CN106175936A - A kind of operating robot fully operational status fault detection method - Google Patents
A kind of operating robot fully operational status fault detection method Download PDFInfo
- Publication number
- CN106175936A CN106175936A CN201610798121.4A CN201610798121A CN106175936A CN 106175936 A CN106175936 A CN 106175936A CN 201610798121 A CN201610798121 A CN 201610798121A CN 106175936 A CN106175936 A CN 106175936A
- Authority
- CN
- China
- Prior art keywords
- computer
- embedded computer
- main
- tool
- main control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 23
- 238000003384 imaging method Methods 0.000 claims description 107
- 230000007246 mechanism Effects 0.000 claims description 48
- 230000009471 action Effects 0.000 claims description 36
- 238000005286 illumination Methods 0.000 claims description 15
- 230000036461 convulsion Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 12
- 238000013507 mapping Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 4
- 230000006855 networking Effects 0.000 claims description 2
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 5
- 230000004888 barrier function Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0266—Operational features for monitoring or limiting apparatus function
- A61B2560/0276—Determining malfunction
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a kind of operating robot fully operational status fault detection method, it is characterised in that arrange and include a main control computer, a main embedded computer and some surgical robot systems from embedded computer；Main control computer and is controlled from embedded computer main embedded computer by LAN router, and main embedded computer is in communication with each other with from embedded computer by LAN router and the first communication bus respectively.Main control computer of the present invention, main embedded computer and mutually carry out fault detect from embedded computer, the safety and reliability that surgical robot system runs can be improved on the premise of not increasing any attached detecting element, and effectively reduce the communications burden of system.The present invention can be widely applied in minimally-invasive surgery robot system.
Description
Technical field
The present invention relates to a kind of operating robot fault detection method, run completely especially with regard to a kind of operating robot
Status fault detection method.
Background technology
In recent years, Minimally Invasive Surgery owing to its wound area is little, recover the feature such as fast and have become as a kind of important surgery hands
Art method, surgical robot system has been widely used for by features such as its stereoscopic vision feedback, flexible manipulations clearly
Minimally Invasive Surgery field, wherein, da Vinci (Leonardo da Vinci) operating robot of Intuitive Surgical company is at Wicresoft's hands
Art field achieves immense success.Surgical robot system generally includes an inspection operation arm and multiple operation technique arm, outward
Section doctor is by operation input equipment and interface input control instruction, and this control instruction is through the multiple control meters that can be in communication with each other
After the calculation process of calculation machine node, it is sent to inspection operation arm and operation technique arm realizes the driving to them to put Wicresoft's hands to good use
Art.Above-mentioned multiple control computer node constitutes a kind of Distributed Computer System.
Be there is rigors in surgical robot system safety owing to putting the Minimally Invasive Surgery in human body to good use, need each control
Computer node processed carries out fault detect in real time, and takes the safest counter-measure according to fault.Existing operating robot
System uses whether extra detection signal breaks down with real-time inspection and control computer node, so will be greatly increased system
Communications burden.Current many number systems take redundance unit to cause system resource with taking over fault equipment at any time, the method
Waste；Further, existing surgical robot system proposes the system solution party based on human-body safety the most pointedly
Case.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of operating robot fully operational status fault detect side
Method, it is possible to improve the safety and reliability that surgical robot system runs on the premise of not increasing attached detecting element.
For achieving the above object, the present invention takes techniques below scheme: a kind of operating robot fully operational status fault
Detection method, it is characterised in that include herein below: 1) main control computer with setting cycle by LAN router respectively to
Main embedded computer and some broadcast expected pose signal from embedded computer, and by setting cycle receive main embedded in terms of
The non-operation instruction signal that calculation machine sends, and receive the attained pose letter respectively sent from embedded computer with setting cycle simultaneously
Number；If main embedded computer, not receiving main control computer in setting cycle from embedded computer by local networking
The expected pose signal sent by device, and main embedded computer not by LAN router receive main control computer return
Do-nothing operation answer signal, then it is assumed that main control computer breaks down under fully operational status；2) main embedded computer with
Setting cycle receives the expected pose signal that main control computer sends, and refers to main control computer transmission do-nothing operation with setting cycle
Make signal and obtain the do-nothing operation answer signal that main control computer returns；And monitored each from embedding by the first communication bus simultaneously
The motor position control signal that formula computer sends；If main control computer is not received by LAN router in setting cycle
The non-operation instruction signal that main embedded computer sends, then it is assumed that main embedded computer occurs event under fully operational status
Barrier；3) respectively receive, by LAN router, the expected pose letter that main control computer sends with setting cycle from embedded computer
Number and by LAN router to main control computer send attained pose signal；Simultaneously with setting cycle through the first communication bus
Module/imaging tool is driven to drive module to send motor position control signal to operation tool；If main control computer is at setting cycle
Inside do not receive a certain attained pose signal sent from embedded computer by LAN router, and if at setting cycle
Interior main embedded computer does not listens to from the motor position control signal that embedded computer sends, then recognize by the first communication bus
Break down under fully operational status from embedded computer for this.
