CN119950041A - Surgical Robotic System - Google Patents

Abstract

The present disclosure relates to the field of medical instruments, and discloses a surgical robotic system. The surgical robotic system includes a surgical station including at least one slave tool, at least one wireless operating handle for receiving user operations and including a pose measurement unit for generating handle movement information based on the user operations, and a controller communicatively coupled to the surgical station and the wireless operating handle and configured to determine a movement speed and/or a movement angular velocity of the wireless operating handle based on the handle movement information and to determine a target speed and/or a target angular velocity of the slave tool based on the movement speed and/or the movement angular velocity of the wireless operating handle, and to control the slave tool movement based on the target speed and/or the target angular velocity of the slave tool. The user can control the movement of the driven tool by operating the wireless operation handle, so that the position can be flexibly selected to perform the operation without being in a certain fixed position.

Description

Surgical robot system

Technical Field

The present disclosure relates to the field of medical devices, and in particular, to a surgical robotic system.

Background

The endoscopic surgery is a surgery form which is gradually developed in recent years and widely applied, has the advantages of small wound and the like, and greatly reduces the rehabilitation time, uncomfortable experience and side effects of a patient after healing. Endoscopic surgery, particularly single hole endoscopic surgery, is performed by a surgical robot, and the surgical form can be optimized by a computer remote control technique.

When performing surgery by the surgical robot, a user needs to sit in front of the main control console to perform operation to send out a control instruction, and control the surgical tool to perform the operation. However, prolonged surgical procedures may cause discomfort to the user and may even have an impact on the procedure.

Disclosure of Invention

In some embodiments, the present disclosure provides a surgical robotic system comprising:

A surgical station comprising at least one driven tool;

the wireless operation handle is used for receiving user operation and comprises a pose measuring unit which is used for generating handle motion information based on the user operation;

And a controller communicatively coupled to the at least one wireless operating handle and the surgical station, the controller configured to receive handle movement information from the pose measurement unit of the at least one wireless operating handle, determine a movement speed and/or a movement angular speed of the at least one wireless operating handle based on the handle movement information, and determine a target speed and/or a target angular speed of the at least one slave tool based on the movement speed and/or the movement angular speed of the at least one wireless operating handle, and control the movement of the at least one slave tool based on the target speed and/or the target angular speed of the at least one slave tool.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly describe the drawings that are required to be used in the description of the embodiments of the present disclosure. The drawings in the following description illustrate only some embodiments of the disclosure and other embodiments may be obtained by those of ordinary skill in the art from the disclosure's contents and drawings without inventive effort.

Fig. 1 illustrates a schematic structural view of a surgical robotic system according to some embodiments of the present disclosure;

fig. 2A illustrates a perspective view of a wireless operating handle according to some embodiments of the present disclosure;

FIG. 2B illustrates a top view of a wireless operating handle in an open state, according to some embodiments of the present disclosure;

Fig. 3 illustrates a schematic structural view of a surgical station according to some embodiments of the present disclosure;

FIG. 4 illustrates a schematic view of the distal portion of an endoscope and a driven tool according to some embodiments of the present disclosure;

fig. 5 illustrates a schematic structural view of a partial structure of a wireless operating handle according to some embodiments of the present disclosure.

Detailed Description

In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are merely exemplary embodiments of the present disclosure, and not all embodiments.

In the description of the present disclosure, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present disclosure, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may, for example, be fixedly connected or detachably connected, mechanically connected or electrically connected, directly connected or indirectly connected through intermediaries, or communicate between the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In this disclosure, one end near an operator (e.g., a physician) is defined as proximal, or rear, and the end opposite the proximal, or rear, rear is defined as distal, or front, front. Or defines the end proximal to the operator (e.g., the surgical patient) as distal, or front, and the end opposite the distal, or front, front as proximal, or rear, rear. Those skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as with other non-medical devices.

Fig. 1 illustrates a schematic structural diagram of a surgical robotic system 100 according to some embodiments of the present disclosure. As shown in fig. 1, surgical robotic system 100 may include a surgical station 10, at least one wireless operating handle 20, and a controller (not shown). The surgical station 10 may include at least one driven tool 11. The at least one driven tool 11 may comprise any suitable driven tool, such as a bipolar curved split clamp, a bipolar curved grasper, a monopolar curved scissors, a monopolar electric hook, a bipolar grasper, needle holder, tissue grasper, and the like. In some embodiments, the at least one surgical station 10 may further comprise at least one robotic arm 101, and the at least one driven tool 11 may be disposed at a distal end of the at least one robotic arm 101. In some embodiments, the at least one driven tool 11 may comprise a plurality of driven tools, the at least one robotic arm 101 may comprise a plurality of robotic arms, and the plurality of driven tools may be disposed at distal ends of the different robotic arms, respectively. In other embodiments, as shown in fig. 1, at least one robotic arm 101 may comprise a single robotic arm at the distal end of which a plurality of driven tools may be disposed.

Fig. 2A illustrates a perspective view of a wireless operating handle 20 according to some embodiments of the present disclosure. At least one wireless operating handle 20 may be used to receive user operations. In operation, the user can hold the wireless operating handle 20 and perform an operation. The at least one wireless operating handle 20 may include a pose measurement unit 201, and the pose measurement unit 201 may be used to generate handle motion information based on user operation. As shown in fig. 2A, the pose measurement unit 201 may be provided inside the housing of the wireless operating handle 20. In some embodiments, the pose measurement unit 201 may be used to detect a pose of an object, a movement speed and an angular speed of an object, or a movement acceleration and an angular acceleration of an object, etc., and the handle movement information may include a movement speed and an angular speed or a movement acceleration and an angular acceleration of the wireless operation handle 20, etc. In some embodiments, the pose measurement unit 201 may include an inertial measurement unit (I MU, I nert ia lMeasurement Unit).

In some embodiments, the user operation may include moving the wireless operating handle up and down, left and right, back and forth, clockwise roll, counter-clockwise roll, pitch, yaw, etc. The user can operate the wireless operating handle 20 to move the wireless operating handle 20, and the pose measuring unit 201 in the wireless operating handle 20 can detect the moving speed, the moving angular speed, and the like of the wireless operating handle 20 in the process. The handle movement information generated by the pose measurement unit 201 may include a movement speed, a movement angular speed, and the like of the wireless operation handle 20.

