利申请的优先权，其全部内容通过引用并入在本申请中。
技术领域
本申请涉及医疗器械技术领域，特别涉及一种手术机器人系统。
背景技术
采用手术机器人系统来进行微创伤外科手术，不仅患者创伤小、术后恢复快、伤口感染小，同时降低医生操作难度和手术疲劳程度，并且医生有很强的沉浸感。
对于医生进行一例手术操作来说，首先要求手术操作时能准确地对病变组织进行切割、缝合等手术操作；其次，在手术过程中，医生要求对组织进行切除或者翻转时要有一个工具来牵拉组织，从而使得切割组织光滑、出血少、没有明显灼伤，以利于患者术后恢复；最后，在对需要手术的组织进行切除或者翻转操作时，对组织进行牵拉的工具可以根据不同手术进展进行牵拉张力的调整。
专利文献CN106028994A中涉及到的手术机器人系统具有四条操作臂进行手术操作，而该系统的第四条操作臂只能实现对组织固定位置的牵拉操作。因此在手术过程中不能跟踪病变组织的手术操作，使得组织在切割过程中切割面粗糙、出血较多、灼伤痕迹明显，这延长了患者组织愈合时间，增加患者的恢复时间和手术费用。
专利文献CN107427327A涉及了一种具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统，当用户移动机器人手臂中的单个机器人手臂时，其它机器人手臂将自动移动以维持虚拟轨道对准，其仅能实现便捷的控制机器人手臂，对于外科手术中使得切割组织光滑、出血少、没有明显灼伤没有帮 助。
专利文献CN108472087A涉及了一种用于可变速外科手术器械的系统和方法，计算机辅助医疗装置被配置成将致动器的速度设定点设定为初始速度，并监测由致动器施加的力或扭矩，当所施加的力或扭矩高于力或扭矩限制时，确定是否满足用于操作的继续条件，当满足继续条件时暂停操作，并且当不满足继续条件时，确定是否应该发生致动器的强迫发射，其对于外科手术中使得切割组织光滑、出血少、没有明显灼伤没有帮助。
发明内容
本申请提供一种手术机器人系统，所述手术机器人系统包括执行端，所述执行端包括挂载有第一手术器械的第一工具臂，挂载有第二手术器械的第二工具臂，驱动所述第一工具臂、第一手术器械、第二工具臂及第二手术器械运动的驱动装置以及与所述驱动装置通信连接的控制单元，
所述第一工具臂及第一手术器械用于牵拉人体组织器官；
所述第二工具臂及第二手术器械用于对人体组织器官进行手术操作；
所述控制单元用于获取人体组织器官对所述第一手术器械的笛卡尔作用力大小，并且将所述人体组织器官对所述第一手术器械的笛卡尔作用力大小与一预设作用力值作比较，如果所述人体组织器官对所述第一手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及所述第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值。
可选的，在所述的手术机器人系统中，如果所述人体组织器官对所述第一手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元以一预设作用点指向所述人体组织器官对所述第一手术器械的笛卡尔作用力作用点的方向作为预设作用力方向，并根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及所述第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值。
可选的，在所述的手术机器人系统中，所述预设作用点为所述第二手术 器械初始作用于人体组织器官的位置，或者，
所述预设作用点为所述第二手术器械在所述控制单元获取预设作用点时作用于人体组织器官的位置。
可选的，在所述的手术机器人系统中，所述执行端还包括挂载有第三手术器械的第三工具臂，所述第三工具臂及第三手术器械用于夹持人体组织器官，所述预设作用点为所述第三手术器械作用于人体组织器官的位置。
可选的，在所述的手术机器人系统中，所述执行端还包括与所述控制单元通信连接的力传感器，所述力传感器用于检测所述人体组织器官对所述第一手术器械的笛卡尔作用力。
可选的，在所述的手术机器人系统中，所述第二手术器械开始对人体组织器官进行手术操作时，所述控制单元获取人体组织器官对所述第一手术器械的笛卡尔作用力，并将所述预设作用力值和人体组织器官对所述第一手术器械的笛卡尔作用力大小作比较，或者，
所述控制单元获取人体组织器官对所述第一手术器械的笛卡尔作用力，所述第二手术器械开始对人体组织器官手术操作时，所述控制单元将所述预设作用力值和人体组织器官对所述第一手术器械的笛卡尔作用力大小作比较。
可选的，在所述的手术机器人系统中，所述控制单元还用于获取所述第二手术器械受到的笛卡尔作用力，并将所述第二手术器械受到的笛卡尔作用力与一力阈值比较，如果所述第二手术器械受到的笛卡尔作用力大于所述力阈值，则所述控制单元判定所述第二手术器械开始对人体组织器官进行手术操作；或者，
所述控制单元还用于获取所述第二手术器械受到的笛卡尔作用力，并将前后两次获取的所述第二手术器械受到的笛卡尔作用力的差值与所述力阈值做比较，如果前后两次获取的所述第二手术器械受到的笛卡尔作用力的差值大于所述力阈值，则所述控制单元判定所述第二手术器械开始对人体组织器官进行手术操作。