Further, when main control computer breaks down, surgical robot system is taked alarm mechanism and jerk machine
System, and main control computer is performed after Restoration Mechanism, main control computer continues through LAN router to each from embedded meter
Calculation machine sends expected pose signal, if unsuccessful to the Restoration Mechanism of main control computer, then performs hands with main embedded computer
Mechanism, and controlled from embedded computer by LAN router, and then control operation tool/imaging tool is moved
Make.
Further, when main embedded computer breaks down, surgical robot system is taked alarm mechanism and urgency
After shutting down system, and perform manual mechanism by main control computer, and then by from Embedded computer system operation tool/imaging
Instrument carries out action.
Further, when a certain break down from embedded computer time, surgical robot system is taked alarm mechanism
After jerk mechanism, by main control computer perform manual mechanism, with main embedded computer replace break down a certain from
Embedded computer, main control computer by main embedded computer with other from Embedded computer system operation tool/become
As instrument carries out action.
Further, Restoration Mechanism refers to when main control computer breaks down, and main embedded computer waits that master control calculates
Machine restarts recovery normally, and after main control computer recovers normally, operator carries out state inquiry at the operation interface of main control computer
Asking operation, main control computer sends status enquiry by LAN router to main embedded computer and instructs, and receives main embedding
After entering the state response instruction that formula computer sends, adjust surgical robot system to the state before breaking down.
Further, alarm mechanism specifically includes: 1) when main control computer breaks down, and main embedded computer passes through
Second communication bus makes corresponding main control computer display lamp update mistake display state；2) when main embedded computer
When breaking down, main control computer general's operation changing interface automatically is to manual operation interface, and prompting is main embedded on the surface
Computer breaks down, and corresponding main embedded computer display lamp is updated mistake display state by main control computer simultaneously；
3) when a certain break down from embedded computer time, main control computer automatically will operation changing interface to manual operation interface,
Pointing out on the surface and a certain break down from embedded computer, the most main embedded computer is made by the second communication bus
Corresponding update mistake display state from embedded computer display lamp.
Further, jerk mechanism refers to receive main control computer or main embedded computer from embedded computer
Drive module/imaging tool to drive module to control operation tool by corresponding operation tool after keeping order and imaging tool stops
Motion, and keep current pose；Or jerk mechanism refers to a certain embedded from the master of embedded computer for break down
Computer drives module/imaging tool to drive module control by corresponding operation tool after receiving the holding order of main control computer
Operation tool processed and imaging tool stop motion, and keep current pose.
Further, manual mechanism refers to that the joint parameter by operating robot manually adjusts district and directly controls master control meter
Calculation machine, main embedded computer or from embedded computer, and then drive module/imaging tool to drive module by operation tool
Controlling the action of operation tool/imaging tool, detailed process is: when main control computer breaks down, main embedded computer
It is switched to manual operation interface, manually adjusts district by joint parameter and directly control each from embedded computer, and then pass through hands
Art tool drives module/imaging tool drives module to control operation tool and/imaging tool carries out action；When main embedding assembly
When machine breaks down, main control computer is switched to manual operation interface, by joint parameter manually adjust district directly control respectively from
Embedded computer, and then drive module/imaging tool to drive module control operation tool/imaging tool to enter by operation tool
Action is made；When a certain break down from embedded computer time, main control computer is switched to manual operation interface, main embedded meter
Calculation machine taking over fault a certain from embedded computer, main control computer manually adjusts district by joint parameter and directly controls main embedding
Enter formula computer and remaining do not break down from embedded computer, and then by operation tool drive module/imaging tool
Drive module to control operation tool/imaging tool and carry out action.
Further, host computer is by a certain main embedding assembly used from embedded computer as taking over fault
Machine or normal work drive module from Embedded computer system operation tool, and then control operation tool and carry out action, its
In, host computer includes main control computer or embedded computer；Break down with main control computer, control operation tool and move
That makees is working properly from embedded computer, and as a example by main embedded computer uses as main control computer, explanation controls hands
Art instrument carries out action, and operator operates joint parameter and manually adjusts to map in district and select operation tool to be controlled in district to drive
The pose of dynamic model group, main embedded computer reads surgical arm joint parameter with setting cycle, and the expected pose of generation is sent out
Deliver to, from embedded computer, receive expected pose signal from embedded computer and drive module opponent by operation tool
Operation executor's pose of art tool tip carries out closed loop control, and particular order is: a1) if operation tool end carries operation
The surgical arm of executor is in deployed condition, then operation tool drives the operation executor of module drive surgical tools end to keep
Current position, attitude are also recovered to original state, and then drive surgical arm Hui Zhi, subsequently into step a2)；A2) if hands
The operation executor that art tool tip is carried is not in initial position and surgical arm is in straight state, then operation tool drives module to drive
The operation executor of tool tip of having an operation operative incision the most from a patient exits to initial position, subsequently into step
a3)；A3) operation tool is driven module upper and lower from operation tool by operator, complete operation tool and operating robot point
From.