The controller may be communicatively coupled to at least one wireless operating handle 20 and the surgical station 10. In some embodiments, the controller may be disposed in any suitable location in the surgical station 10 or in the surgical robotic system 100. The wireless operating handle 20 may include a wireless communication device for wireless communication transmission with the controller. The controller may be configured to receive the handle movement information from the pose measurement unit 201 of the at least one wireless operating handle 20, determine a movement speed and/or a movement angular speed of the at least one wireless operating handle 20 based on the handle movement information.

In some embodiments, the movement speed of the wireless operating handle 20 may include a movement speed vector, and the movement angular speed of the wireless operating handle 20 may include a movement angular speed vector. In some embodiments, the pose measurement unit 201 (e.g., inertial measurement unit) may include a tri-axis gyroscope and a tri-axis accelerometer, which may be used to measure angular velocity around three dimensions perpendicular to each other in space and linear acceleration along the three dimensions, respectively. The controller may determine a movement angular velocity vector of the at least one wireless operating handle 20 based on the handle movement information received from the pose measurement unit 201, and the movement angular velocity vector may include movement angular velocities around three dimensions perpendicular to each other in space. The controller may also determine a linear acceleration vector of the at least one wireless operating handle 20 based on the handle motion information received from the pose measurement unit 201, and thus determine a movement velocity vector based on the linear acceleration vector. The movement velocity vector may include movement velocities along the three dimensions.

The controller may be further configured to determine a target speed and/or a target angular velocity of the at least one driven tool 11 based on the movement speed and/or the movement angular velocity of the at least one wireless operating handle 20, and to control the movement of the at least one driven tool 11 based on the target speed and/or the target angular velocity of the at least one driven tool 11.

Fig. 3 illustrates a schematic structural view of a surgical station 10 according to some embodiments of the present disclosure. As shown in fig. 1 and 3, the surgical station 10 may further include at least one drive device 102, and at least one driven tool 11 may be disposed distally of the at least one drive device 102. In some embodiments, surgical station 10 may include a plurality of drives (e.g., drives 102 and 103), and at least one driven tool may include a plurality of driven tools (e.g., driven tools 11 and 12), and driven tools 11 and 12 may be disposed distally of drives 102 and 103, respectively. The controller may be communicatively coupled to the driving device 102 and the driving device 103, and the controller may be further configured to generate the motion control instructions of the at least one driving device 102 based on a target speed and/or a target angular speed of the at least one driven tool (e.g., the driven tool 11).

In operation, a user may issue a control instruction by operating the wireless operation handle 20, the pose measurement unit 201 may generate handle movement information in real time based on the user operation and transmit to the controller, and the controller may control the movement of the slave tool 11 in real time based on the handle movement information. Based on this, in the operation, the user can control the movement of the driven tool by operating the wireless operating handle 20, and the user does not need to be at a certain fixed position, but can flexibly select a position to perform the operation, thereby contributing to the improvement of the user's comfort.

Fig. 4 illustrates a schematic view of the distal portion of an endoscope and a driven tool according to some embodiments of the present disclosure. As shown in fig. 3 and 4, the surgical station 10 may further include an endoscope 13 disposed at a distal end of the robotic arm 101. In operation, endoscope 13 may be used to acquire an image of a surgical field, which may include an image of at least a portion of slave tool 11. The surgical field image acquired by endoscope 13 may be presented on a display (e.g., display 31 shown in fig. 1) for viewing by a user. The user can perform a surgical operation while viewing the surgical field image through the display 31. In some embodiments, the display 31 may be a naked eye 3D display to provide a surgical field image with depth and spatial perception, thereby freeing the user from being constrained by the position of the near eye display.

As shown in fig. 1, the surgical robotic system 100 may also include a master trolley 30. The master trolley 30 may include a display 31. In operation, a user may be positioned in front of the master trolley 30 to view the surgical field images. In some embodiments, the master trolley 30 may further include a main column 301 and a stand 302, the stand 302 being rotatably provided on the main column 301, and the display 31 may be provided at an end of the stand 302. The stand 302 can pitch and roll relative to the main column 301. Based on this, the user can adjust the display 31 to any suitable position, so that the user can flexibly select the position and posture to view the surgical field image and perform the surgical operation.

In some embodiments, the controller may be further configured to determine a target speed of the control point of the at least one driven tool 11 in the control point coordinate system based on the speed of movement of the at least one wireless operating handle 20 and the speed map coefficient. In some embodiments, the controller may be further configured to determine a target angular velocity of the control point of the at least one slave tool 11 in the control point coordinate system based on the angular velocity of movement of the at least one wireless operating handle 20 and the angular velocity map coefficient. In the present embodiment, the controller is capable of mapping the moving speed and the moving angular speed of the at least one wireless operation handle 20 to a target speed of the control point of the at least one driven tool 11 in the control point coordinate system at a certain ratio.

In some embodiments, the controller may be further configured to control the control point movement of the at least one slave tool 11 based on the target speed and the target angular speed of the control point of the at least one slave tool 11 in the control point coordinate system. The at least one driven tool 11 can thus follow the movement of the at least one wireless operating handle 20.

Those skilled in the art will appreciate that the control point of the driven tool 11 may be set as desired, for example, at the end of the arm 111 of the driven tool 11, or at the center or end of the end effector 112. Further, the speed map coefficient and the angular velocity map coefficient may be any suitable values, and the present disclosure is not limited to specific values of the speed map coefficient and the angular velocity map coefficient. It will be appreciated by those skilled in the art that where the absolute values of the speed map coefficient and the angular speed map coefficient are greater, the control point of at least one slave tool 11 moves with greater sensitivity to follow the movement of the wireless operating handle 20.

In some embodiments, as shown in fig. 4, at least one driven tool 11 may include an arm 111 and an actuator 112 disposed at a distal end of the arm 111. In some embodiments, the arm 111 may be a flexible arm to increase the freedom of the driven tool 11, enhancing the flexibility of the driven tool 11 to perform surgical operations in vivo. In some embodiments, the arm 111 may include any suitable structure to promote freedom, such as a continuum structure, a snake bone structure, a combination of rods and joints, and the like. In some embodiments, the actuator 112 may comprise any suitable type of actuator, such as a bipolar curved split-jaw actuator, a bipolar elbow grasper actuator, a monopolar curved scissors actuator, a monopolar electric hook actuator, a bipolar grasper actuator, a needle holder actuator, a tissue grasper actuator, and the like.

