CN106370949B - A kind of operating robot incomplete operation status fault detection method - Google Patents
A kind of operating robot incomplete operation status fault detection method Download PDFInfo
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- CN106370949B CN106370949B CN201610799313.7A CN201610799313A CN106370949B CN 106370949 B CN106370949 B CN 106370949B CN 201610799313 A CN201610799313 A CN 201610799313A CN 106370949 B CN106370949 B CN 106370949B
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Abstract
The present invention relates to a kind of operating robot incomplete operation status fault detection method, setting includes a main control computer, a main embedded computer and several surgical robot systems from embedded computer；Main control computer is controlled by LAN router to main embedded computer and from embedded computer, and main embedded computer is in communication with each other by LAN router and the first communication bus with from embedded computer respectively.The main control computer of the present invention and mutually carries out fault detect at main embedded computer from embedded computer, the safety and reliability of surgical robot system operation can be improved under the premise of not increasing any attached detecting element, and effectively reduces the communications burden of system.The present invention can be widely applied in minimally-invasive surgery robot system.
Description
Technical field
It is endless for the national games especially with regard to a kind of operating robot the present invention relates to a kind of operating robot fault detection method
Row status fault detection method.
Background technology
In recent years, Minimally Invasive Surgery has become a kind of important surgery hand since its wound area is small, restores the features such as fast
Art method, surgical robot system by it, clearly feed back, flexible the features such as manipulating has been widely used for by stereoscopic vision
Minimally Invasive Surgery field, wherein da Vinci (Leonardo da Vinci) operating robots of Intuitive Surgical companies are in minimally invasive hand
Art field achieves immense success.Surgical robot system generally includes an inspection operation arm and multiple surgical procedure arms, outside
Section doctor is instructed by operation input equipment and interface input control, which passes 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 surgical procedure arm and then realizes micro- to put to good use to their driving
Invasive procedures.The multiple control computer node constitutes a kind of Distributed Computer System.
Due to putting the Minimally Invasive Surgery in human body to good use to surgical robot system safety there are rigors, need to each control
Computer node processed carries out fault detect in real time, and measure the safest is taken according to the failure of generation.Failure is taken
Safety measure, majority systems take redundance unit with taking over fault equipment at any time at present, but such method causes system money
The waste in source；Further, at present most surgical robot systems do not propose pointedly be based on human-body safety
System solution.
Invention content
In view of the above-mentioned problems, the object of the present invention is to provide a kind of operating robot incomplete operation status fault detection sides
Method can improve the safety and reliability of surgical robot system operation under the premise of not increasing attached detecting element.
To achieve the above object, the present invention takes following technical scheme：A kind of operating robot incomplete operation state event
Hinder detection method, it is characterised in that including the following contents：1) main control computer is distinguished with setting the period by LAN router
To main embedded computer and it is several send non-operation instruction signal from embedded computer, and receive main insertion to set the period
Formula computer and the do-nothing operation answer signal respectively returned from embedded computer；If main embedded computer and from embedded meter
Calculation machine does not receive the non-operation instruction signal that main control computer is sent by LAN router within the setting period, then it is assumed that
Main control computer breaks down under incomplete operation state；2) main embedded computer receives main control computer to set the period
The non-operation instruction signal of transmission and do-nothing operation answer signal is returned to main control computer, and passes through local network to set the period
From device to from embedded computer send non-operation instruction signal and receive respectively from embedded computer return do-nothing operation response
Signal；If main control computer does not receive the sky that main embedded computer returns within the setting period by LAN router
Answer signal is operated, and does not receive the do-nothing operation of main embedded computer transmission within the setting period from embedded computer respectively
Command signal, then it is assumed that main embedded computer breaks down under incomplete operation state；3) respectively from embedded computer with
Non-operation instruction signal of the period by LAN router reception main control computer and the transmission of main embedded computer is set, and
To set the period do-nothing operation answer signal is returned to main control computer and main embedded computer；If main control computer is being set
The a certain do-nothing operation answer signal returned from embedded computer by LAN router is not received in period, and if setting
Main embedded computer does not receive the do-nothing operation answer signal that this is returned from embedded computer in fixed cycle, then it is assumed that this is from embedding
Enter formula computer to break down under incomplete operation state.