Further, when operation tool operative incision from a patient exits, operation tool and operating robot are completed
When being kept completely separate, host computer is by controlling as a certain main embedding assembly used from embedded computer of taking over fault
Machine or normal work drive module from Embedded computer system imaging tool, and then control imaging tool and carry out action, its
In, host computer includes main control computer or main embedding assembly: by a certain control imaging tool carry out action in terms of embedded
Calculation machine breaks down, the explanation control as a example by embedded computer uses that main embedded computer breaks down as adapter
The instrument of being formed as carries out action, and operator operates joint parameter and manually adjusts imaging work to be controlled in the mapping selection district in district
Tool drives module, and main control computer reads surgical arm joint parameter with setting cycle and the expected pose of generation is sent to main embedding
Entering formula computer, main embedded computer receives expected pose signal and drives module to imaging tool end by imaging tool
Imaging illumination module pose carry out closed loop control, particular order is: b1) if imaging tool end carries imaging illumination module
Surgical arm be in deployed condition, then imaging tool drives module to drive the imaging illumination module of imaging tool end to keep current
Position, attitude, and then drive surgical arm Hui Zhi, subsequently into step b2)；B2) if the imaging carried of imaging tool end
Illumination module is not in initial position and surgical arm is in straight state, then imaging tool drives module to drive the one-tenth of imaging tool end
As illumination module operative incision the most from a patient exits to initial position, subsequently into step b3)；B3) operator will
Imaging tool drives module upper and lower from imaging tool, completes imaging tool and separates with operating robot.
Due to the fact that and take above technical scheme, it has the advantage that 1, the present invention is at surgical robot system
When fully operational status, by the main control computer in surgical robot system, main embedded computer with from embedded meter
Calculation machine mutually detects the method for fault, can improve surgical robot system on the premise of not increasing any attached detecting element
The safety and reliability run, and effectively reduce the communications burden of system.2, the main embedded computer of the present invention is used for remembering
The running status of record surgical robot system, meanwhile, main embedded computer can making from embedded computer as redundancy
With, when a certain after embedded computer breaks down, main embedded computer is alternative break down from embedding assembly
Machine.3, when main control computer, main embedded computer or when breaking down from embedded computer in surgical robot system, this
Invention can complete fault recovery by alarm mechanism, jerk mechanism, Restoration Mechanism and manual mechanism these four security mechanism, with
Auxiliary exits the operating robot part being positioned at patient body, can further improve the safety of surgical robot system.This
Bright can be widely applied in minimally-invasive surgery robot system.
Detailed description of the invention
Below by way of specific embodiment, the present invention is carried out detailed description.It should be appreciated, however, that the offer of embodiment is only
In order to be more fully understood that the present invention, they should not be interpreted as limitation of the present invention, the implication that the "/" in the present embodiment represents
For "or".
The operating robot fully operational status fault detection method that the present invention provides, including herein below:
1, setting includes a main control computer, a main embedded computer and some surgical engines from embedded computer
Device people's system；Main control computer and is controlled from embedded computer main embedded computer by LAN router,
Main embedded computer respectively by LAN router and the first communication bus be controlled from embedded computer and phase
Intercommunication.
The operating robot fully operational status of the present invention refers to that main control computer passes through LAN router and continues to master
Embedded computer and respectively send expected pose signal from embedded computer, arbitrary from embedded computer by the first communication
Bus drives module/imaging tool to drive module send motor position control signal and then control operation tool/imaging to operation tool
Instrument carries out action, arbitrary lasting to main control computer transmission attained pose letter by LAN router from embedded computer
Number, wherein, the first preferred CAN of communication bus.
2, main control computer with setting cycle by LAN router respectively to main embedded computer and some from embedding
Enter formula computer broadcast expected pose signal, and receive, with setting cycle, the non-operation instruction letter that main embedded computer sends
Number, and receive the attained pose signal respectively sent from embedded computer with setting cycle simultaneously；
3, main embedded computer receives, with setting cycle, the expected pose signal that main control computer sends, and to set week
Phase sends non-operation instruction signal to main control computer and obtains the do-nothing operation answer signal that main control computer returns；And lead to simultaneously
Cross the first communication bus and monitor the motor position control signal respectively sent from embedded computer；
4, respectively receive, by LAN router, the expectation that main control computer sends with setting cycle from embedded computer
Pose signal and by LAN router to main control computer send attained pose signal；Lead to through first with setting cycle simultaneously
Letter bus drives module/imaging tool to drive module to send motor position control signal to operation tool；
If 5 main embedded computers, not receiving main control computer from embedded computer in setting cycle and pass through office
The expected pose signal that territory network router sends, and main embedded computer do not receives master control calculating by LAN router
The do-nothing operation answer signal that machine returns, then it is assumed that main control computer breaks down under fully operational status；
If 6 main control computers do not receive main embedded computer by LAN router in setting cycle and send out
The non-operation instruction signal sent, then it is assumed that main embedded computer breaks down under fully operational status；
If 7 main control computers do not receive in setting cycle and a certain pass through LAN router from embedded computer
Send attained pose signal, and if in setting cycle main embedded computer not by the first communication bus listen to from
The motor position control signal that embedded computer sends, then it is assumed that this event occurs from embedded computer under fully operational status
Barrier.