可选的，在所述的手术机器人系统中，所述执行端还包括与所述控制单 元通信连接的第一位置传感器，所述第一位置传感器用于检测所述第一工具臂和/或第一手术器械的位置信息，
所述控制单元根据所述第一位置传感器获取的位置信息，获得人体组织器官对所述第一手术器械的笛卡尔作用力的作用点位置。
可选的，在所述的手术机器人系统中，所述执行端还包括与所述控制单元通信连接的第一位置传感器，所述第一位置传感器用于检测所述第二工具臂和/或第二手术器械的位置信息，
所述控制单元根据所述第一位置传感器获取的位置信息，获得所述第二手术器械作用于人体组织器官的位置。
可选的，在所述的手术机器人系统中，所述执行端还包括挂载有第三手术器械的第三工具臂，所述第三手术器械及第三工具臂用于牵拉人体组织器官，
所述预设作用点包括第一预设作用点和第二预设作用点；
所述控制单元将所述人体组织器官对所述第一手术器械的笛卡尔作用力大小与所述预设作用力值作比较，如果所述人体组织器官对所述第一手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元以所述第一预设作用点指向所述人体组织器官对所述第一手术器械的笛卡尔作用力作用点的方向作为预设作用力方向，并根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值；
所述控制单元将所述人体组织器官对所述第三手术器械的笛卡尔作用力大小与所述预设作用力值作比较，如果所述人体组织器官对所述第三手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元以所述第二预设作用点指向所述人体组织器官对所述第三手术器械的笛卡尔作用力作用点的方向作为预设作用力方向，并根据所述预设作用力值控制所述驱动装置驱动所述第三工具臂及第三手术器械，使所述第三手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值；
所述第一预设作用点为所述第三手术器械作用于人体组织器官的位置， 所述第二预设作用点为所述第一手术器械作用于人体组织器官的位置。
可选的，在所述的手术机器人系统中，所述执行端还包括与所述控制单元通信连接的力矩传感器，所述第一工具臂包括多个第一工具臂关节，所述第一手术器械包括多个第一手术器械关节，所述力矩传感器设置于每个所述第一工具臂关节及第一手术器械关节，以检测在静态下由于形变引起的每个所述第一工具臂关节及第一手术器械关节受到的力矩；
所述控制单元还用于从所述力矩传感器获取在确认预设作用力时每个所述第一工具臂关节及第一手术器械关节受到的初始力矩；
所述控制单元还用于从所述力矩传感器获取每个所述第一工具臂关节及第一手术器械关节受到的当前力矩，并根据所述初始力矩，得到每个所述第一工具臂关节及第一手术器械关节的力矩增量，进而获得每个所述第一工具臂关节及第一手术器械关节的指令力矩，并以所述指令力矩控制驱动装置驱动所述第一工具臂关节及第一手术器械关节，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值。
可选的，在所述的手术机器人系统中，所述执行端还包括与所述控制单元通信连接的第二位置传感器，所述第二位置传感器用于检测每个所述第一工具臂关节及第一手术器械关节的位置；
所述控制单元根据每个所述第一工具臂关节及第一手术器械关节的力矩增量以及每个所述第一工具臂关节及第一手术器械关节的控制刚度，获得每个所述第一工具臂关节及第一手术器械关节的位置增量，进而根据每个所述第一工具臂关节及第一手术器械关节的当前位置获得每个所述第一工具臂关节及第一手术器械关节的指令位置，以得到在指令位置下的雅克比矩阵；
所述控制单元根据所述在指令位置下的雅克比矩阵，每个所述第一工具臂关节及第一手术器械关节的指令力矩，获得在指令位置下所述第一手术器械对人体组织器官的牵拉作用力；
所述控制单元比较在指令位置下所述第一手术器械对人体组织器官的牵拉作用力的大小与所述预设作用力值，如果在指令位置下所述第一手术器械的牵拉作用力的大小与所述预设作用力值的大小的差值大于一容忍值，则所 述控制单元调整所述第一工具臂关节及第一手术器械关节的力矩增量，以使在指令位置下所述第一手术器械对人体组织器官的牵拉作用力大小与预设作用力值的差值小于所述容忍值。
可选的，在所述的手术机器人系统中，所述执行端还包括挂载有内窥镜的图像臂，所述预设作用力值通过所述图像臂观察受牵拉的人体组织器官的状态来确定。
可选的，在所述的手术机器人系统中，所述机器人系统还包括控制端，所述控制端包括主操作手，所述主操作手用于控制所述第一工具臂及第一手术器械运动，并接收所述人体组织器官对所述第一手术器械的笛卡尔作用力，所述预设作用力值根据医生通过所述主操作手接收到的所述人体组织器官处于牵拉时对所述第一手术器械的笛卡尔作用力来设定。
在本申请提供的手术机器人系统中，所述第一工具臂及第一手术器械用于牵拉人体组织器官，所述第二工具臂及第二手术器械用于对人体组织器官手术操作，所述控制单元用于获取人体组织器官对所述第一手术器械的笛卡尔作用力大小，并且将所述人体组织器官对所述第一手术器械的笛卡尔作用力大小与一预设作用力值作比较，如果所述人体组织器官对所述第一手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及所述第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值，从而实现手术机器人系统的自主牵拉功能的效果。
