技术领域technical field
本发明涉及医疗器械技术领域，尤其涉及手术机器人及手术机器人中的装置、系统。The invention relates to the technical field of medical instruments, in particular to a surgical robot and devices and systems in the surgical robot.
背景技术Background technique
目前，由手术机器人辅助的微创外科手术逐步应用到实际的临床中，现有的手术机器人主要由控制台和操作臂组成，控制台由计算机系统、操作手柄和输入输出设备等组成。手术机器人进行手术时，医生可坐在远离手术台的控制台前控制操作杆，操作杆检测医生的控制操作，经过计算机系统的计算分析，将医生对操作杆的控制操作传达到机械臂上的手术器械，完成手术操作。At present, minimally invasive surgery assisted by surgical robots is gradually applied to actual clinical practice. The existing surgical robot is mainly composed of a console and an operating arm. The console is composed of a computer system, an operating handle, and input and output devices. When the surgical robot performs surgery, the doctor can sit in front of the console far away from the operating table and control the joystick. The joystick detects the doctor's control operation. After calculation and analysis by the computer system, the doctor's control operation on the joystick is transmitted to the robot arm. Surgical instruments to complete the operation.
然而，现有技术中的手术机器人只能简单地执行操作，无法及时准确地获知手术器械执行手术操作时的实时变化，并且，现有技术中的手术机器人在硬件设计上不够完善，有待优化。这些问题导致现有技术中的手术机器人控制不够准确、精度低，不便于手术的顺利开展。However, the surgical robots in the prior art can only simply perform operations, and cannot timely and accurately know the real-time changes of the surgical instruments during the operation. Moreover, the surgical robots in the prior art are not perfect in hardware design and need to be optimized. These problems lead to inaccurate control and low precision of the surgical robot in the prior art, which is not convenient for smooth operation.
发明内容Contents of the invention
本发明实施例提供手术机器人及手术机器人中的装置、系统，用以解决现有技术中的手术机器人控制不够准确、精度低的技术问题。Embodiments of the present invention provide a surgical robot and devices and systems in the surgical robot to solve the technical problems of inaccurate control and low precision of the surgical robot in the prior art.
第一方面，提供一种应用于手术机器人中的手术器械控制装置，所述手术器械控制装置包括：In a first aspect, a surgical instrument control device applied in a surgical robot is provided, the surgical instrument control device includes:
控制单元，与上位控制机通信连接；The control unit is communicated with the upper control machine;
至少一组检测驱动单元，所述至少一组检测驱动单元中的任一检测驱动单元包括：电机驱动子单元、编码器和累加器；其中，At least one set of detection drive units, any detection drive unit in the at least one set of detection drive units includes: a motor drive subunit, an encoder, and an accumulator; wherein,
所述电机驱动子单元，与所述控制单元连接，受所述控制单元控制；以及与电机通过电路连接，通过控制用于驱动所述电机的电流控制所述电机的转动，以控制手术器械的传动执行部，所述手术器械的传动执行部与所述电机连接并由所述电机驱动；The motor drive subunit is connected with the control unit and controlled by the control unit; and is connected with the motor through a circuit, and controls the rotation of the motor by controlling the current used to drive the motor, so as to control the operation of the surgical instrument. a transmission execution part, the transmission execution part of the surgical instrument is connected to the motor and driven by the motor;
所述编码器，与所述电机连接，用于检测所述电机的实际转动参数；The encoder, connected to the motor, is used to detect the actual rotation parameters of the motor;
所述累加器，与所述控制单元、所述编码器分别连接，用于统计所述实际转动参数，并由所述控制单元读取统计的所述实际转动参数。The accumulator is connected to the control unit and the encoder respectively, and is used for counting the actual rotation parameters, and the control unit reads the counted actual rotation parameters.
在一种可能的实现方式中，所述任一检测驱动单元还包括：In a possible implementation manner, any detection driving unit further includes:
电流检测子单元，与所述控制单元、所述电机驱动子单元分别连接，用于检测所述电流以获得电机电流值，并由所述控制单元读取所述电机电流值。A current detection subunit is connected to the control unit and the motor drive subunit respectively, and is used to detect the current to obtain a motor current value, and the control unit reads the motor current value.
在一种可能的实现方式中，所述电流检测子单元包括仪表放大芯片，用于检测所述电流并将检测到的电流值进行正比例放大，以获得所述电机电流值。In a possible implementation manner, the current detection subunit includes an instrument amplifier chip, configured to detect the current and amplify the detected current value proportionally to obtain the motor current value.
第二方面，提供一种手术机器人的控制系统，所述手术机器人包括机械臂，及安装在所述机械上的手术器械，所述控制系统包括上位控制机、机械臂控制装置和手术器械控制装置，其中：In a second aspect, a control system of a surgical robot is provided, the surgical robot includes a mechanical arm, and surgical instruments installed on the machine, the control system includes a host control machine, a robotic arm control device, and a surgical instrument control device ,in:
所述上位控制机，与所述机械臂控制装置、所述手术器械控制装置分别连接，用于根据获得的用于控制手术机器人执行操作的控制信息，生成并向所述机械臂控制装置下发机械臂运动控制数据，及生成并向所述手术器械控制装置下发手术器械运动控制数据；并根据从所述机械臂控制装置、所述手术器械控制装置获得的反馈数据，确定所述机械臂、所述手术器械的运动状态。The upper control machine is respectively connected with the control device of the robotic arm and the control device of the surgical instrument, and is used to generate and deliver to the control device of the robotic arm according to the obtained control information for controlling the operation of the surgical robot. Robotic arm motion control data, and generate and send surgical instrument motion control data to the surgical instrument control device; and determine the mechanical arm , the motion state of the surgical instrument.
所述机械臂控制装置，用于以所述机械臂运动控制数据控制所述机械臂运动，并检测获得用于表示所述机械臂运动状态的机械臂运动数据；The robotic arm control device is used to control the motion of the robotic arm with the motion control data of the robotic arm, and detect and obtain the motion data of the robotic arm representing the motion state of the robotic arm;
所述手术器械控制装置，用于以所述手术器械运动控制数据控制所述手术器械运动，并检测获得用于表示所述手术器械运动状态的手术器械运动数据。The surgical instrument control device is used for controlling the movement of the surgical instrument with the movement control data of the surgical instrument, and detecting and obtaining the movement data of the surgical instrument representing the movement state of the surgical instrument.
在一种可能的实现方式中，所述手术器械包括至少一个电机，所述手术器械运动控制数据包括所述至少一个电机中各电机的指定转动参数；所述反馈数据包括所述各电机的实际转动参数，及用于驱动所述各电机的各电流的电机电流值。In a possible implementation manner, the surgical instrument includes at least one motor, and the surgical instrument motion control data includes specified rotation parameters of each motor in the at least one motor; the feedback data includes the actual A rotation parameter, and a motor current value for each current for driving each motor.