Further, when main control computer breaks down, surgical robot system is taked alarm mechanism and jerk machine
System, and main control computer is performed after Restoration Mechanism, main control computer continues through LAN router to each from embedded meter
Calculation machine sends expected pose signal, if unsuccessful to the Restoration Mechanism of main control computer, then performs hands with main embedded computer
Mechanism, and controlled from embedded computer by LAN router, and then control operation tool/imaging tool is moved
Make.
Further, when main embedded computer breaks down, surgical robot system is taked alarm mechanism and urgency
After shutting down system, and perform manual mechanism by main control computer, and then by from Embedded computer system operation tool/imaging
Instrument carries out action.
Further, when a certain break down from embedded computer time, surgical robot system is taked alarm mechanism
After jerk mechanism, by main control computer perform manual mechanism, with main embedded computer replace break down a certain from
Embedded computer, main control computer by main embedded computer with other from Embedded computer system operation tool/become
As instrument carries out action.
Further, the Restoration Mechanism of the present invention refers to when main control computer breaks down, and main embedded computer waits
Main control computer restarts recovery normally, and after main control computer recovers normally, operator enters at the operation interface of main control computer
Row status enquiry operates, and main control computer sends status enquiry by LAN router to main embedded computer and instructs, and connects
After receiving the state response instruction that main embedded computer sends, adjust surgical robot system to the state before breaking down.
Further, the alarm mechanism of the present invention is the attention for causing operator, specifically includes:
1) when main control computer breaks down, main embedded computer makes corresponding master by the second communication bus
Control indication lamp for computer updates mistake display state, and the second communication bus is preferably twin wire universal serial bus, i.e. I2C bus；
2) when main embedded computer breaks down, main control computer will operate changing interface automatically to manual operation circle
Face, points out main embedded computer to break down on the surface, and main control computer is by corresponding main embedded computer simultaneously
Display lamp updates mistake display state；
3) when a certain break down from embedded computer time, main control computer automatically will operation changing interface to manually grasping
Making interface, point out on the surface and a certain break down from embedded computer, the most main embedded computer leads to by second
Letter bus makes corresponding to update mistake display state from embedded computer display lamp.
Further, the jerk mechanism of the present invention is passed through after referring to receive the holding order of host computer from embedded computer
Corresponding operation tool drives module/imaging tool to drive module to control operation tool and imaging tool stop motion, and keeps working as
Front pose, wherein, host computer can be main control computer or main embedded computer.
Further, the manual mechanism of the present invention refers to that the joint parameter by operating robot manually adjusts district and directly controls
Main control computer processed, main embedded computer or from embedded computer, and then drive module/imaging tool by operation tool
Driving module to control the action of operation tool/imaging tool, detailed process is:
1) when main control computer breaks down, main embedded computer is switched to manual operation interface, by closing JIESHEN
Number manually adjusts district and directly controls each from embedded computer, and then drives module/imaging tool to drive mould by operation tool
Group controls operation tool and/imaging tool carries out action；
2) when main embedded computer breaks down, main control computer is switched to manual operation interface, by closing JIESHEN
Number manually adjusts district and directly controls each from embedded computer, and then drives module/imaging tool to drive mould by operation tool
Group controls operation tool/imaging tool and carries out action；
3) when a certain break down from embedded computer time, main control computer is switched to manual operation interface, main embedding
Formula computer taking over fault a certain from embedded computer, main control computer manually adjusts district by joint parameter and directly controls
Main embedded computer and remaining do not break down from embedded computer, and then by operation tool drive module/imaging
Tool drives module controls operation tool/imaging tool and carries out action.
Further, host computer (main control computer or embedded computer) by main embedded computer (as adapter
The a certain of fault uses from embedded computer) or each of normal work drive mould from Embedded computer system operation tool
Group, so control operation tool carry out action.
Breaking down with main control computer, as a example by main embedded computer uses as main control computer, explanation controls
Operation tool carries out action, and operator operates joint parameter and manually adjusts operation tool to be controlled in the mapping selection district in district
Driving the pose of module, main embedded computer reads surgical arm joint parameter, and the expected pose that will produce with setting cycle
It is sent to, from embedded computer, receive expected pose signal from embedded computer and drive module pair by operation tool
Operation executor's pose of operation tool end carries out closed loop control, and then realizes the operation to operating robot with by surgical engine
In device people, operation tool is positioned at the Partial security of patient body and is withdrawn into initial position, and particular order is:
1) if the surgical arm that operation tool end carries operation executor is in deployed condition, then operation tool drives mould
The operation executor of group drive surgical tools end keeps current position, attitude and recovers to original state that (such as operation is held
When row device is operating forceps, it should return to closed position), and then drive surgical arm Hui Zhi, subsequently into step 2)；
2) if the operation executor that operation tool end carries is not in initial position and surgical arm is in straight state, then hands
The operation executor of art tool drives module drive surgical tools end operative incision the most from a patient exits to initially
Position, subsequently into step 3)；
3) operation tool is driven module upper and lower from operation tool by operator, completes operation tool and operating robot
Separate.