附图说明
图1是本申请实施例的手术机器人系统的结构示意图；
图2是本申请一实施例中一条工具臂及手术器械进行牵拉操作的受力状态示意图；
图3是本申请一实施例中一条工具臂及手术器械进行牵拉操作的另一受力状态示意图；
图4是本申请另一实施例中两条工具臂及手术器械进行牵拉操作的受力 状态示意图；
其中，
10-图像车；11-侧手推车；12-手术台车；13-工具车；20-医生控制台；21-立体显示装置；30-医生；40-人体组织器官；110-图像臂；111-内窥镜；112-工具臂；112a-第一工具臂；112b-第二工具臂；112c-第三工具臂；113-手术器械；113a-第一手术器械；113b-第二手术器械；113c-第三手术器械。
具体实施方式
以下结合附图和具体实施例对本申请提出的手术机器人系统作进一步详细说明。根据下面说明和权利要求书，本申请的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本申请实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。
本申请提供一种手术机器人系统，所述手术机器人系统包括执行端，所述执行端包括挂载第一手术器械的第一工具臂，挂载第二手术器械的第二工具臂，驱动所述第一工具臂、第一手术器械、第二工具臂及第二手术器械运动的驱动装置以及与所述驱动装置通信连接的控制单元，所述第一工具臂及第一手术器械用于牵拉人体组织器官；所述第二工具臂及第二手术器械用于对人体组织器官进行手术操作；所述控制单元用于获取人体组织器官对所述第一手术器械的笛卡尔作用力大小，并且将人体组织器官对所述第一手术器械的笛卡尔作用力大小和一预设作用力值作比较，如果所述人体组织器官对所述第一手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值。
实施例一
图1所示为一手术机器人系统实施例的结构视图。在图1所示的实施例中，所述手术机器人系统包括执行端和控制端。所述执行端可包括图像车10、侧手推车11、手术台车12和工具车13，所述控制端包括医生控制台20。所述手术机器人系统主要用途是对所述手术台车12上的患者进行微创伤手术治疗。
在本实施例中，所述侧手推车11包括至少一个图像臂110，所述图像臂110挂载有内窥镜111，例如3D腹腔镜。所述内窥镜111用于获取人体组织器官、手术器械以及手术环境信息。
在本实施例中，所述侧手推车11还包括3个工具臂112，即第一工具臂112a、第二工具臂112b和第三工具臂112c。每个工具臂112分别挂载有手术器械113，即第一工具臂112a挂载第一手术器械113a、第二工具臂112b挂载第二手术器械113b和第三工具臂112c挂载第三手术器械113c。内窥镜111、手术器械113通过患者身体上的创口进入病患位置。
请继续参考图1，在本申请实施例中，所述医生控制台20包括主操作手(又称主手，图中未显示)。所述主操作手与所述执行端中的工具臂112、手术器械113构成主从控制关系。具体的，所述工具臂112、手术器械113在手术过程中是根据主操作手的运动而运动，即根据医生手部的操作而运动。进一步，所述主操作手还接受人体组织器官对所述手术器械的作用力信息并反馈至医生手部，以使医生能够更加直观的感受手术操作。所述医生控制台20还包括显示装置21。外科医生30能够通过医生控制台20内的显示装置21(可以是二维显示器或者三维显示器)，可观察到患者内部的情况以及手术器械113末端的运动状态。
在本实施例中，所述第一工具臂112a及第一手术器械113a用于牵拉人体组织器官，所述第二工具臂112b及第二手术器械113b用于执行手术操作(包括组织切割、缝合、剥离等)，所述第三工具臂112c及第三手术器械113c用于夹持所述人体组织器官。本领域技术人员应理解，所述第一工具臂112a及第一手术器械113a，所述第三工具臂112c及第三手术器械113c也可以用于执行手术操作(包括组织切割、缝合、剥离等)，所述第二工具臂112b及第 二手术器械113b也可以用于牵拉或者夹持人体组织器官，所述第三工具臂112c及第三手术器械113c还可以用于牵拉人体组织器官。在本申请的其他实施例中，所述侧手推车11也可以仅包括两条工具臂112，或者包括更多条工具臂112，例如包括四条工具臂112或者五条工具臂112等。
在本实施例中，所述第二工具臂112b及第二手术器械113b可以对人体组织器官40进行切割操作，所述第一工具臂112a及第一手术器械113a用于牵拉人体组织器官。由于第一工具臂112a及第一手术器械113a的存在，使得人体组织器官40比较容易的产生表面张力和内部张力，形如图2虚线所示。人体组织器官40的表面张力使得在手术进行中，保证了所述第二手术器械113b的作用点时刻处于“外张”状态，人体组织器官40的内部张力则保证在组织切割时的“持续张力”状态。然而，随着切割操作的进行，所述第二手术器械113b作用于人体组织器官40的作用点将随之变化，所述人体组织器官40对所述第一手术器械113a的笛卡尔作用力也将发生变化。如果不对第一工具臂112a及第一手术器械113a调整，所述第一手术器械113a对人体组织器官40的牵拉作用力大小将小于所述预设作用力值，进而使得所述人体组织器官40不能处于绷紧状态。
