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|1. (WO2018041197) METHOD FOR UNFOLDING, OPERATING AND WITHDRAWING IMAGING TOOL AND SURGICAL INSTRUMENT OF SURGICAL ROBOT|
|Applicants:||BEIJING SURGERII TECHNOLOGY CO., LTD.
|Title:||METHOD FOR UNFOLDING, OPERATING AND WITHDRAWING IMAGING TOOL AND SURGICAL INSTRUMENT OF SURGICAL ROBOT|
Disclosed are a method for unfolding, operating and withdrawing an imaging tool and a surgical instrument of a surgical robot. The method comprises the following steps: providing a control system comprising a master control end, a controlled end and an actuating end; switching an imaging tool driver module and an imaging tool, as well as a surgical instrument driver module and a surgical instrument, from an initial state (401) into a return-to-zero state (403, 419), an in vitro to-be-installed state (405, 421), an in vitro installation complete state (407, 423), a state of the imaging tool and a multi-lumen catheter entering a surgical incision (409)/of the surgical instrument protruding out of the multi-lumen catheter (425), an in vivo occlusion posture state (411)/straight state (427), an imaging tool feeding and unfolding state (413)/surgical instrument unfolding state (429), a current posture maintaining state (415, 431), a motion state under teleoperation of the imaging tool (417), and an electrotomy/electrocoagulation state under teleoperation of the surgical instrument (433) in sequence, so as to complete the unfolding and operating of the imaging tool and the surgical instrument; and when the motion state under remote control of the surgical instrument (435) and the motion state under remote control of the imaging tool (417) are ended, withdrawing the surgical instrument, and then withdrawing the imaging tool. The method for unfolding, operating and withdrawing the imaging tool and the surgical instrument of a surgical robot can effectively ensure the normal implementation of single-port endoscopic surgery.