Further, when operation tool operative incision from a patient exits, operation tool and operating robot are completed
When being kept completely separate, host computer (main control computer or main embedded computer) by main embedded computer (as adapter therefore
The a certain of barrier uses from embedded computer) or each of normal work drive module from Embedded computer system imaging tool,
And then control imaging tool carries out action.
Breaking down from embedded computer of action, main embedded computer conduct is carried out with a certain control imaging tool
The explanation as a example by embedded computer uses that adapter is broken down controls imaging tool and carries out action, and operator operates pass
JIESHEN number manually adjusts mapping of district and selects imaging tool to be controlled in district to drive module, and main control computer is with setting cycle
Reading surgical arm joint parameter and the expected pose of generation is sent to main embedded computer, main embedded computer receives
Expected pose signal drives module that the imaging illumination module pose of imaging tool end is carried out closed loop control by imaging tool,
And then realize operating robot is operated recalling with the Partial security that imaging tool in operating robot is positioned at patient body
To initial position, particular order is:
1) if the surgical arm that imaging tool end carries imaging illumination module is in deployed condition, then imaging tool drives
Module drives the imaging illumination module of imaging tool end to keep current position, attitude, and then drives surgical arm Hui Zhi, then
Enter step 2)；
2) if the imaging illumination module that imaging tool end carries is not in initial position and surgical arm is in straight state, then
Imaging tool drive module drive the imaging illumination module of imaging tool end operative incision directly the most from a patient exit to
Initial position, subsequently into step 3)；
3) imaging tool is driven module upper and lower from imaging tool by operator, completes imaging tool and operating robot
Separate.
The various embodiments described above are merely to illustrate the present invention, and wherein each step of implementing of method all can be varied from,
Every equivalents carried out on the basis of technical solution of the present invention and improvement, the most should not get rid of in protection scope of the present invention
Outside.
Claims (10)
1. an operating robot fully operational status fault detection method, it is characterised in that include herein below:
1) main control computer with setting cycle by LAN router respectively to main embedded computer and some from embedded
Computer broadcast expected pose signal, and receive, with setting cycle, the non-operation instruction signal that main embedded computer sends, and
Receive the attained pose signal respectively sent from embedded computer with setting cycle simultaneously；If main embedded computer, from embedding
Enter formula computer in setting cycle, do not receive the expected pose signal that main control computer is sent by LAN router, and main
Embedded computer does not receives, by LAN router, the do-nothing operation answer signal that main control computer returns, then it is assumed that master control
Computer breaks down under fully operational status；
2) main embedded computer with setting cycle receive main control computer send expected pose signal, and with setting cycle to
Main control computer sends non-operation instruction signal and obtains the do-nothing operation answer signal that main control computer returns；And simultaneously by the
One communication bus monitors the motor position control signal respectively sent from embedded computer；If main control computer in setting cycle not
The non-operation instruction signal that main embedded computer sends is received, then it is assumed that main embedded computer by LAN router
Break down under fully operational status；
3) respectively receive, by LAN router, the expected pose that main control computer sends with setting cycle from embedded computer
Signal and by LAN router to main control computer send attained pose signal；Simultaneously total through the first communication with setting cycle
Alignment operation tool drives module/imaging tool to drive module to send motor position control signal；If main control computer is setting week
The a certain attained pose signal sent from embedded computer is not received by LAN router, and if setting week in phase
In phase, main embedded computer does not listens to from the motor position control signal that embedded computer sends by the first communication bus, then
Think that this breaks down under fully operational status from embedded computer.
2. a kind of operating robot fully operational status fault detection method as claimed in claim 1, it is characterised in that work as master
When control computer breaks down, surgical robot system is taked alarm mechanism and jerk mechanism, and main control computer is performed
After Restoration Mechanism, main control computer continues through LAN router and sends expected pose signal to each from embedded computer,
If unsuccessful to the Restoration Mechanism of main control computer, then perform manual mechanism with main embedded computer, and by local networking
Controlled from embedded computer by device, and then control operation tool/imaging tool carries out action.
3. a kind of operating robot fully operational status fault detection method as claimed in claim 1, it is characterised in that work as master
When embedded computer breaks down, after surgical robot system is taked alarm mechanism and jerk mechanism, and by master control meter
Calculation machine performs manual mechanism, and then by carrying out action from Embedded computer system operation tool/imaging tool.
4. a kind of operating robot fully operational status fault detection method as claimed in claim 1, it is characterised in that when certain
One when embedded computer breaks down, after surgical robot system is taked alarm mechanism and jerk mechanism, passes through master control
Computer performs manual mechanism, with main embedded computer replace breaking down a certain from embedded computer, master control calculates
Machine carries out action with other from Embedded computer system operation tool/imaging tool by main embedded computer.