在本申请实施例中，所述控制单元接收所述第一手术器械113a受到的笛卡尔力，并根据所述预设作用力值判断是否需要调整所述第一工具臂112a以及第一手术器械113a，使所述第一手术器械113a对人体组织器官40的牵拉作用力大小达到所述预设作用力值，便可实现所述人体组织器官40一直处于绷紧状态，实现手术机器人系统的自主牵拉功能的效果。
具体而言，在本申请实施例中，所述执行端还包括与所述控制单元通信连接的力传感器(图中未示出)，所述力传感器用以检测所述人体组织器官40对所述第一手术器械113a的笛卡尔作用力。本实施例对所述力传感器的设置位置没有特别的限制，例如所述力传感器设置于所述第一手术器械113a末端。
所述控制单元将从力传感器处获得的笛卡尔作用力的大小和所述预设作用力值作比较，若所述预设作用力值大于所述笛卡尔作用力，则说明所述人体组织器官40处于非绷紧状态，所述控制单元便可以所述预设作用点指向所 述人体组织器官40对所述第一手术器械113a的笛卡尔作用力作用点的方向作为预设作用力方向，并根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂112a及第一手术器械113a，从而使所述第一手术器械113a对人体组织器官40的牵拉作用力达到所述预设作用力。即，使得处于非绷紧状态的所述人体组织器官40再次处于绷紧状态，从而也就实现了自主牵拉功能的效果。
本实施例对所述控制单元控制所述驱动装置驱动所述第一工具臂112a以及第一手术器械113a，以实现所述第一手术器械113a对人体组织器官40的牵拉作用力达到所述预设作用力的具体方法没有特别的限制。在一个优选实施例中，所述第一工具臂112a包括n个第一工具臂关节(图中未示出)，所述驱动装置作用于每个第一工具臂关节。所述第一手术器械113a包括m个第一手术器械关节(图中未示出)，所述驱动装置还作用于每个第一手术器械关节。所述控制单元通过如下公式，根据所述第一手术器械113a预期受到的人体组织器官40的笛卡尔作用力F B(大小与预设作用力大小相等，方向与预设作用力方向相反)，获得每个第一工具臂关节及第一手术器械关节受到的力矩，亦即获得驱动装置驱动第一工具臂关节及第一手术器械关节所需要输出的力矩：
Figure PCTCN2019084889-appb-000001
其中，F B表示第一手术器械113a预期受到人体组织器官40的笛卡尔作用力，n表示第一工具臂112a上的第一工具臂关节的数量，τ i表示第一工具臂112a上的第i个第一工具臂关节受到的力矩，m表示第一手术器械113a的第一手术器械关节的数量，τ' j表示第一手术器械113a第j个第一手术器械关节受到的力矩，J表示第一工具臂112a以及第一手术器械113a当前位置的运动学雅克比矩阵，也即手术器械末端的笛卡尔空间位置关系相对于关节空间角度的偏导矩阵。
在本申请的其他实施例中，所述第二手术器械113b和所述第三手术器械113c末端也可以设置有所述力传感器，以便于所述第二手术器械113b和所述第三手术器械113c用于牵拉人体组织器官40时，检测所述人体组织器官40对相应所述手术器械的笛卡尔作用力。
在一个优选实施例中，当第二手术器械113b对人体组织器官40开始进行手术操作时，所述控制单元接收所述第一手术器械113a受到的笛卡尔作用力，或者，所述控制单元接收所述第一手术器械113a受到的笛卡尔作用力，在第二工具臂112b对人体组织器官40开始进行手术操作时，所述控制单元将所述第一手术器械113a受到的笛卡尔作用力大小与所述预设作用力值做比较。本实施例对如何判断第二手术器械113b是否对人体组织器官40开始进行手术操作的方法没有特别的限制。在一个优选实施例中，所述第二手术器械113b末端设有与控制单元通信连接的力传感器，所述控制单元根据所述力传感器获取所述第二手术器械113b受到的笛卡尔作用力。如果第二手术器械113b受到的笛卡尔作用力超过一预设的力阈值，则认为第二手术器械113b对人体组织器官40开始进行手术操作。又或者，所述控制单元对前后两次获取的所述第二手术器械113b受到的笛卡尔作用力的差值与所述力阈值做比较，如果前后两次所述第二手术器械113b受到的笛卡尔作用力的差值大于所述力阈值，则所述控制单元判定所述第二手术器械113b开始对人体组织器官进行手术操作。