Further, when main control computer breaks down under incomplete operation state, surgical robot system is adopted
Take alarm mechanism, and after executing Restoration Mechanism to main control computer, it is embedding to master that main control computer continues through LAN router
Enter formula computer and respectively sends signal from embedded computer, it is embedding with master if the Restoration Mechanism to main control computer is failed
Enter formula computer and execute manual mechanism, and by LAN router control from embedded computer, so control operation tool/
Imaging tool is acted.
Further, when main embedded computer breaks down under incomplete operation state, to operating robot system
System takes alarm mechanism, and executes manual mechanism by main control computer, and then by performing the operation work from Embedded computer system
Tool/imaging tool is acted.
Further, when it is a certain break down under incomplete operation state from embedded computer when, to surgical machine
After people's system takes alarm mechanism, manual mechanism is executed by main control computer, replaces breaking down with main embedded computer
It is a certain from embedded computer, main control computer is by main embedded computer and other performs the operation from Embedded computer system
Tool/imaging tool is acted.
Further, when Restoration Mechanism refers to that main control computer breaks down, main embedded computer waits for master control to calculate
Machine restarts recovery normally, and after main control computer restores normal, operator carries out state inquiry in the operation interface of main control computer
It asks that operation, main control computer send status enquiry to main embedded computer by LAN router and instruct, it is embedding to receive master
After entering the state response instruction that formula computer is sent, state of the adjustment surgical robot system to before breaking down.
Further, alarm mechanism specifically includes：When main control computer breaks down, main embedded computer passes through logical
Letter bus makes corresponding main control computer indicator light update to wrong dispaly state；When main embedded computer breaks down
When, operation interface is switched to manual operation interface by main control computer automatically, and main embedded computer is prompted to send out on the surface
Raw failure, while main control computer updates corresponding main embedded computer indicator light to wrong dispaly state；When it is a certain from
When embedded computer breaks down, operation interface is switched to manual operation interface by main control computer automatically, on the surface
Prompt it is a certain break down from embedded computer, main embedded computer is made corresponding by the second communication bus at this time
From the update of embedded computer indicator light to wrong dispaly state.
Further, manual mechanism refers to manually adjusting area by the joint parameter of operating robot to directly control master control meter
Calculation machine, main embedded computer drive module/imaging tool to drive module from embedded computer, and then by operation tool
The action of operation tool/imaging tool is controlled, detailed process is：When main control computer breaks down, main embedded computer
It is switched to manual operation interface, area is manually adjusted by joint parameter and is directly controlled respectively from embedded computer, and then passes through hand
Art tool drives module/imaging tool driving module control operation tool and/imaging tool are acted；When main embedding assembly
When machine breaks down, main control computer be switched to manual operation interface, by joint parameter manually adjust area directly control respectively from
Embedded computer, so by operation tool drive module/imaging tool drive module control operation tool/imaging tool into
Action is made；When it is a certain break down from embedded computer when, main control computer is switched to manual operation interface, main embedded meter
Calculation machine taking over fault it is a certain from embedded computer, main control computer by joint parameter manually adjusts area, and to directly control master embedding
Enter formula computer and remaining slave embedded computer not broken down, and then module/imaging tool is driven by operation tool
Driving module control operation tool/imaging tool is acted.
Further, host computer is by being used as a certain main embedding assembly used from embedded computer of taking over fault
Machine or the slave Embedded computer system operation tool of normal work drive module, and then control operation tool and acted,
In, host computer is main control computer or main embedded computer；It is broken down with main control computer, controls operation tool into action
The slave embedded computer made is working properly, and main embedded computer carries out illustrating to control hand for use as main control computer
Art tool is acted, and operator operates joint parameter and manually adjusts the operation tool to be controlled in the mapping selection area in area drive
The pose of dynamic model group, main embedded computer reads surgical arm joint parameter to set the period, and the expected pose of generation is sent out
It is sent to from embedded computer, receives expected pose signal from embedded computer and module opponent is driven by operation tool
The operation actuator pose of art tool tip is controlled, and particular order is：A1) if operation tool end carries operation and executes
The surgical arm of device is in unfolded state, then operation tool driving module drives surgical arm Hui Zhi, subsequently into step a2)；A2) such as
The operation actuator that fruit operation tool end carries is not in initial position and surgical arm is in straight state, then operation tool drives mould
The operative incision of the operation actuator of group drive surgical tools end directly from a patient is exited to initial position, subsequently into
Step a3)；A3) operator unloads operation tool from operation tool driving module, completes operation tool and operating robot
Separation.