5. a kind of operating robot fully operational status fault detection method as claimed in claim 2, it is characterised in that recover
Mechanism refers to when main control computer breaks down, and main embedded computer waits that main control computer restarts recovery normally, treats master control
After computer recovers normally, operator carries out status enquiry operation at the operation interface of main control computer, and main control computer passes through
LAN router sends status enquiry instruction to main embedded computer, and receiving state that main embedded computer sends should
After answering instruction, adjust surgical robot system to the state before breaking down.
6. a kind of operating robot fully operational status fault detection method as described in Claims 2 or 3 or 4, its feature exists
In, alarm mechanism specifically includes:
1) when main control computer breaks down, main embedded computer makes corresponding master control meter by the second communication bus
Calculation machine display lamp updates mistake display state；
2) when main embedded computer breaks down, main control computer automatically will operation changing interface to manual operation interface,
Pointing out main embedded computer to break down on the surface, main control computer is by corresponding main embedded computer instruction simultaneously
Lamp updates mistake display state；
3) when a certain break down from embedded computer time, main control computer automatically will operation changing interface to manual operation circle
Face, points out on the surface and a certain breaks down from embedded computer, and the most main embedded computer is total by the second communication
Line makes corresponding to update mistake display state from embedded computer display lamp.
7. a kind of operating robot fully operational status fault detection method as described in Claims 2 or 3 or 4, its feature exists
Pass through refer to receive the holding order of main control computer or main embedded computer from embedded computer in, jerk mechanism after
Corresponding operation tool drives module/imaging tool to drive module to control operation tool and imaging tool stop motion, and keeps working as
Front pose；
Or a certain main embedded computer from embedded computer that jerk mechanism refers to for breaking down receives master control
Module/imaging tool is driven to drive module to control operation tool and imaging by corresponding operation tool after the holding order of computer
Instrument stop motion, and keep current pose.
8. a kind of operating robot fully operational status fault detection method as described in Claims 2 or 3 or 4, its feature exists
Refer to that the joint parameter by operating robot manually adjusts district and directly controls main control computer, main embedded in, manual mechanism
Computer or from embedded computer, so by operation tool drive module/imaging tool drive module control operation tool/
The action of imaging tool, detailed process is:
When main control computer breaks down, main embedded computer is switched to manual operation interface, manual by joint parameter
Adjust district and directly control each from embedded computer, and then drive module/imaging tool to drive module to control by operation tool
Operation tool and/imaging tool carry out action；
When main embedded computer breaks down, main control computer is switched to manual operation interface, manual by joint parameter
Adjust district and directly control each from embedded computer, and then drive module/imaging tool to drive module to control by operation tool
Operation tool/imaging tool carries out action；
When a certain break down from embedded computer time, main control computer is switched to manual operation interface, main embedding assembly
Machine taking over fault a certain from embedded computer, main control computer manually adjusts district by joint parameter and directly controls main embedding
Formula computer and remaining do not break down from embedded computer, and then by operation tool driving module/imaging tool drive
Dynamic model group controls operation tool/imaging tool and carries out action.
9. a kind of operating robot fully operational status fault detection method as described in Claims 2 or 3 or 4 or 5, its feature
Being, host computer is by as a certain main embedded computer used from embedded computer of taking over fault or normally working
From Embedded computer system operation tool drive module, and then control operation tool carry out action, wherein, host computer includes
Main control computer or embedded computer；
Break down with main control computer, control operation tool and carry out the working properly from embedded computer of action, main embedding
As a example by formula computer uses as main control computer, explanation control operation tool carries out action, and operator operates joint parameter
Manually adjusting and map the pose selecting operation tool to be controlled in district to drive module in district, main embedded computer is to set
Cycle reads surgical arm joint parameter, and the expected pose of generation is sent to from embedded computer, from embedded computer
Receive expected pose signal and drive module that operation executor's pose of operation tool tip is closed by operation tool
Ring controls, and particular order is:
A1) if the surgical arm that operation tool end carries operation executor is in deployed condition, then operation tool drives module
The operation executor of drive surgical tools end keeps current position, attitude and recovers to original state, and then drives operation
Arm Hui Zhi, subsequently into step a2)；
A2) if the operation executor that operation tool end carries is not in initial position and surgical arm is in straight state, then perform the operation
The operation executor of tool drives module drive surgical tools end operative incision the most from a patient exits to initial bit
Put, subsequently into step a3)；
A3) operation tool is driven module upper and lower from operation tool by operator, complete operation tool and operating robot point
From.