参考图1和图2，在本申请实施例中，所述预设作用点为所述第二手术器 械113b初始作用于人体组织器官40的作用点。其中，本实施例对于所述第二手术器械113b初始作用于人体组织器官40的作用点的位置，所述人体组织器官40对所述第一手术器械113a的笛卡尔作用力作用点的位置的获取方法没有特别的限制。在一个参考实施例中，所述执行端还包括与所述控制单元通信连接的第一位置传感器，所述第一位置传感器用于检测第一工具臂112a和/或第一手术器械113a的位置信息。优选，所述第一位置传感器包括光学靶镜系统，将所述光学靶镜置于工具臂上，利用光学跟踪仪测量光学靶镜的位置和欧拉角，获得光学靶镜在基坐标下的位姿，再根据手术器械在光学靶镜坐标系下的位姿，进而获得手术器械在基坐标系下的位姿。具体可以参见专利申请CN 105232155A，其全部内容通过引用并入在本申请中。在另外一个参考实施例中，，所述第一位置传感器包括角度传感器，所述角度传感器可以检测所述第一工具臂112a、第二工具臂112b、第一手术器械113a、第二手术器械113b的各个关节的位置；通过正运动学(例如，DH法)的计算，分别得到作用点(即第一手术器械末端、第二手术器械末端)在空间中(基坐标系下)的笛卡尔位置。(图2中虚线部分表示所述人体组织器官40当前的状态，实线部分表示所述人体组织器官40初始状态。)如图3所示，所述预设作用点的位置还可以根据所述第二手术器械113b当前作用于人体组织器官40的作用点的位置，即所述第二手术器械113b末端的当前位置确定。这里的“当前”即为所述控制单元获取预设作用点的时刻。此时预设作用力方向为从所述第二手术器械113b对所述人体组织器官40进行手术操作的当前位置指向所述第一手术器械113a牵拉所述人体组织器官40的作用点位置。如果执行端还包括用于夹持人体组织器官的第三工具臂112c及第三手术器械113c，所述预设作用点还可以为所述第三手术器械113c作用于人体组织器官的作用点。
在本实施例中，所述预设作用力值通过所述内窥镜111观察受牵拉的人体组织器官的状态来确定。在手术操作前或者手术操作中，手术机器人系统没有开启自主牵拉功能时，医生通过工具臂及手术器械牵拉人体组织器官40，并根据观察到受牵拉的人体组织器官的绷紧状态来确定一所述预设作用力值。此外，所述预设作用力值还可以是医生根据手术类型、组织器官类型以 及患者的性别年龄等多个手术因素，综合判断得出的一经验值。
进一步的，所述医生控制台20还包括自主牵拉锁定开关，可以通知所述控制单元开启与关闭机器人系统的自主牵拉功能。其中，在设置所述预设作用力值之前，所述医生控制台20可以通过所述自主牵拉锁定开关通知所述控制单元关闭机器人系统的自主牵拉功能，此时所述控制单元不获取第一手术器械113a收到的笛卡尔作用力，或者获取第一手术器械113a收到的笛卡尔作用力，但不比较第一手术器械113a收到的笛卡尔作用力与预设作用力，或者比较第一手术器械113a收到的笛卡尔作用力与预设作用力，但不控制驱动装置输出；在设置所述预设作用力值之后，所述医生控制台20可以通过所述自主牵拉锁定开关通知所述控制单元开启机器人系统的自主牵拉功能，使所述第一手术器械113a对人体组织器官的牵拉作用力大小达到所述预设作用力值。
由此，在本实施例中，所述控制单元获知所述第一手术器械113a的笛卡尔作用力并保证人体组织器官处于一种恒定的合理张力状态，保证病变组织张力的可持续性；在第二手术器械113b进行手术操作时使用很小的操作动作就可以完成组织的手术操作，并且切口呈现光滑状态，同时，切口出血较少；特别地，在对于比较厚实的组织，例如肾，进行手术操作时，变得更加容易。
实施例二
接着请参考图1和图4，与上述实施例区别在于，在本实施例中，所述第三工具臂112c及第三手术器械113c也用于牵拉所述人体组织器官40，所述控制单元还将人体组织器官40对所述第三手术器械113c的笛卡尔作用力大小和所述预设作用力值作比较。如果所述预设作用力值大于所述人体组织器官40对所述第三手术器械113c的笛卡尔作用力大小，则所述控制单元以所述预设作用点指向所述人体组织器官对所述第三手术器械113c的笛卡尔作用力作用点的方向作为所述预设作用力方向，并根据所述预设作用力值控制所述驱动装置驱动所述第三工具臂112c及第三手术器械113c的各个关节，使所述第三手术器械113c对人体组织器官40的牵拉作用力大小达到所述预设作用力 值。
对于两条工具臂及手术器械用于牵拉所述人体组织器官40的情况，可以通过所述第一手术器械113a和所述第三手术器械113c末端均设置有力传感器，以分别检测所述人体组织器官40对所述第一手术器械113a和所述第三手术器械113c的笛卡尔作用力，即得到所述第一手术器械113a和所述第三手术器械113c对于所述人体组织器官40的牵拉力。
接着，所述控制单元可以分别将人体组织器官40对所述第一手术器械113a的笛卡尔作用力大小和所述预设作用力值作比较，将人体组织器官40对所述第三手术器械113c的笛卡尔作用力大小和所述预设作用力值作比较，并在预设作用力值大的情况下，控制所述驱动装置驱动所述第一工具臂112a及第一手术器械113a，所述第三工具臂112c及第三手术器械113c，使所述第一手术器械113a对人体组织器官40的牵拉作用力大小以及所述第三手术器械113c对人体组织器官40的牵拉作用力大小达到所述预设作用力值。
在本实施例中，所述预设作用力值可以是医生感受到主操作手对其施加的作用力来决定的。即在手术操作前或者手术操作中，手术系统处于非牵拉状态，医生通过手术器械牵拉人体组织器官40使其处于绷紧状态，此时主操作手接收人体组织器官40对手术器械的笛卡尔作用力，并反馈至医生。医生根据受力来确定所述预设作用力值。
若所述手术器械受到人体组织器官的笛卡尔作用力的大小小于所述预设作用力值，则说明所述人体组织器官40处于非绷紧状态，所述控制单元需要驱使所述第一工具臂112a以及第一手术器械113a、第三工具臂112c以及第三手术器械113c以调整第一手术器械113a、第三手术器械113c对人体组织器官40的作用力。如图4所示，在本实施例中，对第一工具臂112a及第一手术器械113a而言，所述预设作用点的位置根据所述第三工具臂112c所挂载的第三手术器械113c末端的位置决定，即预设作用力F 1B方向为从所述第三手术器械113c牵拉所述人体组织器官40的作用点的位置指向所述第一手术器械113a牵拉所述人体组织器官40的作用点位置。对第三工具臂112c及第三手术器械113c而言，所述预设作用点的位置根据所述第一工具臂112a所挂载的 第一手术器械113a末端的位置决定，即预设作用力F 3B方向为从所述第一手术器械113a牵拉所述人体组织器官40的作用点的位置指向所述第三手术器械113c牵拉所述人体组织器官40的作用点位置。即所述预设作用点包括第一预设作用点和第二预设作用点，所述第一预设作用点为所述第三手术器械113c作用于人体组织器官的位置，所述第二预设作用点为所述第一手术器械113a作用于人体组织器官的位置。图4中虚线部分表示所述人体组织器官40当前的状态，实线部分表示所述人体组织器官40初始状态。与上述实施例类似，第三手术器械113c牵拉所述人体组织器官40的作用点的位置、所述第一手术器械113a牵拉所述人体组织器官40的作用点位置的获取方法不做限制，可以根据角度传感器检测的所述第一工具臂112a、第一手术器械113a、第三工具臂112c以及第三手术器械113c的各个关节位置，再通过正运动学(例如，DH法)的计算，分别得到作用点(第一手术器械末端、第三手术器械末端)在空间中(基坐标系下)的笛卡尔位置。
在获得对第一手术器械113a、第三手术器械113c的预设作用力方向后，所述控制单元根据所述预设作用力值、预设作用力方向根据上述的雅克比矩阵获得驱动装置驱动每个关节需要输出的力矩，控制所述驱动装置驱动所述第一工具臂关节以及第一手术器械、第三工具臂关节以及第三手术器械，使所述第一手术器械113a、第三手术器械113c对人体组织器官40的牵拉作用力大小达到所述预设作用力值。即使得处于非绷紧状态(非牵拉状态)的所述人体组织器官40再次处于绷紧状态(牵拉状态)，从而也就实现了自主牵拉功能的效果。
在本实施例中，所述第一工具臂112a及第一手术器械113a用于牵拉人体组织器官，所述第二工具臂112b及第二手术器械113b用于执行手术操作(包括组织切割、缝合、剥离等)，所述第三工具臂112c及第三手术器械113c也用于牵拉所述人体组织器官40。本领域技术人员应理解，所述第一工具臂112a及第一手术器械113a也可用于执行手术操作(包括组织切割、缝合、剥离等)，而其余两个工具臂及手术器械则用于牵拉人体组织器官。或者，所述第三工具臂112c及第三手术器械113c也可用于执行手术操作(包括组织切割、缝合、 剥离等)，而其余两个工具臂及手术器械则用于牵拉人体组织器官。所述侧手推车11也可以包括更多条工具臂112及其挂载的手术器械113，例如包括四条工具臂112或者五条工具臂112等。
实施例三
与实施例一的区别在于，在本实施例中，所述执行端包括与所述控制单元通信连接的多个力矩传感器、第二位置传感器。所述第一工具臂112a包括n个第一工具臂关节(图中未示出)。所述第一手术器械包括m个第一手术器械关节(图中未示出)。所述力矩传感器用于检测在静态下由于形变引起的第一工具臂112a的每一第一工具臂关节、第一手术器械关节受到的力矩。所述第二位置传感器用于检测每一第一工具臂关节、每一第一手术器械关节的位置。
当医生判断组织处于合适的绷紧状态，据此确定预设作用力F ini并且锁定各个关节(由于第一工具臂关节、第一手术器械关节均要获取受到的力矩、位置信息，为了描述简便下面统称为关节)，第一机械臂112a、第一手术器械113a保持静止。此时，安装在各个关节处的力矩传感器检测到笛卡尔作用力对于关节造成的形变而引起的力矩，该力矩即为初始力矩，第i个关节的力矩传感器会有相应的读数τ i_ini。所述控制单元通过各个关节的力矩传感器获得各个关节的初始力矩。
随着第二手术器械113b对组织进行剪切操作，必然造成组织处于松弛状态(非张紧状态)。此时，第i个关节的力矩传感器检测得到的当前力矩为τ i。所述控制单元通过各个关节的力矩传感器获得各个关节的当前力矩，并据此得到第i个关节的力矩增量为Δτ i＝k i*(τ i_ini-τ i)，其中，0＜k i≤1。
进一步，通过上述的力矩增量Δτ i，所述控制单元可以得到第i个关节的指令力矩τ i_cmd＝-(Δτ i+τ i)，负号表示方向相反。同时，由力矩增量Δτ i，所述控制单元得到第i个关节的位置增量Δθ i＝Δτ i/k pi，其中k pi表示各个关节控制刚度。所述控制单元通过所述第二位置传感器检测得到的第i个关节当前位置θ i，得到第i个关节指令位置θ i_cmd＝θ i+Δθ i。根据每个关节的指令位置θ i_cmd，所述控制单元通过运动学计算，得到第一工具臂112a以及第一手术器械113a在指令 位置下的运动学雅克比矩阵
Figure PCTCN2019084889-appb-000002
进一步获得在指令位置下所述第一手术器械113a对人体组织器官的牵拉作用力F cmd。即
Figure PCTCN2019084889-appb-000003
进一步，所述控制单元将所述第一手术器械113a对人体组织器官的牵拉作用力F cmd的模与预设作用力F ini的模做比较，如果两者差的绝对值小于一定容忍值时，则所述控制单元以各个关节的指令力矩τ i_cmd来通知驱动装置来调整各个关节；如果大于容忍值时，所述控制单元以重新调整系数k' i＝k i+j*(1-k i)/step，其中j＝1,...,step，step为步长，重新获取力矩增量Δτ i＝k' i*(τ i_ini-τ i)，进而获得新的牵拉力，直至所述第一手术器械对人体组织器官的牵拉作用力F cmd的模与预设作用力F ini的模两者之间的差值小于所述的容忍值。
综上可见，在本申请实施例提供的手术机器人系统中，第一工具臂及第一手术器械用于牵拉人体组织器官，第二工具臂及第二手术器械用于对人体组织器官进行手术操作，所述控制单元包括一预设作用力值，所述控制单元将人体组织器官对所述第一手术器械的笛卡尔作用力大小和所述预设作用力值作比较，如果所述预设作用力值大于所述人体组织器官对所述第一手术器械的笛卡尔作用力，所述控制单元根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值。由此，通过所述控制单元根据预设作用力值调整所述第一手术器械对人体组织器官的牵拉作用力大小，以使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值，从而实现手术机器人系统的自主牵拉功能的效果。
上述描述仅是对本申请较佳实施例的描述，并非对本申请范围的任何限定，本申请领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (14)

  1. 一种手术机器人系统，其特征在于，所述手术机器人系统包括执行端，所述执行端包括挂载有第一手术器械的第一工具臂，挂载有第二手术器械的第二工具臂，驱动所述第一工具臂、第一手术器械、第二工具臂及第二手术器械运动的驱动装置以及与所述驱动装置通信连接的控制单元，
    所述第一工具臂及第一手术器械用于牵拉人体组织器官；
    所述第二工具臂及第二手术器械用于对人体组织器官进行手术操作；
    所述控制单元用于获取人体组织器官对所述第一手术器械的笛卡尔作用力大小，并且将所述人体组织器官对所述第一手术器械的笛卡尔作用力大小与一预设作用力值作比较，如果所述人体组织器官对所述第一手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及所述第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值。
  2. 如权利要求1所述的手术机器人系统，其特征在于，如果所述人体组织器官对所述第一手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元以一预设作用点指向所述人体组织器官对所述第一手术器械的笛卡尔作用力作用点的方向作为预设作用力方向，并根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及所述第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值。
  3. 如权利要求2所述的手术机器人系统，其特征在于，所述预设作用点为所述第二手术器械初始作用于人体组织器官的位置，或者，
    所述预设作用点为所述第二手术器械在所述控制单元获取预设作用点时作用于人体组织器官的位置。
  4. 如权利要求2所述的手术机器人系统，其特征在于，所述执行端还包括挂载有第三手术器械的第三工具臂，所述第三工具臂及第三手术器械用于夹持人体组织器官，所述预设作用点为所述第三手术器械作用于人体组织器官的位置。
  5. 如权利要求1或2所述的手术机器人系统，其特征在于，所述执行端还包括与所述控制单元通信连接的力传感器，所述力传感器用于检测所述人体组织器官对所述第一手术器械的笛卡尔作用力。
  6. 如权利要求1所述的手术机器人系统，其特征在于，所述第二手术器械开始对人体组织器官进行手术操作时，所述控制单元获取人体组织器官对所述第一手术器械的笛卡尔作用力，并将所述预设作用力值和人体组织器官对所述第一手术器械的笛卡尔作用力大小作比较，或者，
    所述控制单元获取人体组织器官对所述第一手术器械的笛卡尔作用力，所述第二手术器械开始对人体组织器官手术操作时，所述控制单元将所述预设作用力值和人体组织器官对所述第一手术器械的笛卡尔作用力大小作比较。
  7. 如权利要求6所述的手术机器人系统，其特征在于，
    所述控制单元还用于获取所述第二手术器械受到的笛卡尔作用力，并将所述第二手术器械受到的笛卡尔作用力与一力阈值比较，如果所述第二手术器械受到的笛卡尔作用力大于所述力阈值，则所述控制单元判定所述第二手术器械开始对人体组织器官进行手术操作；或者，
    所述控制单元还用于获取所述第二手术器械受到的笛卡尔作用力，并将前后两次获取的所述第二手术器械受到的笛卡尔作用力的差值与所述力阈值做比较，如果前后两次获取的所述第二手术器械受到的笛卡尔作用力的差值大于所述力阈值，则所述控制单元判定所述第二手术器械开始对人体组织器官进行手术操作。
  8. 如权利要求2所述的手术机器人系统，其特征在于，
    所述执行端还包括与所述控制单元通信连接的第一位置传感器，所述第一位置传感器用于检测所述第一工具臂和/或第一手术器械的位置信息，
    所述控制单元根据所述第一位置传感器获取的位置信息，获得人体组织器官对所述第一手术器械的笛卡尔作用力的作用点位置。
  9. 如权利要求3所述的手术机器人系统，其特征在于，
    所述执行端还包括与所述控制单元通信连接的第一位置传感器，所述第 一位置传感器用于检测所述第二工具臂和/或第二手术器械的位置信息，
    所述控制单元根据所述第一位置传感器获取的位置信息，获得所述第二手术器械作用于人体组织器官的位置。
  10. 如权利要求2所述的手术机器人系统，其特征在于，
    所述执行端还包括挂载有第三手术器械的第三工具臂，所述第三手术器械及第三工具臂用于牵拉人体组织器官，
    所述预设作用点包括第一预设作用点和第二预设作用点；
    所述控制单元将所述人体组织器官对所述第一手术器械的笛卡尔作用力大小与所述预设作用力值作比较，如果所述人体组织器官对所述第一手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元以所述第一预设作用点指向所述人体组织器官对所述第一手术器械的笛卡尔作用力作用点的方向作为预设作用力方向，并根据所述预设作用力值控制所述驱动装置驱动所述第一工具臂及第一手术器械，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值；
    所述控制单元将所述人体组织器官对所述第三手术器械的笛卡尔作用力大小与所述预设作用力值作比较，如果所述人体组织器官对所述第三手术器械的笛卡尔作用力小于所述预设作用力值，所述控制单元以所述第二预设作用点指向所述人体组织器官对所述第三手术器械的笛卡尔作用力作用点的方向作为预设作用力方向，并根据所述预设作用力值控制所述驱动装置驱动所述第三工具臂及第三手术器械，使所述第三手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值；
    所述第一预设作用点为所述第三手术器械作用于人体组织器官的位置，所述第二预设作用点为所述第一手术器械作用于人体组织器官的位置。
  11. 如权利要求1所述的手术机器人系统，其特征在于，
    所述执行端还包括与所述控制单元通信连接的力矩传感器，所述第一工具臂包括多个第一工具臂关节，所述第一手术器械包括多个第一手术器械关节，所述力矩传感器设置于每个所述第一工具臂关节及第一手术器械关节，以检测在静态下由于形变引起的每个所述第一工具臂关节及第一手术器械关 节受到的力矩；
    所述控制单元还用于从所述力矩传感器获取在确认预设作用力时每个所述第一工具臂关节及第一手术器械关节受到的初始力矩；
    所述控制单元还用于从所述力矩传感器获取每个所述第一工具臂关节及第一手术器械关节受到的当前力矩，并根据所述初始力矩，得到每个所述第一工具臂关节及第一手术器械关节的力矩增量，进而获得每个所述第一工具臂关节及第一手术器械关节的指令力矩，并以所述指令力矩控制驱动装置驱动所述第一工具臂关节及第一手术器械关节，使所述第一手术器械对人体组织器官的牵拉作用力大小达到所述预设作用力值。
  12. 如权利要求11所述的手术机器人系统，其特征在于，
    所述执行端还包括与所述控制单元通信连接的第二位置传感器，所述第二位置传感器用于检测每个所述第一工具臂关节及第一手术器械关节的位置；
    所述控制单元根据每个所述第一工具臂关节及第一手术器械关节的力矩增量以及每个所述第一工具臂关节及第一手术器械关节的控制刚度，获得每个所述第一工具臂关节及第一手术器械关节的位置增量，进而根据每个所述第一工具臂关节及第一手术器械关节的当前位置获得每个所述第一工具臂关节及第一手术器械关节的指令位置，以得到在指令位置下的雅克比矩阵；
    所述控制单元根据所述在指令位置下的雅克比矩阵，每个所述第一工具臂关节及第一手术器械关节的指令力矩，获得在指令位置下所述第一手术器械对人体组织器官的牵拉作用力；
    所述控制单元比较在指令位置下所述第一手术器械对人体组织器官的牵拉作用力的大小与所述预设作用力值，如果在指令位置下所述第一手术器械的牵拉作用力的大小与所述预设作用力值的大小的差值大于一容忍值，则所述控制单元调整所述第一工具臂关节及第一手术器械关节的力矩增量，以使在指令位置下所述第一手术器械对人体组织器官的牵拉作用力大小与预设作用力值的差值小于所述容忍值。
  13. 如权利要求1所述的手术机器人系统，其特征在于，
    所述执行端还包括挂载有内窥镜的图像臂，所述预设作用力值通过所述图像臂观察受牵拉的人体组织器官的状态来确定。
  14. 如权利要求1所述的手术机器人系统，其特征在于，
    所述机器人系统还包括控制端，所述控制端包括主操作手，所述主操作手用于控制所述第一工具臂及第一手术器械运动，并接收所述人体组织器官对所述第一手术器械的笛卡尔作用力，所述预设作用力值根据医生通过所述主操作手接收到的所述人体组织器官处于牵拉时对所述第一手术器械的笛卡尔作用力来设定。
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