The control point D of the at least one slave tool 11 may include a center of a distal section of the arm body 111, and the control point coordinate system { D } may include a first longitudinal coordinate axis (a z-axis of the coordinate system { D } shown in fig. 4) extending axially from the proximal end toward the distal end centering on the control point D, and a first transverse coordinate axis (an x-axis of the coordinate system { D } shown in fig. 4) and a second transverse coordinate axis (a y-axis perpendicular to the x-axis and the z-axis of the coordinate system { D }, not shown in the drawing) perpendicular to the first longitudinal coordinate axis. In some embodiments, the target speed v _d of the control point D of the at least one slave tool 11 in the control point coordinate system { D } may comprise a target speed vector, which may include target speeds v _dx、v_dy and v _dz along three coordinate axes of the control point coordinate system { D }. The target angular velocity ω _d of the control point D of the at least one slave tool 11 in the control point coordinate system { D } may include a target angular velocity vector, which may include target angular velocities ω _dx、ω_dy and ω _dz around three coordinate axes of the control point coordinate system { D }.

Fig. 2B illustrates a top view of wireless operating handle 20 in an open state, according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 2A and 2B, at least one wireless operating handle 20 may include a first clamp 21, a second clamp 22, and a handle body 23. The handle body 23 may extend distally from the proximal end. The handle body 23 may be of any suitable shape, such as cylindrical, prismatic, etc. The first clamp 21 and the second clamp 22 may be rotatably connected to the handle body 23, respectively, and cooperate with each other to achieve opening and closing. The first clamp 21 and the second clamp 22 can be clamped by fingers of a user, and the user can open and close under the control of the clamping and opening and closing actions of the fingers of the user. In some embodiments, the handle body 23 may include a cylindrical housing and a receiving cavity within the housing, and in the expanded state, the proximal ends of the first and second jaws 21, 22 may extend into the receiving cavity of the handle body 23.

In some embodiments, the first clamp 21 and the second clamp 22 may be rotatably connected to the handle body 23 at proximal ends, respectively. In some embodiments, the first clamp 21 and the second clamp 22 may be hinged to the handle body 23 by a pin or the like, or may be pivoted to the handle body 23 by a pivot or the like. In some embodiments, the at least one wireless operating handle 20 may further include a first finger cuff 24 and a second finger cuff 25 to facilitate the user's handling of the wireless operating handle 20 and performing clamping and the like. A first finger cuff 24 may be provided at the distal end of the first jaw 21 and a second finger cuff 25 may be provided at the distal end of the second jaw 22.

In some embodiments, the controller may be further configured to determine a target speed of the control point D of the at least one slave tool 11 in the control point coordinate system { D } based on the speed of movement of the at least one wireless operating handle 20 in the handle coordinate system and the speed mapping coefficient. In some embodiments, the controller may be further configured to determine a target angular velocity of the control point D of the at least one slave tool 11 in the control point coordinate system { D } based on the angular velocity of movement of the at least one wireless operating handle 20 in the handle coordinate system and the angular velocity mapping coefficient.

In some embodiments, as shown in fig. 2A and 2B, the origin M of the handle coordinate system { M } may be located at the proximal end of the handle body 23. In some embodiments, the pose measurement unit 201 may be located at the proximal end of the handle body 23, and the origin of the handle coordinate system { M } may be the center point of the pose measurement unit 201. The handle coordinate system { M } may include a second longitudinal coordinate axis (e.g., the z-axis of the coordinate system { M } shown in fig. 2A or 2B) collinear with the central axis of the handle body 23, and third and fourth transverse coordinate axes (e.g., the x-and y-axes of the coordinate system { M } shown in fig. 2A and 2B) perpendicular to the second longitudinal coordinate axis. It will be appreciated by those skilled in the art that the handle coordinate system used to determine the movement of the wireless operating handle 20 is not limited to the coordinate system { M }, but may be any suitable coordinate system.

In some embodiments, the movement speed v _m of the at least one wireless operating handle 20 in the handle coordinate system { M } may include a movement speed vector, which may include movement speeds v _mx、v_my and v _mz of the wireless operating handle 20 along three coordinate axes of the handle coordinate system { M }. The movement angular velocity ω _m of the at least one wireless operating handle 20 in the handle coordinate system { M } may include the movement angular velocities ω _mx、ω_my and ω _mz of the wireless operating handle 20 around three coordinate axes of the handle coordinate system { M }.

In some embodiments, the speed of movement of the at least one wireless operating handle 20 in the handle coordinate system { M } is denoted by v _m, the speed map coefficient is denoted by α, and the controller can determine the target speed v _d of the control point D of the at least one driven tool 11 in the control point coordinate system { D } by the following equation (1):

v_d＝αv_m(1)

In some embodiments, the angular velocity of movement of the at least one wireless operating handle 20 in the handle coordinate system { M } is represented by ω _m, the angular velocity map coefficient is represented by β, and the controller can determine the target angular velocity ω _d of the control point D of the at least one driven tool 11 in the control point coordinate system { D } by the following equation (2):

ω_d＝βω_m(2)

In some embodiments, the controller may be further configured to control the control point movement of the at least one slave tool 11 based on the target speed and the target angular speed v _dω_d]^T of the control point of the at least one slave tool 11 in the control point coordinate system. Those skilled in the art will appreciate that equations (1) and (2) can map the motion of the at least one wireless operating handle 20 v _mω_m]^T to the motion of the control point of the at least one driven tool 11 v _dω_d]^T in a proportion. Based on [ v _dω_d]^T controlling the movement of the control point of the at least one slave tool 11, the control point of the at least one slave tool 11 is able to follow the movement of the at least one wireless operating handle 20.

In some embodiments, the controller may be further configured to determine a target speed v _dz of the control point D of the at least one slave tool 11 along the first longitudinal coordinate axis (e.g., the z-axis of the coordinate system { D } shown in fig. 4) based on the speed v _mz of movement of the at least one wireless operating handle 20 along the second longitudinal coordinate axis (e.g., the z-axis of the coordinate system { M } shown in fig. 2A or 2B) and the speed map coefficient α. In some embodiments, the controller may determine the target speed v _dz of the control point D of the at least one driven tool 11 along the first longitudinal axis by the following equation (3):

v_dz＝αv_mz(3)

In some embodiments, the controller may be further configured to control the movement of the at least one driven tool 11 based on the target speed v _dz of the control point D of the at least one driven tool 11 along the first longitudinal axis. Those skilled in the art will appreciate that when the user manipulates the wireless operating handle 20 and moves the wireless operating handle 20 axially at the movement speed v _mz, the control point D of the at least one slave tool 11 can move axially along the z-axis of the control point coordinate system { D }. With the axial movement of control point D at v _dz, the actuator 112 distal to control point D can be moved axially at v _dz. The user can thus observe in the display 31 that the actuator 112 of the driven tool 11 moves following the user's operation of the wireless operation handle 20, so that an intuitive operation experience can be obtained.

In some embodiments, the controller may be further configured to determine the target angular velocity ω _dz of the control point D of the at least one slave tool 11 about the first longitudinal coordinate axis (e.g., the z-axis of the coordinate system { D } shown in fig. 4) based on the angular velocity ω _mz of the movement of the at least one wireless operating handle 20 about the second longitudinal coordinate axis (e.g., the z-axis of the coordinate system { M } shown in fig. 2A or 2B) and the angular velocity map coefficient β. In some embodiments, the controller may determine the target angular velocity ω _dz of the control point D of the at least one driven tool 11 along the first longitudinal coordinate axis by the following equation (4):

ω_dz＝βω_mz(4)

In some embodiments, the controller may be further configured to control the movement of the at least one driven tool 11 based on a target angular velocity ω _dz of the control point D of the at least one driven tool 11 about the first longitudinal coordinate axis. Those skilled in the art will appreciate that when the user manipulates the wireless operating handle 20 and causes the wireless operating handle 20 to roll about the central axis of the handle body 23 at a movement angular velocity ω _mz, the control point D of the at least one slave tool 11 can roll about the z-axis of the control point coordinate system { D } at ω _dz and the actuator 112 located distally of the control point D can also roll at ω _dz. The user can thereby observe in the display 31 that the actuator 112 of the driven tool 11 rolls following the roll operation of the wireless operation handle 20 by the user, so that an intuitive operation experience can be obtained.

In some embodiments, the controller may be further configured to determine a target speed v _dx of the control point D of the at least one slave tool 11 along the x-axis of the control point coordinate system { D } based on the speed v _mx of movement of the at least one wireless operating handle 20 along the x-axis of the handle coordinate system { M } and the speed map coefficient α. In some embodiments, the controller may be further configured to determine a target angular velocity ω _dx of the control point D of the at least one slave tool 11 about the x-axis of the control point coordinate system { D } based on the angular velocity ω _mx of the movement of the at least one wireless operating handle 20 about the x-axis of the handle coordinate system { M }, and the angular velocity map coefficient β. In some embodiments, the controller may determine the target speed v _dx and the target angular speed ω _dx by the following equation (5) and equation (6):

v_dx＝αv_mx(5)

ω_dx＝βω_mx(6)

In some embodiments, the controller may be further configured to control the movement of the at least one slave tool 11 based on the target speed v _dx of the control point D of the at least one slave tool 11 along the x-axis and/or the target angular speed ω _dx about the x-axis of the control point coordinate system { D }. Those skilled in the art will appreciate that when the user manipulates the wireless operating handle 20 and moves the wireless operating handle 20 in a lateral direction at the movement speed v _mx, the control point D of the at least one slave tool 11 can move laterally along the x-axis of the control point coordinate system { D } by v _dx. When the user operates the wireless operating handle 20 and makes the wireless operating handle 20 perform a yaw motion at a movement angular velocity ω _mx, the control point D of the at least one slave tool 11 can perform a yaw motion at ω _dx around the x-axis of the control point coordinate system { D }, whereby the user can obtain an intuitive operation experience.

In some embodiments, the controller may be further configured to determine a target speed v _dy of the control point D of the at least one slave tool 11 along the y-axis of the control point coordinate system { D } based on the speed v _my of movement of the at least one wireless operating handle 20 along the y-axis of the handle coordinate system { M } and the speed map coefficient α. In some embodiments, the controller may be further configured to determine a target angular velocity ω _dy of the control point D of the at least one slave tool 11 about the y-axis of the control point coordinate system { D } based on the angular velocity ω _my of the movement of the at least one wireless operating handle 20 about the y-axis of the handle coordinate system { M }, and the angular velocity map coefficient β. In some embodiments, the controller may determine the target speed v _dy and the target angular speed ω _dy by the following equation (7) and equation (8):

v_dy＝αv_my(7)

ω_dy＝βω_my(8)

In some embodiments, the controller may be further configured to control the movement of the at least one slave tool 11 based on the target speed v _dy of the control point D of the at least one slave tool 11 along the y-axis and/or the target angular speed ω _dy about the y-axis of the control point coordinate system { D }. Those skilled in the art will appreciate that when the user manipulates the wireless operating handle 20 and moves the wireless operating handle 20 in a lateral direction at the movement speed v _my, the control point D of the at least one slave tool 11 can move laterally along the y-axis of the control point coordinate system { D } by v _dy. When the user operates the wireless operating handle 20 and makes the wireless operating handle 20 perform pitching motion at the movement angular velocity ω _my, the control point D of the at least one slave tool 11 can perform pitching motion at ω _dy around the y-axis of the control point coordinate system { D }, so that the user can obtain an intuitive operation experience.

As shown in fig. 2A, in some embodiments, at least one wireless operating handle 20 may also include a touch sensor 27. The touch sensor 27 may be used to detect whether the at least one wireless operating handle 20 receives a user touch. The touch sensor 27 may be used to generate a touch signal in response to at least one wireless operating handle 20 receiving a user touch. In some embodiments, the touch sensor 27 may be any suitable type of touch sensor, such as a resistive type touch sensor, a capacitive type touch sensor, or the like. As will be appreciated by those skilled in the art, user contact can cause a change in resistance or capacitance, etc. in the circuit, and the touch sensor 27 can thus determine whether it is touched by the user based on the change in resistance or capacitance in the circuit.

In some embodiments, the touch sensor 27 may be disposed on the wireless operating handle 20 at a location that is convenient for user contact. In some embodiments, the touch sensors may include first and second touch sensors disposed on the first and second clamps 21 and 22, respectively. In some embodiments, first and second touch sensors may be provided on inner circumferential surfaces of the first and second finger cuffs 24 and 25 so as to be contacted by a user when holding the wireless operating handle 20. For example, a first touch sensor may be disposed at the position of the touch sensor 27 as shown in fig. 2A, and a second touch sensor may be disposed at a corresponding position on the second finger cuff 25. Those skilled in the art will appreciate that the present disclosure is not limited to the location where the touch sensor 27 is disposed, and that the touch sensor 27 may be disposed at any suitable location, such as the proximal end of the handle body 23, axially outward of the first and second jaws 21, 22, etc.

In some embodiments, as shown in fig. 1, surgical robotic system 100 may also include a display, such as display 31. The display 31 may be used to display the surgical field image. In operation, the user may operate the wireless operating handle 20 to perform a surgical operation while viewing the image of the surgical field, in front of the display 31. The controller may be communicatively coupled to the display 31, and the controller may be further configured to receive touch signals from the at least one wireless operating handle 20 and, in response to the touch signals, control the display 31 to display an image of the control point D of the at least one slave tool 11 and an indication line of a first longitudinal coordinate axis extending distally from the control point. The image of the control point D may be as the control point D shown in fig. 4, and the indication line of the first longitudinal coordinate axis may be as the z-axis of the coordinate system { D } shown in fig. 4.

Based on this, when the user holds the wireless operation handle 20, the display 31 may display an image of the control point D of the slave tool 11 and an indication line of the first longitudinal axis, which helps the user to determine the correspondence between the movement direction of the wireless operation handle 20 and the movement direction of the slave tool 11, so that the user can control the movement of the slave tool 11 by operating the wireless operation handle 20.

In some embodiments, the controller may be further configured to control the image of the control point D and the pointer movement based on the handle movement information in response to the touch signal. In some embodiments, the controller may determine a movement speed v _m and/or a movement angular speed ω _m of the wireless operating handle 20 based on the handle movement information, determine a target speed v _d and/or a target angular speed ω _d of the control point D of the slave tool 11 based on the movement speed v _m and/or the movement angular speed ω _m of the wireless operating handle 20, and further determine a movement speed v _id and/or a movement angular speed ω _id of the image of the control point D based on the target speed v _d and/or the target angular speed ω _d of the control point D of the slave tool 11, and control the movement of the image of the control point D at the movement speed v _id and/or the movement angular speed ω _id, and control the indication line movement such that the indication line always extends distally from the control point D.

According to the present embodiment, when the user holds the wireless operating handle 20 and operates the wireless operating handle 20 to move, the user can view the image of the control point D and the indication line in the display 31 to move following the user's operation of the wireless operating handle 20, so that the user can be assisted in determining the correspondence relationship between the movement of the wireless operating handle 20 and the movement of the driven tool 11. In some embodiments, the user may operate the wireless operating handle 20 to move and view the movement of the image and the indication line of the control point D through the display 31 before establishing the master-slave mapping relationship between the wireless operating handle 20 and the slave tool 11, so as to improve the familiarity and accuracy of the subsequent master-slave operation.

In some embodiments, the pose measurement unit 201 of the wireless operating handle 20 may also include any other suitable means to generate handle motion information based on user operation. For example, the pose measurement unit 201 may include a magnetic positioning device that can be used to detect the pose of the wireless operating handle 20 in space. In some embodiments, the magnetic positioning device may comprise a soft magnet. In some embodiments, the master trolley 30 may include an electromagnetic sensor and a permanent magnet, which may include an electromagnet or the like. The permanent magnet may be used to provide a magnetic field for the magnetic positioning device. In some embodiments, electromagnetic sensors and permanent magnets may be provided at appropriate locations of the main column 301 or the base 303 of the master trolley 30, etc. As will be appreciated by those skilled in the art, when the wireless operating handle 20 is moved by a user, the pose of the soft magnet in the wireless operating handle 20 in the magnetic field provided by the permanent magnet changes, and the electromagnetic sensor can detect the response change of the soft magnet magnetic field, thereby detecting the pose of the soft magnet in space. Based on this, a change in the pose of the wireless operation handle 20 can be detected.

In some embodiments, the electromagnetic sensor may transmit the detection result to the pose measurement unit 201 for the pose measurement unit 201 to generate handle motion information based on the detection result of the electromagnetic sensor. In some embodiments, the electromagnetic sensor may transmit the detection result directly to the controller, and the controller may determine the handle movement information based on the detection result of the electromagnetic sensor.

In some embodiments, the surgical robotic system 100 may also include any other suitable device to track the pose changes of the wireless operating handle 20. For example, the surgical robotic system 100 may also include an optical positioning device. In some embodiments, the optical positioning device may include a stereoscopic display that may be used to capture images of the wireless operating handle 20 and an image processor that may be used to process the images captured by the stereoscopic display, such as to detect the distance of the wireless operating handle 20 from the stereoscopic display in the images. In some embodiments, the optical positioning device may be disposed within the master trolley 30, for example, at a suitable location of the main column 301, the base 303, and the like.

Fig. 5 illustrates a schematic structural view of a partial structure of the wireless operating handle 20 according to some embodiments of the present disclosure. Those skilled in the art will appreciate that the housing of the wireless operating handle 20 is omitted from fig. 5 in order to show the internal structure of the wireless operating handle 20. In some embodiments, as shown in fig. 5, the at least one wireless operating handle 20 may also include Zhang Gechuan sensors 28. Zhang Gechuan sensors 28 may be used to detect the opening and closing information of the wireless operating handle 20, which may include opening and closing angle, opening and closing status, etc. In some embodiments, zhang Gechuan sensor 28 may determine that the open-close state of wireless operating handle 20 is "open" in response to detecting that the open-close angle of wireless operating handle 20 is greater than a preset threshold, and determine that the open-close state of wireless operating handle 20 is "closed" in response to detecting that the open-close angle is less than the preset threshold.

In some embodiments, as shown in fig. 5, the wireless operating handle 20 may further include a first tooth structure 291 and a second tooth structure 292. The first tooth structure 291 may be fixedly disposed at the proximal end of the first clamp 21 and the second tooth structure 292 may be fixedly disposed at the proximal end of the second clamp 22. The first tooth arrangement 291 and the second tooth arrangement 292 may be located within the receiving cavity of the handle body 23. The first tooth structure 291 may mesh with the second tooth structure 292. It will be appreciated by those skilled in the art that the first jaw 21 and the second jaw 22 can be maintained at equal angles of deployment relative to the handle body 23 by the interengaged first tooth structure 291 and second tooth structure 292. In some embodiments, a pose measurement unit (not shown in fig. 5, see fig. 2A and 2B) may be disposed within the receiving cavity of the handle body 23 and proximal to the first and second tooth structures 291, 292.

In some embodiments, zhang Gechuan sensor 28 may include a sensing element 281 and a sensing element 282. The sensing piece 282 may be disposed on the second clamp 22, for example, axially inward of the second clamp 22, and the sensing piece 281 may be disposed within the handle body 23 on a side facing the second clamp 22 and corresponding in position to the sensing piece 282. The sensing member 281 may be used to detect a change in a distance between the sensing member 282 and the sensing member 281 to detect a state of opening and closing the wireless operating handle 20. In other embodiments, the sensing element 282 may be disposed axially inward of the first clamp 21, and the sensing element 281 may be disposed inward of the handle body 23 on a side of the first clamp 21 and corresponding in position to the sensing element 281. In other embodiments, zhang Gechuan sensor 28 may include a first and second open-close sensor that may be used to detect the open-close state of first and second jaws 21, 22, respectively, relative to jaw body 23.

It will be appreciated by those skilled in the art that the present disclosure is not limited in the type of Zhang Gechuan sensor, and that the Zhang Gechuan sensor may be any suitable type of sensor, such as an infrared sensor for detecting distance, a laser sensor, a potential sensor for detecting rotation angle, a magnetic sensor, and the like.

In some embodiments, as shown in fig. 5, the wireless operating handle 20 may further include an elastic member 202, and the elastic member 202 may be located in the receiving cavity of the handle body 23. In some embodiments, the resilient member 202 may be a spring or other resilient member. Both ends of the elastic member 202 may be connected to proximal ends of the first clamp 21 and the second clamp 22, respectively. The elastic member 202 serves to apply a pre-elastic force to the first clamp 21 and the second clamp 22 so as to maintain the first clamp 21 and the second clamp 22 in an open state.

Zhang Gechuan sensor 28 may also be used to generate a confirmation signal in response to at least one wireless operating handle 20 being pinched by a user. In some embodiments, zhang Gechuan sensor 28 may generate a confirmation signal in response to detecting that the open-closed state of wireless operating handle 20 is changed from open to closed to open. In some embodiments, zhang Gechuan sensor 28 may also generate a confirmation signal in response to detecting that the open-to-closed state of wireless operating handle 20 is changed from open to closed to open and that the time in the closed state does not exceed a preset time.

In some embodiments, the controller may be further configured to receive a touch signal and a confirmation signal from the at least one wireless operating handle 20, and to initiate master-slave operation of the at least one wireless operating handle 20 on the at least one slave tool 11 in response to the touch signal and the confirmation signal. In operation, a user may hold the wireless operating handle 20 and clamp the first clamp 21 and the second clamp 22, thereby initiating master-slave operation of the at least one wireless operating handle 20 on the at least one slave tool 11. The user needs to perform the clamping confirmation operation to start the master-slave operation, thereby helping to avoid the user from performing the misoperation on the wireless operation handle 20.

In some embodiments, zhang Gechuan sensor 28 may also be used to generate a pinch signal during master-slave operation in response to detecting a transition from open to closed of the open state of at least one wireless operating handle 20. The controller may also be configured to receive a clamping signal from the at least one wireless operating handle 20 under master-slave operation and, in response to the clamping signal, control distal clamping of the actuator 112 of the at least one slave tool 11, e.g., control a monopolar bend shear actuator to perform a shearing operation, control a bipolar grasper actuator or needle holder, etc.

In some embodiments, zhang Gechuan sensor 28 may also be used to generate an open signal in response to detecting a transition from a closed to an open state of at least one wireless operating handle 20. The controller may also be configured to receive an opening signal from the at least one wireless operating handle 20 under master-slave operation and to control distal opening of the actuator 112 of the at least one driven tool 11 in response to the opening signal.

In operation, after initiating a master-slave operation by holding and pinching the wireless operating handles 20, a user may move at least one wireless operating handle 20 to control movement of at least one slave tool 11 within the patient. The user may also grip the first jaw 21 and the second jaw 22 of the at least one wireless operating handle 20 to grip the distal end of the actuator 112 of the at least one driven tool 11 to perform the operation.

In some embodiments, as shown in fig. 5, the wireless operating handle 20 may also include at least one micro switch 203. At least one micro switch 203 may be disposed axially inward of the first clamp 21 and the second clamp 22. In some embodiments, the at least one micro switch 203 may include a pair of micro switches disposed on the first clamp 21 and the second clamp 22, respectively, and the pair of micro switches may be symmetrically disposed.

As shown in fig. 5, a trigger table 204 corresponding to at least one micro switch 203 may be provided in the handle body 23. With the first clamp 21 and the second clamp 22 closed, the micro switch 203 can contact the trigger table 204. In some embodiments, the trigger pad 204 may generate a closure signal in response to the micro switch 203 contacting the trigger pad 204. The controller may also be configured to receive a closing signal from the wireless operating handle 20 and, in response to the closing signal, control the wireless operating handle 20 to give feedback to the user in the form of vibration, sound, or the like to prompt the user that the first clamp 21 and the second clamp 22 of the wireless operating handle 20 are in a fully closed state.

In some embodiments, as shown in fig. 2A, 2B and 5, at least one wireless operating handle 20 may also include a clutch device 26. The clutch device 26 may be configured to receive a first user operation (e.g., toggling the clutch device 26) and generate a trigger signal based on the first user operation. The controller may also be configured to receive a trigger signal from the clutch device 26 and to disengage master-slave operation of the at least one wireless operating handle 20 on the at least one driven tool 11 in response to the trigger signal. Based on this, the user can disconnect the master-slave operation of the wireless operation handle 20 on the slave tool 11 by performing the first user operation on the clutch device 26.

In some embodiments, the clutch device 26 may also be configured to receive a second user operation and generate a release signal based on the second user operation (e.g., releasing the clutch device 26). The controller may also be configured to receive a release signal from the clutch device 26 and initiate a master-slave operation of the at least one driven tool 11 by the at least one wireless operating handle 20 in response to the release signal. Based on this, the user can start the master-slave operation of the wireless operation handle 20 on the driven tool 11 by performing the second user operation on the clutch device 26.

It will be appreciated by those skilled in the art that in the event that the user moves his hand to a maximum extent, or wishes to adjust his hand position and posture, etc., the user may disengage the wireless operating handle 20 from the driven tool 11 by performing a first user operation on the clutch device 26 and move the handheld wireless operating handle 20 to the appropriate position to facilitate subsequent master-slave operations. When moved into position, the user may perform a second user operation on the clutch device 26 to resume the master-slave operation of the wireless operating handle 20 on the driven tool 11.

In some embodiments, as shown in fig. 2A, 2B and 5, the clutch device 26 may be a toggle button provided on the handle body 23, the first user operation may be toggling the toggle button, and the second user operation may be releasing the toggle button. The present disclosure is not limited in terms of the form of the clutch device 26, and the clutch device 26 may include any suitable form, such as a button, key, etc. When the clutch device 26 includes a button, the first user operation may be a push button and the second user operation may be a release button. When the clutching device 26 includes a key, the first user operation may be touching the key and the second user operation may be touching the key again.

In some embodiments, the at least one wireless operating handle 20 may also include a left operating handle and a right operating handle. The left and right operating handles may each be configured as a wireless operating handle 20 as shown in fig. 2A, 2B or 5. The left operating handle may be used to receive operation of the left hand of the user and the right operating handle may be used to receive operation of the right hand of the user. The at least one driven tool may comprise a plurality of driven tools, such as driven tool 11 and driven tool 12 shown in fig. 3 or 4. The driven tool 11 may include an arm 111 and an actuator 112 at a distal end of the arm 111, and the driven tool 12 may include an arm 121 and an actuator 122 at a distal end of the arm 121. Surgical station 10 may include a plurality of drive devices, such as drive device 102 and drive device 103, and driven tool 11 and driven tool 12 may be disposed at distal ends of drive device 102 and drive device 103, respectively, and drive device 102 and drive device 103 may be used to drive movement of driven tool 11 and driven tool 12, respectively.

The left and right operating handles may perform master-slave operations on the driven tool 11 and the driven tool 12, respectively. The user can cause the driven tool 11 or the driven tool 12 to perform the surgical operation by operating the left operating handle or the right operating handle, respectively, or simultaneously operate the left operating handle and the right operating handle to cause the driven tool 11 and the driven tool 12 to cooperate to perform the surgical operation.

In some embodiments, the surgical robotic system 100 may further include an input device that may be used to receive user input operations and generate user input information based on the user input operations. The controller may be communicatively coupled to the input device, and the controller may be further configured to receive user input from the input device and establish a master-slave assignment of the left and/or right operating handles to respective ones of the plurality of slave tools based on the user input. Based on this, the user can establish a master-slave distribution relationship of the left and/or right operation handles and the driven tool by operating the input device.

In some embodiments, the input device may include a touch display, which may be disposed on the master trolley 30, such as the master column 301. The user can establish a master-slave distribution relationship between the left operating handle and/or the right operating handle and the driven tool by operating the touch display. For example, the user may assign a left operating handle to the driven tool 11 and a right operating handle to the driven tool 12 by operating the touch display. The user can thus perform master-slave operation on the driven tool 11 by operating the left operation handle, and perform master-slave operation on the driven tool 12 by operating the right operation handle.

Those skilled in the art will appreciate that the present disclosure is not limited in terms of the form or location of the input device, which may include any suitable form, such as buttons, pedals, etc., and may be located at any suitable location, such as below the display 31 or on the base of the master trolley 30, etc.

In some embodiments, the left and right operating handles may include first and second clutch devices, respectively. The user can disconnect the master-slave operation of the left operation handle to the slave tool 11 by performing a first user operation on the first clutch device, and resume the master-slave operation of the left operation handle to the slave tool 11 by performing a second user operation on the first clutch device. The user can also disconnect the master-slave operation of the right operating handle to the driven tool 12 by performing the first user operation on the second clutch device, and resume the master-slave operation of the right operating handle to the driven tool 12 by performing the second user operation on the second clutch device.

As shown in fig. 1, in some embodiments, the master trolley 30 may further include a plurality of pedals (e.g., pedals 32 and 33, etc.) that may be disposed on the base 303 of the master trolley 30. In some embodiments, the plurality of pedals may include an electro-coagulation pedal and an electro-coagulation pedal, and the user may perform an electro-coagulation or electro-coagulation surgical procedure by depressing the electro-coagulation pedal or the electro-coagulation pedal to effect an energy function with an energy driven tool (e.g., bipolar grasper, monopolar bend shear, etc.). The user may also terminate the energy function of the energy driven tool by releasing the coagulation pedal or the electrotome pedal.

In some embodiments, the plurality of pedals may further include a clutch pedal, and the user may disconnect the master-slave operation of the wireless operating handle 20 (e.g., left and right operating handles) on the driven tools (e.g., driven tool 11 and driven tool 12) by depressing the clutch pedal. The user can also establish master-slave operation of the wireless operating handle 20 on the driven tool by releasing the clutch pedal. In some embodiments, the user may depress the clutch pedal and change the master-slave assignment relationship of the left and right operating handles to the plurality of slave tools by operating the input device, thereby releasing the clutch pedal to perform a subsequent master-slave operation.

Those skilled in the art will appreciate that the master cart 30 may also include any other suitable pedal to perform different functions, such as a field pedal for switching the master-slave control object of the wireless operating handle 20 to the endoscope 13, etc. The user can switch to the wireless operation handle 20 to perform master-slave operation on the endoscope 13 by pressing the view pedal, so as to adjust the pose of the endoscope 13 in the patient. The user can also switch to the wireless operating handle 20 to operate the driven tool in a master-slave manner by releasing the visual field pedal.

Those skilled in the art will appreciate that surgical robotic system 100 may be any suitable surgical robotic system including endoscopic surgical robotic systems.

Note that the above is merely exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims (18)

1. A surgical robotic system, comprising:

a surgical station comprising at least one driven tool;

At least one wireless operating handle for receiving user operations, the wireless operating handle comprising a pose measurement unit for generating handle motion information based on the user operations;

And a controller in communication with the at least one wireless operating handle and the surgical station, the controller configured to receive the handle movement information from a pose measurement unit of the at least one wireless operating handle, determine a movement speed and/or a movement angular speed of the at least one wireless operating handle based on the handle movement information, and determine a target speed and/or a target angular speed of the at least one slave tool based on the movement speed and/or the movement angular speed of the at least one wireless operating handle, and control the at least one slave tool movement based on the target speed and/or the target angular speed of the at least one slave tool.

2. The surgical robotic system of claim 1, wherein the controller is further configured to determine a target speed of the control point of the at least one slave tool in the control point coordinate system based on the speed of movement of the at least one wireless operating handle and the speed mapping coefficient, and/or determine a target angular speed of the control point of the at least one slave tool in the control point coordinate system based on the angular speed of movement of the at least one wireless operating handle and the angular speed mapping coefficient.

3. The surgical robotic system of claim 2, wherein the slave tool comprises an arm and an actuator disposed distally of the arm, the control point of the slave tool comprising a center of a distal cross-section of the arm, the control point coordinate system comprising a first longitudinal coordinate axis extending axially from a proximal end to a distal end centered on the control point and first and second lateral coordinate axes perpendicular to the first longitudinal coordinate axis.

4. A surgical robotic system as claimed in claim 3, wherein the controller is further configured to determine a target speed of the control point of the at least one slave tool in the control point coordinate system based on the speed of movement of the at least one wireless operating handle in the handle coordinate system and the speed mapping coefficient, and/or to determine a target angular speed of the control point of the at least one slave tool in the control point coordinate system based on the angular speed of movement of the at least one wireless operating handle in the handle coordinate system and the angular speed mapping coefficient.

5. The surgical robotic system of claim 4, wherein the wireless operating handle comprises:

a handle body extending from a proximal end to a distal end;

and the first clamp and the second clamp are respectively and rotatably connected with the handle main body and are mutually matched to realize opening and closing.

6. The surgical robotic system of claim 5, wherein an origin of the handle coordinate system is located at a proximal end of the handle body, the handle coordinate system including a second longitudinal coordinate axis collinear with a central axis of the handle body and third and fourth transverse coordinate axes perpendicular to the second longitudinal coordinate axis.

7. The surgical robotic system of claim 6, wherein the controller is further configured to determine a target speed of the control point of the at least one slave tool along the first longitudinal axis based on the speed of movement of the at least one wireless operating handle along the second longitudinal axis and the speed map coefficient, and/or determine a target angular speed of the control point of the at least one slave tool about the first longitudinal axis based on the angular speed of movement of the at least one wireless operating handle about the second longitudinal axis and the angular speed map coefficient.

8. The surgical robotic system of claim 1, wherein the surgical station further comprises at least one drive, the driven tool is disposed at a distal end of the drive,

The controller is communicatively coupled to the at least one drive device, the controller further configured to generate motion control instructions for the at least one drive device based on a target speed and/or a target angular speed of the at least one driven tool.

9. The surgical robotic system of claim 5, wherein the wireless operating handle further comprises a touch sensor for generating a touch signal in response to the wireless operating handle receiving a user touch.

10. The surgical robotic system of claim 9, further comprising a display for displaying an image of the surgical field;

The controller is communicatively coupled to the display, the controller further configured to receive a touch signal from the at least one wireless operating handle and, in response to the touch signal, control the display to display an image of a control point of the at least one slave tool and an indication line of the first longitudinal coordinate axis extending distally from the control point.

11. The surgical robotic system of claim 10, wherein the controller is further configured to control the image of the control point and the pointer movement based on the handle movement information in response to the touch signal.

12. The surgical robotic system of claim 9, wherein the touch sensor comprises first and second touch sensors disposed on the first and second jaws, respectively;

the controller is communicatively coupled to the first touch sensor and/or the second touch sensor.

13. The surgical robotic system of claim 9, wherein the wireless operating handle further comprises a Zhang Gechuan sensor, the Zhang Gechuan sensor being configured to generate a confirmation signal in response to the wireless operating handle being pinched by a user.

14. The surgical robotic system of claim 13, wherein the controller is further configured to receive a touch signal and a confirmation signal from the at least one wireless operating handle and to initiate master-slave operation of the at least one wireless operating handle on the at least one slave tool in response to the touch signal and the confirmation signal.

15. The surgical robotic system of claim 14, wherein the at least one wireless operating handle further comprises a clutch device for receiving a first user operation and generating a trigger signal based on the first user operation;

The controller is further configured to receive a trigger signal from the clutch device and to disengage master-slave operation of the at least one slave tool by the at least one wireless operating handle in response to the trigger signal.

16. The surgical robotic system of claim 15, wherein the clutch device is further configured to receive a second user operation and generate a release signal based on the second user operation;

The controller is further configured to receive a release signal from the clutch device and to initiate master-slave operation of the at least one wireless operating handle on the at least one driven tool in response to the release signal.

17. The surgical robotic system of claim 8, wherein the at least one wireless operating handle comprises a left operating handle and a right operating handle, and the at least one driven tool comprises a plurality of driven tools.

18. The surgical robotic system of claim 17, further comprising an input device for receiving a user input operation and generating user input information based on the user input operation;

The controller is communicatively coupled to the input device, the controller further configured to receive the user input from the input device and establish a master-slave assignment of the left and/or right operating handles to respective ones of the plurality of slave tools based on the user input.