10. a kind of operating robot fully operational status fault detection method as claimed in claim 9, it is characterised in that when
Operation tool operative incision from a patient exits, and completes operation tool and when being kept completely separate of operating robot, host computer
By control a certain main embedded computer used from embedded computer as taking over fault or normally work from embedding
Entering formula computer and control imaging tool driving module, and then control imaging tool carries out action, wherein, host computer includes master control meter
Calculation machine or main embedding assembly:
Carrying out breaking down from embedded computer of action with a certain control imaging tool, main embedded computer is as adapter
The explanation as a example by embedded computer uses broken down controls imaging tool and carries out action, and operator operates pass JIESHEN
Number manually adjusts mapping of district and selects imaging tool to be controlled in district to drive module, and main control computer reads with setting cycle
The expected pose of generation is also sent to main embedded computer by surgical arm joint parameter, and main embedded computer receives expectation
Pose signal drives module that the imaging illumination module pose of imaging tool end is carried out closed loop control, specifically by imaging tool
Order is:
B1) if the surgical arm that imaging tool end carries imaging illumination module is in deployed condition, then imaging tool drives mould
Organize the current position of the imaging illumination module holding of driving imaging tool end, attitude, and then drive surgical arm Hui Zhi, then enter
Enter step b2)；
B2) if the imaging illumination module that imaging tool end carries is not in initial position and surgical arm is in straight state, then become
As tool drives module drives the direct operative incision the most from a patient of imaging illumination module of imaging tool end to exit to just
Beginning position, subsequently into step b3)；
B3) imaging tool is driven module upper and lower from imaging tool by operator, complete imaging tool and operating robot point
From.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798121.4A CN106175936B (en) | 2016-08-31 | 2016-08-31 | A kind of operating robot fully operational status fault detection method |
| PCT/CN2017/099848 WO2018041198A1 (en) | 2016-08-31 | 2017-08-31 | Method for detecting running state failure of surgical robot |
| KR1020197009257A KR102263570B1 (en) | 2016-08-31 | 2017-08-31 | How to detect malfunction of surgical robot operation status |
| EP17845500.2A EP3508157B1 (en) | 2016-08-31 | 2017-08-31 | System for detecting a running state failure of a surgical robot |
| CA3035311A CA3035311C (en) | 2016-08-31 | 2017-08-31 | Method for detecting running state failure of surgical robot |
| JP2019531522A JP7211948B2 (en) | 2016-08-31 | 2017-08-31 | Surgery support robot system and its failure detection method |
| US16/288,161 US11357584B2 (en) | 2016-08-31 | 2019-02-28 | Method for detecting faults in operating states of surgical robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798121.4A CN106175936B (en) | 2016-08-31 | 2016-08-31 | A kind of operating robot fully operational status fault detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106175936A true CN106175936A (en) | 2016-12-07 |
| CN106175936B CN106175936B (en) | 2018-09-04 |
Family
ID=58086426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610798121.4A Active CN106175936B (en) | 2016-08-31 | 2016-08-31 | A kind of operating robot fully operational status fault detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106175936B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107154981A (en) * | 2017-06-13 | 2017-09-12 | 北京品驰医疗设备有限公司 | A kind of monitoring method of the remote monitoring system based on implantable medical devices |
| WO2018041198A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Method for detecting running state failure of surgical robot |
| WO2018165969A1 (en) * | 2017-03-17 | 2018-09-20 | 深圳瀚飞科技开发有限公司 | System and method for detecting environmental monitoring remote communication fault based on single-chip microcomputer |
| CN108809676A (en) * | 2017-05-02 | 2018-11-13 | 北京米文动力科技有限公司 | A kind of fault detection method and robot |
| CN112587239A (en) * | 2020-12-30 | 2021-04-02 | 上海微创医疗机器人（集团）股份有限公司 | Medical robot, fault detection method and storage medium |
| CN113631328A (en) * | 2019-04-02 | 2021-11-09 | 优傲机器人公司 | Extensible security system for robotic systems |
| CN113907885A (en) * | 2020-07-10 | 2022-01-11 | 北京术锐技术有限公司 | Surgical robot and surgical robot withdrawing method |
| CN113907808A (en) * | 2021-12-14 | 2022-01-11 | 极限人工智能有限公司 | Split type surgical device and control method thereof |
| WO2022193889A1 (en) * | 2021-03-16 | 2022-09-22 | 上海微创医疗机器人（集团）股份有限公司 | Control method for surgical robot system, readable storage medium, and robot system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1808885A (en) * | 2005-12-26 | 2006-07-26 | 北京航空航天大学 | Step motor network control apparatus applicable to medical robot |
| WO2012166815A1 (en) * | 2011-05-31 | 2012-12-06 | Intuitive Surgical Operations, Inc | Surgical instrument with control for detected fault condition |
| US20120316573A1 (en) * | 2011-05-31 | 2012-12-13 | Intuitive Surgical Operations, Inc. | Positive control of robotic surgical instrument end effector |
| JP2013034862A (en) * | 2011-08-04 | 2013-02-21 | Olympus Corp | Medical manipulator |
