Surgical robot system

A surgical robotic system, comprising:

• a master console and a surgical robot, wherein the master console is communicatively connected to the surgical robot;
• the surgical robot comprising a controller and a trocar, the trocar is capable of moving around a remote center of motion, the controller is configured to perform operations that comprise:
• controlling the trocar to perform a translation motion relative to a central axis of the trocar according to an operation from the master console;
• and
• resetting the remote center of motion according to a termination position of the trocar when performing the translation motion.

The surgical robotic system according to 16, wherein the surgical robot further comprises a surgical tool, and the surgical tool comprises a flexible portion at a distal end, the flexible portion comprises an end effector, a first joint mechanism and a second joint mechanism, the first joint mechanism comprising a first base portion and a first joint portion, the second joint mechanism comprising a second base portion and a second joint portion, the second joint portion coupled with the first base portion, the first joint portion coupled with the end effector, the first base portion provided with a first coordinate system, the second base portion provided with a second coordinate system, a preset distance threshold is set for the remote center of motion relative to a port position of the trocar;

• the controller is further configured to perform operations that comprise:
• resetting, in response to the setting instruction for the remote center of motion, the remote center of motion according to a termination position of the trocar upon when performing the translation motion relative to the central axis of the trocar;
• determining, in response to the master console sending control information for the surgical tool and based on a reset remote center of motion, axial distances between the first coordinate system and the reset remote center of motion and between the second coordinate system and the reset remote center of motion in a distal direction of the central axis of the trocar, respectively;
• comparing each of the axial distances with the preset distance threshold, and determining whether the end effector, the first base portion and the second base portion satisfy a preset positional relationship relative to the port position of the trocar based on a comparison result, and determining that the flexible portion and the trocar are in a first relative positional relationship if at least one of the end effector, the first base portion and the second base portion satisfies the preset positional relationship;
• determining that the flexible portion and the trocar are in a second relative positional relationship if none of the end effector, the first base portion and the second base portion satisfies the preset positional relationship;
• and
• performing motion control on the flexible portion according to the control information and in accordance with a preset motion constraint associated with the first relative positional relationship or the second relative positional relationship.

The surgical robotic system according to 27, wherein the preset motion constraint comprises a preset first constraint and a preset second constraint;

• the performing motion control on the flexible portion according to the control information and in accordance with the preset motion constraint associated with the first relative positional relationship or the second relative positional relationship, comprises:
• performing motion control on the flexible portion according to the control information and in accordance with a preset first constraint associated with the first relative positional relationship;
• or
• performing motion control on the flexible portion according to the control information and in accordance with a preset second constraint associated with the second relative positional relationship;
• wherein a length of the flexible portion accommodated within the trocar is shorter in the first relative positional relationship than in the second relative positional relationship, and when the length of the flexible portion accommodated in the trocar is shorter, a number of joint mechanisms constrained for the flexible portion is greater, and a constraint on the joint mechanism comprises constraints on motion degrees of freedom of the first joint portion and the second joint portion.

The surgical robotic system according to 28, wherein the first constraint comprises a first degree-of-freedom constraint, a second degree-of-freedom constraint, and a third degree-of-freedom constraint;

• the performing motion control on the flexible portion according to the control information and in accordance with the preset first constraint associated with the first relative positional relationship comprises;
• performing motion control on the flexible portion according to the control information and in accordance with the first degree-of-freedom constraint if the end effector satisfies the preset position relationship and the first base portion does not satisfy the preset position relationship;
• performing motion control on the flexible portion according to the control information and in accordance with the second degree-of-freedom constraint if the first base portion satisfies the preset position relationship and the second base portion does not satisfy the preset position relationship;
• and
• performing motion control on the flexible portion according to the control information and in accordance with the third degree-of-freedom constraint if the second base portion satisfies the preset position relationship.

The surgical robotic system according to 28, wherein the first degree-of-freedom constraint comprises:

• a motion of the end effector to perform a functional operation, and a rotation motion of the first joint portion and the second joint portion around their own central axes, and a rotation motion and a translation motion along a central axis of the trocar;
• the second degree-of-freedom constraint comprises:
• the first degree-of-freedom constraint, and a bending motion of the first joint portion along the first base portion;
• and
• the third degree-of-freedom constraint comprises:
• the first degree-of-freedom constraint, the second degree-of-freedom constraint, and a bending motion of the second joint portion along the second base portion.