在一种可能的实现方式中，所述控制系统还包括至少一个控制开关，所述至少一个控制开关中的任一控制开关：通过自身对应的机械臂IO端口连接到所述机械臂控制装置，对应一机械臂工作状态，在检测到开启操作时生成并向所述机械臂控制装置反馈开启信号；In a possible implementation manner, the control system further includes at least one control switch, and any control switch in the at least one control switch is: connected to the robot arm control device through its corresponding robot arm IO port, Corresponding to a working state of the robotic arm, when an opening operation is detected, an opening signal is generated and fed back to the robotic arm control device;
所述机械臂控制装置还用于：调整所述机械臂的工作状态为获得的开启信号所属的控制开关所对应的机械臂工作状态。The control device for the robotic arm is further configured to: adjust the working state of the robotic arm to the working state of the robotic arm corresponding to the control switch to which the obtained opening signal belongs.
在一种可能的实现方式中，所述控制系统还包括与所述至少一个控制开关连接的防呆开关，用于控制所述至少一个控制开关所在电路的通断。In a possible implementation manner, the control system further includes a fool-proof switch connected to the at least one control switch, and is used for controlling on-off of a circuit where the at least one control switch is located.
在一种可能的实现方式中，所述任一控制开关：还通过自身对应的手术器械控制装置IO端口连接到所述手术器械控制装置，在检测到开启操作时生成并向所述手术器械控制装置反馈开启信号；In a possible implementation manner, any of the control switches: is also connected to the surgical instrument control device through its corresponding IO port of the surgical instrument control device, and when an opening operation is detected, a control switch is generated and sent to the surgical instrument control device. The device feedbacks the opening signal;
所述控制系统还包括与所述手术器械控制装置连接的至少一个指示灯，所述手术器械控制装置还用于：控制所述至少一个指示灯以与获得的开启信号所属的控制开关所对应的显示状态进行显示。The control system also includes at least one indicator light connected to the surgical instrument control device, and the surgical instrument control device is also used to: control the at least one indicator light to correspond to the control switch to which the obtained opening signal belongs. Display status to display.
在一种可能的实现方式中，所述手术器械控制装置为第一方面中所述的手术器械控制装置。In a possible implementation manner, the surgical instrument control device is the surgical instrument control device described in the first aspect.
第三方面，提供一种手术机器人，所述手术机器人包括如第二方面所述的控制系统。In a third aspect, a surgical robot is provided, and the surgical robot includes the control system as described in the second aspect.
本发明实施例中，手术器械控制装置包括控制单元和至少一组检测驱动单元。其中，控制单元与上位控制机通信连接，因而，手术器械控制装置可以获得上位控制机的控制数据，以实现对手术器械精确的控制，并且，手术器械控制装置可以向上位控制机反馈检测到的实时参数，以使得上位控制机知晓手术器械实时的状态。通过获得控制数据和反馈实时参数，形成闭环控制，提高了手术机器人控制手术器械的准确度。In the embodiment of the present invention, the surgical instrument control device includes a control unit and at least one set of detection and drive units. Wherein, the control unit communicates with the upper control machine, so the surgical instrument control device can obtain the control data of the upper control machine to achieve precise control of the surgical instrument, and the surgical instrument control device can feed back the detected data to the upper control machine. Real-time parameters, so that the host controller knows the real-time status of the surgical instrument. By obtaining control data and feeding back real-time parameters, a closed-loop control is formed, which improves the accuracy of surgical robots controlling surgical instruments.
进一步地，至少一组检测驱动单元中的任一检测驱动单元均包括电机驱动子单元、编码器和累加器，因而，手术器械控制装置可以对控制手术器械的每个电机进行单独的控制和检测，提高了控制的精确度和检测结果的准确性。Further, any detection drive unit in at least one group of detection drive units includes a motor drive subunit, an encoder and an accumulator, thus, the surgical instrument control device can individually control and detect each motor that controls the surgical instrument , improve the accuracy of the control and detection results.
进一步地，任一检测驱动单元还包括电流检测子单元，通过电流检测子单元可以检测获得驱动电机的电流的电流值(即电机电流值)，以使得上位控制机在获得电机电流值后可以确定电机实时的转矩。Further, any detection drive unit also includes a current detection subunit, through which the current value of the current driving the motor (ie, the motor current value) can be detected, so that the upper control machine can determine after obtaining the motor current value The real-time torque of the motor.
进一步地，电流检测子单元包括仪表放大芯片，该仪表放大芯片可以检测驱动电机的电流并将检测到的电流值进行正比例放大，以获得电机电流值。通过对直接检测到的电流值的放大，可以提高电机电流值的精度，以使得上位控制机在获得电机电流值后可以获得电机更加准确的实时转矩。Further, the current detection subunit includes an instrument amplifier chip, which can detect the current driving the motor and amplify the detected current value proportionally to obtain the motor current value. By amplifying the directly detected current value, the accuracy of the motor current value can be improved, so that the upper control machine can obtain a more accurate real-time torque of the motor after obtaining the motor current value.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those of ordinary skill in the art can also obtain other drawings according to the provided drawings on the premise of not paying creative efforts.
图1为本发明实施例中一种手术器械控制装置的连接关系示意图；Fig. 1 is a schematic diagram of the connection relationship of a surgical instrument control device in an embodiment of the present invention;
图2为本发明实施例中一种控制系统的连接关系示意图。Fig. 2 is a schematic diagram of a connection relationship of a control system in an embodiment of the present invention.
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚明白，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互任意组合。并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. In the case of no conflict, the embodiments and the features in the embodiments of the present invention can be combined arbitrarily with each other. Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.
另外，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，在不做特别说明的情况下，一般表示前后关联对象是一种“或”的关系。In addition, the term "and/or" in this article is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B, which may mean: A exists alone, A and B exist at the same time, There are three cases of B alone. In addition, the character "/" in this article, unless otherwise specified, generally indicates that the contextual objects are an "or" relationship.
实施例一，请参见图1，本发明实施例提供一种应用于手术机器人中的手术器械控制装置。图1所示中，控制单元121、电机驱动子单元122、编码器123、累加器124、电流检测子单元125为手术器械控制装置包括的部分。并且，应当说明的是，图1中仅示出了一组电机驱动子单元122、编码器123、累加器124、电流检测子单元125、电机211、手术器械的传动执行部212。Embodiment 1, please refer to FIG. 1 , the embodiment of the present invention provides a surgical instrument control device applied in a surgical robot. As shown in FIG. 1 , the control unit 121 , the motor drive subunit 122 , the encoder 123 , the accumulator 124 , and the current detection subunit 125 are the parts included in the surgical instrument control device. Moreover, it should be noted that only one group of motor drive subunit 122 , encoder 123 , accumulator 124 , current detection subunit 125 , motor 211 , and transmission execution part 212 of the surgical instrument are shown in FIG. 1 .
本发明实施例中，手术机器人可以包括有上位控制机110、手术器械控制装置、手术器械、机械臂控制装置和机械臂等装置或部件。In the embodiment of the present invention, the surgical robot may include a host control machine 110, a surgical instrument control device, a surgical instrument, a robotic arm control device, a robotic arm, and other devices or components.