| CN103402714A (en) * | 2011-02-24 | 2013-11-20 | 奥林巴斯株式会社 | Master operation input device and master-slave manipulator |
| WO2014005139A2 (en) * | 2012-06-29 | 2014-01-03 | Children's National Medical Center | Automated surgical and interventional procedures |
| CN104688347A (en) * | 2013-12-09 | 2015-06-10 | 韩商未来股份有限公司 | Surgical robot system and method for controlling surgical robot system |
-
2016
- 2016-08-31 CN CN201610798121.4A patent/CN106175936B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1808885A (en) * | 2005-12-26 | 2006-07-26 | 北京航空航天大学 | Step motor network control apparatus applicable to medical robot |
| CN103402714A (en) * | 2011-02-24 | 2013-11-20 | 奥林巴斯株式会社 | Master operation input device and master-slave manipulator |
| WO2012166815A1 (en) * | 2011-05-31 | 2012-12-06 | Intuitive Surgical Operations, Inc | Surgical instrument with control for detected fault condition |
| US20120316573A1 (en) * | 2011-05-31 | 2012-12-13 | Intuitive Surgical Operations, Inc. | Positive control of robotic surgical instrument end effector |
| JP2013034862A (en) * | 2011-08-04 | 2013-02-21 | Olympus Corp | Medical manipulator |
| WO2014005139A2 (en) * | 2012-06-29 | 2014-01-03 | Children's National Medical Center | Automated surgical and interventional procedures |
| CN104688347A (en) * | 2013-12-09 | 2015-06-10 | 韩商未来股份有限公司 | Surgical robot system and method for controlling surgical robot system |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11357584B2 (en) | 2016-08-31 | 2022-06-14 | Beijing Surgerii Technology Co., Ltd. | Method for detecting faults in operating states of surgical robots |
| WO2018041198A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Method for detecting running state failure of surgical robot |
| WO2018165969A1 (en) * | 2017-03-17 | 2018-09-20 | 深圳瀚飞科技开发有限公司 | System and method for detecting environmental monitoring remote communication fault based on single-chip microcomputer |
| CN108809676A (en) * | 2017-05-02 | 2018-11-13 | 北京米文动力科技有限公司 | A kind of fault detection method and robot |
| CN108809676B (en) * | 2017-05-02 | 2023-07-18 | 北京米文动力科技有限公司 | A fault detection method and robot |
| CN107154981A (en) * | 2017-06-13 | 2017-09-12 | 北京品驰医疗设备有限公司 | A kind of monitoring method of the remote monitoring system based on implantable medical devices |
| CN113631328A (en) * | 2019-04-02 | 2021-11-09 | 优傲机器人公司 | Extensible security system for robotic systems |
| CN113907885A (en) * | 2020-07-10 | 2022-01-11 | 北京术锐技术有限公司 | Surgical robot and surgical robot withdrawing method |
| CN112587239A (en) * | 2020-12-30 | 2021-04-02 | 上海微创医疗机器人（集团）股份有限公司 | Medical robot, fault detection method and storage medium |
| CN112587239B (en) * | 2020-12-30 | 2022-04-26 | 上海微创医疗机器人（集团）股份有限公司 | Medical robot, fault detection method and storage medium |
| WO2022142578A1 (en) * | 2020-12-30 | 2022-07-07 | 上海微创医疗机器人（集团）股份有限公司 | Medical robot, fault detection method and storage medium |
| WO2022193889A1 (en) * | 2021-03-16 | 2022-09-22 | 上海微创医疗机器人（集团）股份有限公司 | Control method for surgical robot system, readable storage medium, and robot system |
| CN113907808A (en) * | 2021-12-14 | 2022-01-11 | 极限人工智能有限公司 | Split type surgical device and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106175936B (en) | 2018-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106175936A (en) | A kind of operating robot fully operational status fault detection method | |
| CN106272554B (en) | A kind of operating robot operating status fault detection method | |
| EP3508163B1 (en) | Surgical robot integrated control system based on embedded computer | |
| US11357584B2 (en) | Method for detecting faults in operating states of surgical robots | |
| EP3628451B1 (en) | Fault reaction, fault isolation, and graceful degradation in a robotic system | |
| US12005589B2 (en) | Redundant robot power and communication architecture | |
| CN106370949B (en) | A kind of operating robot incomplete operation status fault detection method | |
| CN105431103A (en) | Medical robotic system with remote current controller for controlling a plurality of distally housed motors | |
| CN109730772A (en) | Operate enabled control system and the robotic assisted surgery equipment with the system | |
| US20230185278A1 (en) | Watchdog circuitry of a surgical robot arm | |
| CN113907885A (en) | Surgical robot and surgical robot withdrawing method | |
| CN115592667A (en) | A low-latency remote control system for surgical robots | |
| CN106236271A (en) | The operation tool of a kind of operating robot launches to implement, exit method | |
| WO2011105259A1 (en) | Medical device system | |
| CN221688674U (en) | Communication system of laparoscopic surgical robot and laparoscopic surgical robot | |
| CN109646090A (en) | Puncture needle control method and device | |
| CN220323749U (en) | Control system and control platform of hair planting robot | |
| US20240131723A1 (en) | Surgical robotic system and method for restoring operational state | |
| JPH09244740A (en) | Remote monitor and control equipment | |
| JP2025516940A (en) | Method and system for controlling a slave device at its physical limits of motion in a master-slave robotic system for teleoperation of surgical procedures - Patents.com | |
| CN117426877A (en) | Medical equipment | |
| CN119727915A (en) | Communication system and method for laparoscopic surgical robot | |
| CN119074243A (en) | Energy device control system and control method | |
| CN117426876A (en) | Medical equipment and method for adjusting master-slave posture relation of medical equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |