US 12,138,129 B2
Imaging system for surgical robot, and surgical robot
Shuai Yuan, Shanghai (CN); Yunlei Shi, Shanghai (CN); Jiayin Wang, Shanghai (CN); and Chao He, Shanghai (CN)
Assigned to SHANGHAI MICROPORT MEDBOT (GROUP) CO., LTD., Shanghai (CN)
Appl. No. 17/423,026
Filed by SHANGHAI MICROPORT MEDBOT (GROUP) CO., LTD., Shanghai (CN)
PCT Filed Jan. 13, 2020, PCT No. PCT/CN2020/071829
§ 371(c)(1), (2) Date Jul. 14, 2021,
PCT Pub. No. WO2020/147691, PCT Pub. Date Jul. 23, 2020.
Claims priority of application No. 201910032829.2 (CN), filed on Jan. 14, 2019.
Prior Publication US 2022/0079706 A1, Mar. 17, 2022
Int. Cl. A61B 90/00 (2016.01); A61B 1/00 (2006.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01)
CPC A61B 90/37 (2016.02) [A61B 34/37 (2016.02); A61B 1/00048 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/372 (2016.02)] 13 Claims
OG exemplary drawing
 
1. A surgical robot, comprising:
a fixed display device configured to acquire and display image information about a surgical environment;
a movable display device, which is coupled to the fixed display device, and is movable relative to the fixed display device, the movable display device configured to acquire and display the image information that is displayed by the fixed display device;
a console having a support on which the fixed display device is mounted;
a controller, configured to determine which one of the movable display device and the fixed display device is selected as a primary display device according to a selection from an operator;
an image capture device, comprising an endoscope configured to capture the image information about the surgical environment, the fixed display device is communicatively connected to the endoscope, so as to acquire the image information about the surgical environment, and
a master manipulator, on the support of the console, wherein the master manipulator is configured to control position and orientation adjustment to a surgical instrument,
wherein coordinate systems are defined respectively for the fixed display device, the movable display device and the endoscope,
wherein the controller is further configured to match a movement direction and/or an orientational change pattern of the master manipulator in the coordinate system of the primary display device with a movement direction and/or an orientational change pattern of the surgical instrument in the coordinate system of the endoscope;
wherein coordinate systems are defined respectively for a grip of the master manipulator and for the support of the console;
wherein the controller is further configured to make an orientation adjustment to the coordinate system of the grip in the coordinate system of the support of the console based on an orientation change of the coordinate system of the primary display device in the coordinate system of the support of the console, and to make an orientation adjustment to the master manipulator based on an orientation representation of the surgical instrument in the coordinate system of the endoscope, so as to match an orientation representation of the master manipulator in the coordinate system of the primary display device, with the orientation representation of the surgical instrument in the coordinate system of the endoscope; or
wherein when the primary display device is switched from the movable display device to the fixed display device, the controller determines a movable-to-fixed rotation matrix from an orientation of the coordinate system of the movable display device in the coordinate system of the support of the console and an orientation of the coordinate system of the fixed display device in the coordinate system of the support of the console, adjusts an orientation of the coordinate system of the grip in the coordinate system of the support of the console based on the movable-to-fixed rotation matrix, and makes an orientation adjustment to the master manipulator based on the an orientation representation of the surgical instrument in the coordinate system of the endoscope so as to match an orientation representation of the master manipulator in the coordinate system of the fixed display device with the orientation representation of the surgical instrument in the coordinate system of the endoscope; or
wherein when the primary display device is switched from the fixed display device to the movable display device, the controller determines a fixed-to-movable rotation matrix from an orientation of the coordinate system of the movable display device in the coordinate system of the support of the console and an orientation of the coordinate system of the fixed display device in the coordinate system of the support of the console, adjusts an orientation of the coordinate system of the grip in the coordinate system of the support of the console based on the fixed-to-movable rotation matrix, and makes an orientation adjustment to the master manipulator based on the an orientation representation of the surgical instrument in the coordinate system of the endoscope so as to match an orientation representation of the master manipulator in the coordinate system of the movable display device with the orientation representation of the surgical instrument in the coordinate system of the endoscope.