其中，手术机器人包括的机械臂可以为一个或多个，每个机械臂上安装的手术器械也可以为一个或多个，为便于理解，本发明实施例中以手术机器人中的一个机械臂且安装的一个手术器械进行举例说明。应当知晓，手术机器人包括多个机械臂和/或多个手术器械的情况同样可以采用本发明实施例中所记载的方式实施，并且属于本发明所保护的范围。Wherein, the surgical robot includes one or more robotic arms, and one or more surgical instruments installed on each robotic arm. For ease of understanding, in the embodiment of the present invention, one robotic arm and An example of a surgical instrument installed. It should be known that the case where the surgical robot includes multiple robotic arms and/or multiple surgical instruments can also be implemented in the manner described in the embodiments of the present invention, and falls within the protection scope of the present invention.
其中，上位控制机110可以是计算机、服务器等具有数据处理功能的电子设备，例如，上位控制机110可以为PC(Personal computer，个人计算机)。上位控制机110可以生成用于指示手术器械控制装置控制手术器械运动的数据，即手术器械运动控制数据；同时，上位控制机110还可以从手术器械控制装置控制读取数据，以获得手术器械控制装置的反馈数据。Wherein, the upper control machine 110 may be an electronic device having a data processing function such as a computer or a server, for example, the upper control machine 110 may be a PC (Personal computer, personal computer). The upper control machine 110 can generate data for instructing the surgical instrument control device to control the movement of the surgical instrument, that is, the surgical instrument motion control data; at the same time, the upper control machine 110 can also control and read the data from the surgical instrument control device to obtain the surgical instrument control data. Device feedback data.
其中，手术器械包括有至少一个驱动执行组件，其中每个驱动执行组件对应于手术器械的一个运动自由度。具体来说，每个驱动执行组件中可以包括有电机211和传动执行部212(即手术器械的传动执行部212)，电机211与传动执行部212机械连接，通过电机211的转动可以带动传动执行部212进行对应的运动，以实现手术器械210的运动。Wherein, the surgical instrument includes at least one driving and implementing component, wherein each driving and implementing component corresponds to a degree of freedom of movement of the surgical instrument. Specifically, each drive execution assembly may include a motor 211 and a transmission execution part 212 (that is, the transmission execution part 212 of the surgical instrument), the motor 211 is mechanically connected to the transmission execution part 212, and the rotation of the motor 211 can drive the transmission execution Portion 212 performs a corresponding movement to effect movement of surgical instrument 210 .
本发明实施例中，手术器械控制装置包括有控制单元121和至少一组检测驱动单元。In the embodiment of the present invention, the surgical instrument control device includes a control unit 121 and at least one set of detection and drive units.
其中，控制单元121可以是MCU(Microcontroller unit，微控制单元)等具有数据处理能力的装置。控制单元121与上位控制机110连接，上位控制机110和控制单元121间可以通过两者间的连接进行通信。在具体的实施过程中，上位控制机110与控制单元121间的连接可以采用有线连接方式或无线连接方式，本发明实施例对此不作限制。例如，上位控制机110与控制单元121间可以通过USB、RS232等硬件接口连接，并且，当上位控制机110与控制单元121间的硬件接口无法兼容时，还可以采用接口类型转动装置将两者连接起来。Wherein, the control unit 121 may be an MCU (Microcontroller unit, micro control unit) or other device with data processing capability. The control unit 121 is connected to the upper control machine 110, and the upper control machine 110 and the control unit 121 can communicate through the connection between the two. In a specific implementation process, the connection between the upper control machine 110 and the control unit 121 may be in a wired connection or a wireless connection, which is not limited in this embodiment of the present invention. For example, the upper control machine 110 and the control unit 121 can be connected through hardware interfaces such as USB and RS232, and when the hardware interface between the upper control machine 110 and the control unit 121 is not compatible, the interface type rotating device can also be used to connect the two. connect them.
其中，检测驱动单元的数量和手术机器人中驱动执行部的数量相等。并且，本发明实施例中，检测驱动单元仅仅只是将各个部件以在逻辑上进行划分，在具体的实施过程中，检测驱动单元包括的各个部件可以是相互独立的，也可以是设置于不同的硬件装置上。Wherein, the number of detection drive units is equal to the number of drive execution parts in the surgical robot. Moreover, in the embodiment of the present invention, the detection and driving unit only logically divides each component. on the hardware device.
本发明实施例中，手术器械控制装置包括的至少一组检测驱动单元中的任一检测驱动单元包括有电机驱动子单元122、编码器123和累加器124。即当手术器械控制装置包括有3组检测驱动单元时，手术器械控制装置包括有3个电机驱动子单元122、3个编码器123和3个累加器124。为便于理解，在本发明实施例的后续描述中以其中一组检测驱动单元进行举例说明。In the embodiment of the present invention, any detection driving unit in at least one group of detection driving units included in the surgical instrument control device includes a motor driving subunit 122 , an encoder 123 and an accumulator 124 . That is, when the surgical instrument control device includes 3 sets of detection drive units, the surgical instrument control device includes 3 motor drive sub-units 122 , 3 encoders 123 and 3 accumulators 124 . For ease of understanding, in the subsequent description of the embodiment of the present invention, one group of detection and driving units is used as an example for illustration.
在具体的实施过程中，电机驱动子单元122可以为电机驱动芯片。该电机驱动子单元122与控制单元121连接，且可以从控制单元121获得控制电机211的控制参数。同时，电机驱动子单元122还通过电路与电机211连接，并为电机211提供驱动电流。在获得控制单元121发送的控制参数后，电机驱动子单元122可以根据控制参数调整驱动电机211的电流，以实现控制电机211的转速、转动的方向、转矩、转动圈数/角度，等等。通过电机211的转动，可以驱动电机211机械连接的传动执行部212进行运动，通过控制手术器械包括的各个传动执行部212的运动，可以实现控制手术器械执行操作。In a specific implementation process, the motor driving subunit 122 may be a motor driving chip. The motor drive subunit 122 is connected to the control unit 121 and can obtain control parameters for controlling the motor 211 from the control unit 121 . At the same time, the motor driving subunit 122 is also connected to the motor 211 through a circuit, and provides driving current for the motor 211 . After obtaining the control parameters sent by the control unit 121, the motor drive subunit 122 can adjust the current of the drive motor 211 according to the control parameters, so as to control the speed, direction of rotation, torque, number of rotations/angles of the motor 211, etc. . The rotation of the motor 211 can drive the transmission execution part 212 mechanically connected with the motor 211 to move, and by controlling the movement of each transmission execution part 212 included in the surgical instrument, the operation of the surgical instrument can be controlled.
也就是说，本发明实施例中，当控制系统需要手术器械执行操作的过程，实质上是控制电机211如何进行转动的过程。That is to say, in the embodiment of the present invention, when the control system requires the surgical instrument to perform an operation, it is essentially a process of controlling how the motor 211 rotates.
在具体的实施过程中，编码器123可以与电机211连接，根据编码器123的类型不同，两者间可以采用不同的具体连接方式，例如，编码器123可以机械连接于电机211的后端。通过编码器123可以对电机211的转动进行检测以获得电机211的实际转动参数，例如，编码器123可以对电机211转动的方向和圈数等进行检测。其中，电机211的转动角度、转动圈数和转动步数间可以相互转换，例如，0.5圈代表转动180°，等等。因而，本发明实施例中，对于编码直接检测的具体是转动角度、转动圈数还是转动步数不做限制。In a specific implementation process, the encoder 123 can be connected to the motor 211 , and different specific connection methods can be adopted between the two according to different types of the encoder 123 , for example, the encoder 123 can be mechanically connected to the rear end of the motor 211 . The rotation of the motor 211 can be detected by the encoder 123 to obtain actual rotation parameters of the motor 211 , for example, the encoder 123 can detect the rotation direction and the number of turns of the motor 211 . Wherein, the rotation angle, the number of rotations and the number of rotation steps of the motor 211 can be converted to each other, for example, 0.5 rotations represents a rotation of 180°, and so on. Therefore, in the embodiment of the present invention, there is no limitation on whether the code directly detects whether it is the rotation angle, the number of rotation circles or the number of rotation steps.
在具体的实施过程中，累加器124可以分别连接到控制单元121和编码器123。累加器124可以获得编码检测获得的电机211的转动参数，并且对获得的电机转动参数进行统计，以确定电机211的转动步数。进而，上位控制机110通过手术器械控制装置获得统计的转动步数后，可以确定传动执行部212的实时位置。In a specific implementation process, the accumulator 124 may be connected to the control unit 121 and the encoder 123 respectively. The accumulator 124 can obtain the rotation parameters of the motor 211 obtained by the encoding detection, and make statistics on the obtained rotation parameters of the motor to determine the number of rotation steps of the motor 211 . Furthermore, after the upper control machine 110 obtains the counted number of rotation steps through the surgical instrument control device, it can determine the real-time position of the transmission execution part 212 .
本发明实施例中，手术器械控制装置包括的编码器123可以为增量式编码器，进而，编码器123可以将电机211的转动转换成周期性的电信号，并将该周期性的电信号转变成计数脉冲，通过脉冲的个数表示电机211的转动圈数，同时，累加器124可以对编码器123输出的脉冲进行累加。控制单元121可以以预设的频率从累加器124读取累加的脉冲个数。通过计算单位时间内的脉冲个数，可以确定电机211的转速。In the embodiment of the present invention, the encoder 123 included in the surgical instrument control device can be an incremental encoder, and further, the encoder 123 can convert the rotation of the motor 211 into a periodic electrical signal, and convert the periodic electrical signal Converted into counting pulses, the number of pulses represents the number of rotations of the motor 211 , and at the same time, the accumulator 124 can accumulate the pulses output by the encoder 123 . The control unit 121 can read the accumulated number of pulses from the accumulator 124 at a preset frequency. By calculating the number of pulses per unit time, the rotational speed of the motor 211 can be determined.
在一种可能的实施方式中，手术器械控制装置中的任一检测驱动单元还包括电流检测单元，该电流检测单元可以与控制单元121和电机驱动子单元122分别连接。其中，通过与电机驱动子单元122的连接，可以对驱动子单元用于驱动电机211的电流进行检测以获得电机电流值；通过与控制单元121的连接，控制单元121可以从电流检测子单元125获得电机电流值。由于电机211的电流决定了电机211的转矩，因而，通过电机电流值可以确定电机211实时的转矩。In a possible implementation manner, any detection driving unit in the surgical instrument control device further includes a current detection unit, and the current detection unit may be connected to the control unit 121 and the motor driving subunit 122 respectively. Wherein, through the connection with the motor drive subunit 122, the current that the drive subunit is used to drive the motor 211 can be detected to obtain the motor current value; Get the motor current value. Since the current of the motor 211 determines the torque of the motor 211, the real-time torque of the motor 211 can be determined by the value of the motor current.
在具体的实施过程中，电流检测子单元125中可以采用精密度较高的电阻检测电机211工作电流，例如，可以采用0.15欧姆精密电阻。In a specific implementation process, the current detection sub-unit 125 may use a high-precision resistor to detect the working current of the motor 211, for example, a 0.15 ohm precision resistor may be used.
在一种可能的实施方式中，电流检测子单元125可以包括有仪表放大芯片，该用于检测电流并将检测到的电流值进行正比例放大，以获得电机电流值。通过放大检测到的电流值，可以提高检测的精度，以使得上位控制机110可以更加准确地确定电机211实时的转矩。In a possible implementation manner, the current detection subunit 125 may include an instrument amplifier chip, which is used to detect the current and amplify the detected current value proportionally to obtain the motor current value. By amplifying the detected current value, the detection accuracy can be improved, so that the host controller 110 can more accurately determine the real-time torque of the motor 211 .
本发明实施例中，手术器械控制装置包括控制单元和至少一组检测驱动单元。其中，控制单元与上位控制机通信连接，因而，手术器械控制装置可以获得上位控制机的控制数据，以实现对手术器械精确的控制，并且，手术器械控制装置可以向上位控制机反馈检测到的实时参数，以使得上位控制机知晓手术器械实时的状态。通过获得控制数据和反馈实时参数，形成闭环控制，提高了手术机器人控制手术器械的准确度。In the embodiment of the present invention, the surgical instrument control device includes a control unit and at least one set of detection and drive units. Wherein, the control unit communicates with the upper control machine, so the surgical instrument control device can obtain the control data of the upper control machine to achieve precise control of the surgical instrument, and the surgical instrument control device can feed back the detected data to the upper control machine. Real-time parameters, so that the host controller knows the real-time status of the surgical instrument. By obtaining control data and feeding back real-time parameters, a closed-loop control is formed, which improves the accuracy of surgical robots controlling surgical instruments.
进一步地，至少一组检测驱动单元中的任一检测驱动单元均包括电机驱动子单元、编码器和累加器，因而，手术器械控制装置可以对控制手术器械的每个电机进行单独的控制和检测，提高了控制的精确度和检测结果的准确性。Further, any detection drive unit in at least one group of detection drive units includes a motor drive subunit, an encoder and an accumulator, thus, the surgical instrument control device can individually control and detect each motor that controls the surgical instrument , improve the accuracy of the control and detection results.
进一步地，任一检测驱动单元还包括电流检测子单元，通过电流检测子单元可以检测获得驱动电机的电流的电流值(即电机电流值)，以使得上位控制机在获得电机电流值后可以确定电机实时的转矩。Further, any detection drive unit also includes a current detection subunit, through which the current value of the current driving the motor (ie, the motor current value) can be detected, so that the upper control machine can determine after obtaining the motor current value The real-time torque of the motor.
进一步地，电流检测子单元包括仪表放大芯片，该仪表放大芯片可以检测驱动电机的电流并将检测到的电流值进行正比例放大，以获得电机电流值。通过对直接检测到的电流值的放大，可以提高电机电流值的精度，以使得上位控制机在获得电机电流值后可以获得电机更加准确的实时转矩。Further, the current detection subunit includes an instrument amplifier chip, which can detect the current driving the motor and amplify the detected current value proportionally to obtain the motor current value. By amplifying the directly detected current value, the accuracy of the motor current value can be improved, so that the upper control machine can obtain a more accurate real-time torque of the motor after obtaining the motor current value.
实施例二，请参见图2，基于同一发明构思，本发明实施例提供一种手术机器人的控制系统。本发明实施例中，手术机器人包括有机械臂220，及安装在机械上的手术器械210；控制系统包括有上位控制机110、机械臂控制装置130和手术器械控制装置120。其中，手术机器人、手术器械210、手术器械控制装置120和上位控制机110可以为实施例一中所述的手术机器人、手术器械、手术器械控制装置和上位控制机。因而，关于手术机器人、手术器械210、手术器械控制装置120和上位控制机110的说明，可以参考前述实施例一中对手术机器人、手术器械、手术器械控制装置和上位控制机的描述。Embodiment 2, please refer to FIG. 2 , based on the same inventive concept, this embodiment of the present invention provides a control system for a surgical robot. In the embodiment of the present invention, the surgical robot includes a robotic arm 220 and a surgical instrument 210 installed on the machine; the control system includes a host controller 110 , a robotic arm control device 130 and a surgical instrument control device 120 . Wherein, the surgical robot, surgical instrument 210 , surgical instrument control device 120 and upper control machine 110 may be the surgical robot, surgical instrument, surgical instrument control device and upper control machine described in Embodiment 1. Therefore, for descriptions of the surgical robot, surgical instruments 210, surgical instrument control device 120, and upper control machine 110, reference may be made to the description of the surgical robot, surgical instruments, surgical instrument control device, and upper control machine in the first embodiment.
图2中所示中，上位控制机110、机械臂控制装置130、手术器械控制装置120、指示灯160、防呆开关150、控制开关140为控制系统包括的部分。并且，应当说明的是，图2仅示出了一个机械臂220和一个手术器械210的情况下的连接关系。As shown in FIG. 2 , the host controller 110 , the robotic arm control device 130 , the surgical instrument control device 120 , the indicator light 160 , the foolproof switch 150 , and the control switch 140 are the parts included in the control system. Moreover, it should be noted that FIG. 2 only shows the connection relationship between one robotic arm 220 and one surgical instrument 210 .
本发明实施例中，上位控制机110与机械臂控制装置130、手术器械控制装置120分别连接，也就是说，上位控制机110和机械臂控制装置130、手术器械控制装置120之间能够进行通信以实现数据的传输。In the embodiment of the present invention, the upper controller 110 is connected to the robotic arm control device 130 and the surgical instrument control device 120 respectively, that is to say, the upper controller 110 can communicate with the robotic arm control device 130 and the surgical instrument control device 120 for data transmission.
在具体的实施过程中，根据上位控制机110、机械臂控制装置130和手术器械控制装置120的接口类型，上位控制机110与机械臂控制装置130之间、上位控制机110与手术器械控制装置120之间可以采用与接口类型对应的连接方式。In the specific implementation process, according to the interface types of the upper control machine 110, the mechanical arm control device 130 and the surgical instrument control device 120, between the upper control machine 110 and the mechanical arm control device 130, the upper control machine 110 and the surgical instrument control device 120 may adopt a connection mode corresponding to the interface type.
举例来说，上位控制机110可以与机械臂控制装置130通过IP网络连接，如上位控制机110可以通过网线连接到交换机，机械臂控制装置130可以连接到同一个交换机，通过交换机及网线实现了上位控制机110与机械臂控制装置130间的连接。For example, the host controller 110 can be connected to the robotic arm control device 130 through an IP network. For example, the host controller 110 can be connected to a switch through a network cable, and the robotic arm control device 130 can be connected to the same switch. The connection between the host controller 110 and the robot control device 130 .
本发明实施例中，上位控制机110可以获得用于控制手术机器人执行操作的控制信息。举例来说，上位控制机110可以是从手术机器人包括的医生控制台获得的控制信息，上位控制机110也可以是从手术机器人包括的控制开关140获得的控制信息，上位控制机110还可以是根据预设的程序自动生成的控制信息，例如开启手术机器人时需要进行手术器械210的初始化，则上位控制机110就可以根据预设的程序生成用于执行初始化操作的控制信息，等等。In the embodiment of the present invention, the host control machine 110 can obtain control information for controlling the surgical robot to perform operations. For example, the upper control machine 110 can be the control information obtained from the doctor's console included in the surgical robot, the upper control machine 110 can also be the control information obtained from the control switch 140 included in the surgical robot, and the upper control machine 110 can also be According to the control information automatically generated according to the preset program, for example, when the surgical robot needs to be initialized when the surgical instrument 210 is turned on, the host controller 110 can generate control information for performing the initialization operation according to the preset program, and so on.
在上位控制机110获得控制信息后，可以对控制信息进行分析、计算，对控制手术机器人执行的操作分解为需要机械臂220执行的操作和需要手术器械210执行的操作，并生成用于控制机械臂220运动的机械臂运动控制数据，以及生成用于控制手术器械210执行操作的手术器械运动控制数据，并分别向机械臂控制装置130、手术器械控制装置120发送机械臂运动控制数据、手术器械运动控制数据。After the upper control machine 110 obtains the control information, it can analyze and calculate the control information, and decompose the operations performed to control the surgical robot into the operations that need to be performed by the mechanical arm 220 and the operations that need to be performed by the surgical instrument 210, and generate information for controlling the robot. The motion control data of the mechanical arm that the arm 220 moves, and the motion control data of the surgical instrument used to control the operation of the surgical instrument 210, and send the control data of the mechanical arm motion and the surgical instrument to the robotic arm control device 130 and the surgical instrument control device 120 respectively. Motion Control Data.
在一种可能的实施方式中，手术器械210运动控制参数中可以包括有用于控制电机211以指定方式转动的指定转动参数。举例来说，该指定转动参数中可以包括有转动方向、转动速度、转动圈数、转矩等参数。In a possible implementation manner, the motion control parameters of the surgical instrument 210 may include specified rotation parameters for controlling the rotation of the motor 211 in a specified manner. For example, the designated rotation parameters may include parameters such as rotation direction, rotation speed, number of rotations, and torque.
并且，本发明实施例中，手术器械210可以包括有至少一个电机211，其中的每一个电机211用于实现手术器械210在一个自由度的运动。当手术器械210仅包括一个电机211时，上位控制机110下发的手术器械运动控制数据中可以仅包括一组指定转动参数。而当手术器械210包括有多个电机211时，上位控制机110下发的手术器械运动控制数据中可以包括各电机211的指定转动参数。通过对各电机211的单独控制，可以提高控制手术器械210执行手术操作的准确性。Moreover, in the embodiment of the present invention, the surgical instrument 210 may include at least one motor 211 , and each motor 211 is used to realize the movement of the surgical instrument 210 in one degree of freedom. When the surgical instrument 210 includes only one motor 211 , the surgical instrument motion control data issued by the host controller 110 may only include a set of specified rotation parameters. And when the surgical instrument 210 includes multiple motors 211 , the surgical instrument motion control data issued by the host controller 110 may include specified rotation parameters of each motor 211 . By individually controlling each motor 211, the accuracy of controlling the surgical instrument 210 to perform surgical operations can be improved.
本发明实施例中，机械臂运动控制数据中同样可以包括用于控制机械臂220进行各自由度运动时机械臂220包括的各电机的指定转动参数。当然，在一种可能的实施方式中，机械臂控制装置130可以为能够自主确定各电机转动参数的机械臂控制装置130，该种情况下，上位控制机110下发的机械臂运动控制数据中可以仅包括用于表示机械臂220应当以何种状态进行运动的信息，机械臂控制装置130可以根据该信息自主确定出机械臂220包括的各电机应当以何种转动参数进行转动。In the embodiment of the present invention, the motion control data of the robotic arm may also include specified rotation parameters for controlling the motors included in the robotic arm 220 when the robotic arm 220 moves with each degree of freedom. Certainly, in a possible implementation manner, the robotic arm control device 130 may be a robotic arm control device 130 capable of autonomously determining the rotation parameters of each motor. It may only include information indicating in what state the robot arm 220 should move, and the robot arm control device 130 can autonomously determine what rotation parameter each motor included in the robot arm 220 should rotate according to the information.
本发明实施例中，上位控制机110还可以从机械臂控制装置130和手术器械控制装置120分别获得反馈信息，并根据反馈信息，确定出机械臂220和手术器械210的运动状态。In the embodiment of the present invention, the host controller 110 can also obtain feedback information from the robotic arm control device 130 and the surgical instrument control device 120 respectively, and determine the motion states of the robotic arm 220 and the surgical instrument 210 according to the feedback information.
其中，上位控制机110从机械臂控制装置130获得的反馈信息可以是用于表示机械臂220当前运动状态的信息，例如用于表示机械臂220的运动方向、运动距离、运动速度、姿态的信息。在具体的实施过程中，上位控制机110从机械臂220获得的表示机械臂运动状态的反馈信息可以是机械臂220中各电机的实际转动参数，也可以是机械臂控制装置130对机械臂220中各电机进行分析后获得的可以直接读取机械臂运动状态的信息。Wherein, the feedback information obtained by the host controller 110 from the robotic arm control device 130 may be information indicating the current motion state of the robotic arm 220, such as information indicating the moving direction, moving distance, moving speed, and attitude of the robotic arm 220. . In a specific implementation process, the feedback information obtained by the upper controller 110 from the mechanical arm 220 indicating the motion state of the mechanical arm may be the actual rotation parameters of each motor in the mechanical arm 220, or the feedback information of the mechanical arm control device 130 to the mechanical arm 220. The information obtained after analyzing each motor in the robot arm can directly read the motion state of the manipulator.
其中，上位控制机110从手术器械210获得的控制信息可以包括手术器械210中各电机211的实际转动参数，以及用于驱动各电机211的各电流的电机电流值。通过对各电机211实际运动参数的分析、计算，上位控制机110可以确定手术器械210当前的运动状态。进而，上位控制机110可以在根据手术器械210的运动状态实时地调整对手术器械210的控制。例如，上位控制机110可以根据手术器械210当前的运动状态，调整接下来用于控制手术器械210中各电机211的指定转动参数。Wherein, the control information obtained by the host controller 110 from the surgical instrument 210 may include the actual rotation parameters of the motors 211 in the surgical instrument 210 and the motor current values of the currents used to drive the motors 211 . By analyzing and calculating the actual motion parameters of each motor 211 , the host controller 110 can determine the current motion state of the surgical instrument 210 . Furthermore, the host controller 110 can adjust the control of the surgical instrument 210 in real time according to the movement state of the surgical instrument 210 . For example, the host control machine 110 can adjust the specified rotation parameters for controlling the motors 211 in the surgical instrument 210 according to the current motion state of the surgical instrument 210 .
本发明实施例中，上位控制机110还可以将确定的机械臂220的运动状态、手术器械210的运动状态反馈给控制手术机器人的医生。In the embodiment of the present invention, the upper control machine 110 can also feed back the determined motion state of the mechanical arm 220 and the motion state of the surgical instrument 210 to the doctor who controls the surgical robot.
在一种可能的实施方式中，控制系统还可以包括至少一个控制开关140，该至少一个控制开关140可以设置于手术机器人包括的医生控制台上，也可以设置于机械臂220上，等等。并且，本发明实施例中对控制开关140的类型不做限定，例如，控制开关140可以是按键开关、微动开关、拨动开关、按钮开关，等等。In a possible implementation manner, the control system may further include at least one control switch 140, and the at least one control switch 140 may be set on the doctor's console included in the surgical robot, or on the mechanical arm 220, and so on. Moreover, the type of the control switch 140 is not limited in the embodiment of the present invention, for example, the control switch 140 may be a key switch, a micro switch, a toggle switch, a push button switch, and the like.
本发明实施例中，至少一个控制开关140中的任一控制开关140都通过自身对应的机械臂IO端口(图2中未示出)连接到机械臂控制装置130，至少一个控制开关140中的任一控制开关140都对应一机械臂工作状态，至少一个控制开关140中的任一控制开关140用于在检测到开启操作时生成并向机械臂控制装置130反馈开启信号。In the embodiment of the present invention, any control switch 140 in the at least one control switch 140 is connected to the robot arm control device 130 through its corresponding robot arm IO port (not shown in FIG. 2 ), and at least one control switch 140 in the Any control switch 140 corresponds to a working state of the robotic arm, and any control switch 140 of the at least one control switch 140 is used to generate and feed back an opening signal to the robotic arm control device 130 when an opening operation is detected.
举例来说，机械臂220上可以设置有至少一个机械臂IO端口，其中的任一机械臂IO端口可以从连接的控制开关140获得开启信号。(在图2中，仅示出了控制开关140连接到机械臂220，未示出控制开关140具体是连接到机械臂220上的机械臂IO端口)并且，任一机械臂IO端口还与机械臂控制装置130连接，机械臂控制装置130可以定期从机械臂IO端口读取机械臂IO端口的状态。控制开关140在检测到针对自身的开启操作后，可以生成开启信号，并将开启信号发送到自身连接的机械臂IO端口以改变机械臂IO端口的状态。机械臂控制装置130读取到机械臂IO端口的状态后，由于各机械臂IO端口都具有各自对应的控制开关140，因而机械臂控制装置130可以知晓是哪一个控制开关140检测到开启操作，以确定需要将机械臂220调整至与检测到开启操作的控制开关140所对应的机械臂工作状态。For example, at least one IO port of the robotic arm may be provided on the robotic arm 220 , and any one of the IO ports of the robotic arm may obtain a start signal from the connected control switch 140 . (In Fig. 2, it is only shown that the control switch 140 is connected to the mechanical arm 220, and the control switch 140 is not shown to be connected to the mechanical arm IO port on the mechanical arm 220) and any mechanical arm IO port is also connected to the mechanical arm The arm control device 130 is connected, and the manipulator control device 130 can periodically read the state of the IO port of the manipulator from the IO port of the manipulator. After the control switch 140 detects the opening operation for itself, it can generate an opening signal, and send the opening signal to the IO port of the robotic arm connected to itself to change the state of the IO port of the robotic arm. After the manipulator control device 130 reads the state of the IO ports of the manipulator, since each manipulator IO port has its own corresponding control switch 140, the manipulator control device 130 can know which control switch 140 detected the opening operation, It is determined that the mechanical arm 220 needs to be adjusted to the working state of the mechanical arm corresponding to the control switch 140 that is detected to be turned on.
在具体的实施过程中，可以预先设置好控制开关140、机械臂IO端口、机械臂工作状态这三者间的对应关系。这样，机械臂控制装置130可以直接根据读取到的机械臂IO端口状态确定需要将机械臂220调整至何种工作状态。In a specific implementation process, the corresponding relationship among the control switch 140, the IO port of the robotic arm, and the working state of the robotic arm may be preset. In this way, the robotic arm control device 130 can directly determine which working state the robotic arm 220 needs to be adjusted to according to the read state of the IO port of the robotic arm.
本发明实施例中，至少一个控制开关140对应的机械臂工作状态可以有多种，以下以其中3种进行举例说明：In the embodiment of the present invention, at least one control switch 140 corresponds to a variety of working states of the robotic arm, and three of them are used as examples below:
第一种机械臂工作状态，示能状态。在示能状态时，机械臂控制装置130可以解除对机械臂220的运动限制，用户可以手动移动机械臂220的方式控制机械臂220运动；The first type of working state of the robotic arm is the power-indicating state. In the power-indicating state, the robot arm control device 130 can release the movement restriction on the robot arm 220, and the user can control the movement of the robot arm 220 by manually moving the robot arm 220;
第二种机械臂工作状态，上移状态。在上移状态时，机械臂控制装置130可以控制机械臂220向上移动。The second working state of the robotic arm is the state of moving up. In the upward moving state, the robotic arm control device 130 can control the mechanical arm 220 to move upward.
第三种机械臂工作状态，下移状态。在下移状态时，机械臂控制装置130可以控制机械臂220向下移动。The third working state of the robotic arm is the state of moving down. In the downward moving state, the robot arm control device 130 can control the robot arm 220 to move downward.
举例来说，通常在控制手术器械210进出人体时，可以通过上移状态和下移状态控制机械臂220的移动。For example, generally when controlling the surgical instrument 210 to enter and exit the human body, the movement of the mechanical arm 220 can be controlled through an up-moving state and a down-moving state.
在一种可能的实施方式中，控制系统还可以包括与前述至少一个控制开关140连接的防呆开关150。在具体的实施过程中，可以将该防呆开关150与前述的至少一个控制开关140设置在相同的位置。In a possible implementation manner, the control system may further include a fool-proof switch 150 connected to the aforementioned at least one control switch 140 . In a specific implementation process, the fool-proof switch 150 and the aforementioned at least one control switch 140 can be set at the same position.
本发明实施例中，防呆开关150可以控制前述至少一个控制开关140所在电路的通断。也就是说，只有当防呆开关150控制所述至少一个控制开关140所在的电路为通时，对控制开关140的开启操作才有效。也就是说，用户对控制开关140进行开启操作以调整机械臂工作状态之前，需要先操作控制防呆开关150为导通状态。In the embodiment of the present invention, the fool-proof switch 150 can control the on-off of the circuit where the aforementioned at least one control switch 140 is located. That is to say, only when the fool-proof switch 150 controls the circuit where the at least one control switch 140 is located to be on, the opening operation of the control switch 140 is effective. That is to say, before the user turns on the control switch 140 to adjust the working state of the mechanical arm, the user needs to operate and control the foolproof switch 150 to be in a conducting state.
并且，本发明实施例中，前述的至少一个控制开关140和防呆开关150可以组成一个开关控制电路，防呆开关150可以通过控制该开关控制电路以其它部件之间的信号传递来实现防呆的功能。Moreover, in the embodiment of the present invention, the aforementioned at least one control switch 140 and the fool-proof switch 150 can form a switch control circuit, and the fool-proof switch 150 can realize fool-proof by controlling the switch control circuit and transmitting signals between other components. function.
在一种可能的实施方式中，至少一个控制开关140中的任一控制开关140还可以通过自身对应的手术器械控制装置IO端口连接到手术器械控制装置120，并且，至少一个控制开关140中的任一控制开关140还可以在检测到开启操作时生成并向手术器械控制装置120反馈开启信号。In a possible implementation, any control switch 140 in the at least one control switch 140 can also be connected to the surgical instrument control device 120 through its corresponding surgical instrument control device IO port, and the at least one control switch 140 Any control switch 140 can also generate and feed back an activation signal to the surgical instrument control device 120 when an activation operation is detected.
也就是说，本发明实施例中，至少一个控制开关140中的任一开关检测到开启操作后，不仅会将生成的开启信号反馈至机械臂控制装置130，同样也会反馈给手术器械控制装置120。That is to say, in the embodiment of the present invention, after any switch in the at least one control switch 140 detects the opening operation, it will not only feed back the generated opening signal to the mechanical arm control device 130, but also feed back to the surgical instrument control device 120.
本发明实施例中，根据获得的开启信号可以确定机械臂220的工作状态。具体来说，可以根据从哪一个手术器械控制装置IO端口获得开启信号，判断出开启信息是属于至少一个控制开关140和防呆开关150中哪一个开关。In the embodiment of the present invention, the working state of the mechanical arm 220 can be determined according to the obtained opening signal. Specifically, it can be determined which switch among the at least one control switch 140 and the fool-proof switch 150 the opening information belongs to according to which IO port of the surgical instrument control device obtains the opening signal.
在具体的实施过程中，一种方式中，手术器械控制装置120可以直接根据获得的开启信号确定机械臂220的工作状态；另一种方式中，手术器械控制装置120还可以向上述控制机上报获得的开启信号，进而由上位控制机110确定机械臂220的工作状态，并将确定的机械臂工作状态发送给手术器械控制装置120，以使得手术器械控制装置120知晓机械臂220的工作状态。当然，在具体的实施过程中，上位控制机110也可以是从机械臂控制装置130获得的机械臂220的工作状态信息。In the specific implementation process, in one way, the surgical instrument control device 120 can directly determine the working state of the mechanical arm 220 according to the obtained opening signal; in another way, the surgical instrument control device 120 can also report to the above-mentioned control machine The obtained opening signal is then used by the host controller 110 to determine the working state of the robotic arm 220 , and send the determined working state of the robotic arm to the surgical instrument control device 120 , so that the surgical instrument control device 120 knows the working state of the robotic arm 220 . Certainly, in a specific implementation process, the host controller 110 may also obtain the working status information of the robotic arm 220 from the robotic arm control device 130 .
本发明实施例中，控制系统还可以包括与手术器械控制装置120连接的至少一个指示灯160，这至少一个指示灯160的显示直接受手术器械控制装置120所控制，用于指示机械臂220的工作状态。In the embodiment of the present invention, the control system may also include at least one indicator light 160 connected to the surgical instrument control device 120, the display of the at least one indicator light 160 is directly controlled by the surgical instrument control device 120, and is used to indicate the operation of the mechanical arm 220. working status.
本发明实施例中，手术器械控制装置120还可以用于控制至少一个指示灯160以与获得的开启信号所属的控制开关140所对应的显示状态进行显示。具体来说，由于每个控制开关140各自都对应一机械臂工作状态，因而，控制开关140所对应的显示状态即为控制开关140对应的机械臂工作状态所对应的显示状态。In the embodiment of the present invention, the surgical instrument control device 120 may also be used to control at least one indicator light 160 to display in a display state corresponding to the control switch 140 to which the obtained start signal belongs. Specifically, since each control switch 140 corresponds to a working state of the robotic arm, the display state corresponding to the control switch 140 is the display state corresponding to the working state of the robotic arm corresponding to the control switch 140 .
在具体的实施过程中，可以通过控制指示灯160显示不同的颜色来区分不同的机械臂工作状态；也可以通过控制指示灯160以不同的频率闪烁来区分不同的机械臂工作状态；还可以为多个指示灯160中的每个指示灯160设定对应的机械臂工作状态，进而可以通过各指示灯160的开灭来区分不同的机械臂工作状态，等等。In the specific implementation process, different mechanical arm working states can be distinguished by controlling the indicator light 160 to display different colors; it is also possible to distinguish different mechanical arm working states by controlling the indicator light 160 to flash at different frequencies; Each indicator light 160 of the plurality of indicator lights 160 sets a corresponding working state of the manipulator, and further, different working states of the manipulator can be distinguished by turning on and off each indicator light 160 , and so on.
本发明实施例中，防呆开关150还可以与手术器械控制装置120连接，并且，手术器械控制装置120还可以连接到一指示灯，该指示灯用于指示防呆开关150的工作状态，手术器械控制装置120可以根据防呆开关150的工作状态，控制该指示灯以与防呆开关150的工作状态对应的显示状态进行显示。In the embodiment of the present invention, the fool-proof switch 150 can also be connected to the surgical instrument control device 120, and the surgical instrument control device 120 can also be connected to an indicator light, which is used to indicate the working state of the fool-proof switch 150. The appliance control device 120 can control the indicator light to display in a display state corresponding to the working state of the foolproof switch 150 according to the working state of the foolproof switch 150 .
在具体的实施过程中，用于指示防呆开关150工作状态的指示灯可以是前述的至少一个指示灯160，也可以是单独设置的指示灯。In a specific implementation process, the indicator light used to indicate the working state of the fool-proof switch 150 may be the aforementioned at least one indicator light 160, or may be a separately set indicator light.
在一种可能的实施方式中，本发明实施例中的手术器械控制装置120可以为实施例一中所述的手术器械控制装置120，并且，关于手术器械控制装置120的具体说明可以参看前述实施例一中的描述，在此不再赘述。In a possible implementation, the surgical instrument control device 120 in the embodiment of the present invention may be the surgical instrument control device 120 described in Embodiment 1, and for the specific description of the surgical instrument control device 120, please refer to the aforementioned implementation The description in Example 1 will not be repeated here.
实施例三，基于同一发明构思，本发明实施例提供一种手术机器人，该手术机器人包括有实施例二中所述的控制系统。Embodiment 3, based on the same inventive concept, an embodiment of the present invention provides a surgical robot, which includes the control system described in Embodiment 2.
其中，手术机器人、控制系统可以为实施例一、实施例二中所述的手术机器人、控制系统，并且，关于手术机器人、控制系统的说明，可以参考前述实施例一、实施例二中的描述，在此不再赘述。Wherein, the surgical robot and the control system can be the surgical robot and the control system described in Embodiment 1 and Embodiment 2, and for the description of the surgical robot and the control system, you can refer to the description in the foregoing Embodiment 1 and Embodiment 2 , which will not be repeated here.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.
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| CN201710707842.4ACN107260314A (en) | 2017-08-17 | 2017-08-17 | Surgical robot and device and system in surgical robot |
| CN202010452445.9ACN111714207A (en) | 2017-08-17 | 2017-08-17 | Control system of surgical robot and surgical robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710707842.4ACN107260314A (en) | 2017-08-17 | 2017-08-17 | Surgical robot and device and system in surgical robot |
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|---|---|---|---|
| CN202010452445.9ADivisionCN111714207A (en) | 2017-08-17 | 2017-08-17 | Control system of surgical robot and surgical robot |
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| CN107260314Atrue CN107260314A (en) | 2017-10-20 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202010452445.9APendingCN111714207A (en) | 2017-08-17 | 2017-08-17 | Control system of surgical robot and surgical robot |
| CN201710707842.4APendingCN107260314A (en) | 2017-08-17 | 2017-08-17 | Surgical robot and device and system in surgical robot |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010452445.9APendingCN111714207A (en) | 2017-08-17 | 2017-08-17 | Control system of surgical robot and surgical robot |
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| CN101999938A (en)* | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
| CN103536364A (en)* | 2013-10-18 | 2014-01-29 | 江苏艾迪尔医疗科技股份有限公司 | Intelligent orthopaedic system |
| CN205363903U (en)* | 2015-12-29 | 2016-07-06 | 哈尔滨恒誉名翔科技有限公司 | REbot -V -6R arm device |
| CN205799526U (en)* | 2016-07-27 | 2016-12-14 | 重庆峰创科技有限公司 | A kind of industrial robot Servocontrol device |
| CN106112985A (en)* | 2016-08-11 | 2016-11-16 | 上海交通大学 | The ectoskeleton hybrid control system of lower limb walk help machine and method |
| CN106625683A (en)* | 2017-02-27 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Reconfigurable man-machine cooperation mechanical arm system based on WIFI |
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| CN111012510B (en)* | 2018-10-09 | 2021-06-18 | 成都博恩思医学机器人有限公司 | Surgical instrument control method of laparoscopic surgery robot |
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| CN111249003B (en)* | 2020-01-10 | 2025-05-27 | 北京天智航医疗科技股份有限公司 | Orthopedic surgical robot, host computer, interaction method and storage medium thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information | Address after:610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after:CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before:610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before:CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. | |
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20171020 |