Further, when the operative incision of operation tool from a patient exits, operation tool and operating robot are completed
When being kept completely separate, host computer by be used as taking over fault a certain main embedded computer used from embedded computer or
The slave Embedded computer system imaging tool of normal work drives module, and then controls imaging tool and acted, wherein on
Position machine is main control computer or main embedded computer；The slave embedded computer hair acted with a certain control imaging tool
Raw failure, main embedded computer carry out illustrating control imaging for use as the slave embedded computer to break down is taken over
Tool is acted, and operator, which operates joint parameter and manually adjusts the imaging tool to be controlled in the mapping selection area in area, to be driven
Module, main control computer by set the period read surgical arm joint parameter and the expected pose of generation is sent to it is main it is embedded in terms of
Calculation machine, main embedded computer receive expected pose signal and drive imaging of the module to imaging tool end by imaging tool
Illumination module pose is controlled, and particular order is：B1) if imaging tool end carries at the surgical arm of imaging illumination module
In unfolded state, then imaging tool driving module drives surgical arm Hui Zhi, subsequently into step b2)；B2) if imaging tool is last
The imaging illumination module that end carries is not in initial position and surgical arm is in straight state, then the driving imaging of imaging tool driving module
The operative incision of the imaging illumination module of tool tip directly from a patient is exited to initial position, subsequently into step b3)；
B3) operator unloads imaging tool from imaging tool driving module, completes the separation of imaging tool and operating robot.
Further, communication bus uses twin wire universal serial bus.
The invention adopts the above technical scheme, which has the following advantages：1, the present invention is in not in operating robot
When fully operational status, by main control computer in surgical robot system, main embedded computer and from embedding assembly
The method that machine mutually detects failure can improve surgical robot system operation under the premise of not increasing attached detecting element
Safety and reliability.2, main embedded computer of the invention is used to record the operating status of surgical robot system, meanwhile,
Main embedded computer can be used as the slave embedded computer of redundancy, be broken down from embedded computer when a certain
Afterwards, the slave embedded computer of the alternative failure of main embedded computer.3, when master control calculating in surgical robot system
Machine, main embedded computer or when breaking down from embedded computer, the present invention can by alarm mechanism, Restoration Mechanism and
These three security mechanisms of manual mechanism complete the fault recovery of each primary control, are exited positioned at operation in patient body with auxiliary
Robot part can further improve the safety of surgical robot system.The present invention can be widely applied to Minimally Invasive Surgery machine
In device people's system.
Specific implementation mode
Detailed description is carried out to the present invention below in conjunction with specific embodiment.It should be appreciated, however, that the offer of embodiment is only
For a better understanding of the present invention, they should not be interpreted as limitation of the present invention, the meaning that the "/" in the present embodiment indicates
For "or".
Operating robot incomplete operation status fault detection method provided by the invention, including the following contents：
1, setting includes a main control computer, a main embedded computer and several surgical engines from embedded computer
Device people's system；Main control computer by LAN router to main embedded computer and from embedded computer carry out control and
It is in communication with each other, main embedded computer is carried out by LAN router and the first communication bus with from embedded computer respectively
It is in communication with each other, the preferred CAN bus of the first communication bus.
The incomplete operation state of surgical robot system of the present invention refers to：Main control computer does not continue through LAN
Router to main embedded computer and it is any from embedded computer send expected pose signal, do not have from embedded computer respectively
Have continue to main control computer send attained pose signal, while it is any from embedded computer not over the first communication bus
It sends motor position to operation tool driving module/imaging tool driving module and controls signal.
2, main control computer is to set the period by LAN router respectively to main embedded computer and several from embedding
Enter formula computer and send non-operation instruction signal, and main embedded computer is received and respectively from embedded computer to set the period
The do-nothing operation answer signal of return.
3, main embedded computer receives non-operation instruction signal that main control computer is sent and to master control to set the period
Computer returns to do-nothing operation answer signal, and sends empty behaviour to from embedded computer by LAN router to set the period
Make command signal and receives the do-nothing operation answer signal respectively returned from embedded computer.
4, respectively from embedded computer, to set, the period receives main control computer by LAN router and master is embedded
The non-operation instruction signal that computer is sent, and to set the period do-nothing operation is returned to main control computer and main embedded computer
Answer signal.
If 5, main embedded computer and not receive within the setting period main control computer from embedded computer logical
Cross the non-operation instruction signal of LAN router transmission, then it is assumed that event occurs under incomplete operation state in main control computer
Barrier.
If 6, main control computer does not receive main embedded computer by LAN router within the setting period and returns
The do-nothing operation answer signal returned, and respectively do not receive what main embedded computer was sent within the setting period from embedded computer
Non-operation instruction signal, then it is assumed that main embedded computer breaks down under incomplete operation state.
If 7, main control computer does not receive within the setting period a certain passes through LAN router from embedded computer
The do-nothing operation answer signal of return, and if main embedded computer does not receive this and is returned from embedded computer within the setting period
The do-nothing operation answer signal returned, then it is assumed that this breaks down from embedded computer under incomplete operation state.
Further, when main control computer breaks down under incomplete operation state, surgical robot system is adopted
Take alarm mechanism, and after executing Restoration Mechanism to main control computer, main control computer can continue through LAN router to master
Embedded computer and respectively from embedded computer send signal, if the Restoration Mechanism to main control computer is failed, with master
Embedded computer executes manual mechanism, and by LAN router control from embedded computer, and then controls operation work
Tool/imaging tool is acted.
Further, when main embedded computer breaks down under incomplete operation state, to operating robot system
System takes alarm mechanism, and executes manual mechanism by main control computer, and then by performing the operation work from Embedded computer system
Tool/imaging tool is acted.
Further, when it is a certain break down under incomplete operation state from embedded computer when, to surgical machine
After people's system takes alarm mechanism, manual mechanism is executed by main control computer, replaces breaking down with main embedded computer
It is a certain from embedded computer, main control computer is by main embedded computer and other performs the operation from Embedded computer system
Tool/imaging tool is acted.
Further, when Restoration Mechanism of the invention refers to that main control computer breaks down, main embedded computer waits for
It is normal that main control computer restarts recovery, after main control computer restores normal, operator main control computer operation interface into
Row status enquiry operates, and main control computer sends status enquiry to main embedded computer by LAN router and instructs, and connects
After receiving the state response instruction that main embedded computer is sent, state of the adjustment surgical robot system to before breaking down.
Further, alarm mechanism of the invention is to cause operator note that specifically including：
1) when main control computer breaks down, main embedded computer makes corresponding master by the second communication bus
Indication lamp for computer update is controlled to wrong dispaly state, the second communication bus is preferably twin wire universal serial bus, i.e. I2C buses；
2) when main embedded computer breaks down, operation interface is switched to manual operation circle by main control computer automatically
Face prompts main embedded computer to break down on the surface, while main control computer is by corresponding main embedded computer
Indicator light is updated to wrong dispaly state；
3) when it is a certain break down from embedded computer when, operation interface is switched to manual behaviour by main control computer automatically
Make interface, prompt on the surface it is a certain break down from embedded computer, main embedded computer is logical by second at this time
Letter bus makes corresponding from the update of embedded computer indicator light to wrong dispaly state.
Further, manual mechanism of the invention refers to manually adjusting area by the joint parameter of operating robot directly to control
Main control computer processed, main embedded computer or from embedded computer, and then pass through operation tool and drive module/imaging tool
Module is driven 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, is joined by joint
Number manually adjusts area and directly controls respectively from embedded computer, and then drives module/imaging tool to drive mould by operation tool
Group control operation tool and/imaging tool are acted；
2) when main embedded computer breaks down, main control computer is switched to manual operation interface, is joined by joint
Number manually adjusts area and directly controls respectively from embedded computer, and then drives module/imaging tool to drive mould by operation tool
Group control operation tool/imaging tool is acted；
3) when it is a certain break down from embedded computer when, main control computer be switched to manual operation interface, main insertion
Formula computer taking over fault it is a certain from embedded computer, main control computer manually adjusts area by joint parameter and directly controls
Main embedded computer and remaining slave embedded computer not broken down, and then module/imaging is driven by operation tool
Tool drives module control operation tool/imaging tool is acted.
Further, host computer (main control computer or embedded computer) (is used as and is taken over by main embedded computer
Failure it is a certain from embedded computer use) or normal work it is each from Embedded computer system operation tool drive mould
Group, and then control operation tool and acted：
When being broken down below with main control computer, it is specific that main embedded computer, which as main control computer use,
The detailed process that control operation tool is acted is described in detail in embodiment：
Operator operates joint parameter and manually adjusts the operation tool to be controlled in mapping selection area in area driving module
Pose, main embedded computer with set the period read surgical arm joint parameter, and by the expected pose of generation be sent to from
Embedded computer receives expected pose signal from embedded computer and drives module to operation tool by operation tool
The operation actuator pose of end is controlled, and then is realized to the operation of operating robot with by work of performing the operation in operating robot
The Partial security that tool is located in patient body is withdrawn into initial position, and particular order is：
1) if the surgical arm of operation tool end carrying operation actuator is in unfolded state, operation tool drives mould
Group driving surgical arm Hui Zhi, subsequently into step 2)；
2) if the operation actuator that operation tool end carries is not in initial position and surgical arm is in straight state, hand
The operative incision of the operation actuator of art tool drives module drive surgical tools end directly from a patient is exited to initial
Position, subsequently into step 3)；
3) operator unloads operation tool from operation tool driving module, completes operation tool and operating robot
Separation.
Further, when the operative incision of operation tool 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 (be used as take over therefore
Barrier it is a certain from embedded computer use) or normal work it is each from Embedded computer system imaging tool drive module,
And then it controls imaging tool and is acted.
When the slave embedded computer acted below with a certain control imaging tool breaks down, main embedding assembly
Machine as take over the slave embedded computer to break down carry out using for specific embodiment be described in detail control imaging tool into
The detailed process that action is made：
Operator, which operates joint parameter and manually adjusts the imaging tool to be controlled in the mapping selection area in area, drives module,
Main control computer reads to set the period and surgical arm joint parameter and the expected pose of generation is sent to main embedded computer,
Main embedded computer receives the imaging illumination that expected pose signal drives module to imaging tool end by imaging tool
Module pose is controlled, and then realizes the operation to operating robot imaging tool in operating robot is located at patient body
Interior Partial security is withdrawn into initial position, and particular order is：
1) if the surgical arm of imaging tool end carrying imaging illumination module is in unfolded state, imaging tool driving
Module drives surgical arm Hui Zhi, subsequently into step 2)；
If 2) the imaging illumination module that imaging tool end carries is not in initial position and surgical arm is in straight state,
The operative incision of the imaging illumination module of imaging tool driving module driving imaging tool end directly from a patient exit to
Initial position, subsequently into step 3)；
3) operator unloads imaging tool from imaging tool driving module, completes imaging tool and operating robot
Separation.
The various embodiments described above are merely to illustrate the present invention, and each implementation steps of wherein method may be changed,
Every equivalents carried out based on the technical solution of the present invention and improvement, should not exclude in protection scope of the present invention
Except.
Claims (10)
1. a kind of operating robot incomplete operation status fault detection method, surgical robot system includes that a master control calculates
Machine, a main embedded computer and several from embedded computer；Main control computer is embedded to master by LAN router
It computer and is controlled from embedded computer, main embedded computer is total by LAN router and the first communication respectively
Line is in communication with each other with from embedded computer；Operating status includes fully operational status and incomplete operation state, wherein
Incomplete operation state is defined as：Main control computer does not continue through LAN router to main embedded computer and any
Expected pose signal is sent from embedded computer, does not continue respectively to send actual bit to main control computer from embedded computer
Appearance signal, while any module or imaging tool are driven to operation tool from embedded computer not over the first communication bus
It drives module to send motor position and controls signal；It is characterised in that it includes the following contents：
1) main control computer is to set the period by LAN router respectively to main embedded computer and several from embedded
Computer sends non-operation instruction signal, and receives main embedded computer and respectively from embedded computer return to set the period
Do-nothing operation answer signal；If main embedded computer and from embedded computer setting the period in do not receive master control meter
The non-operation instruction signal that calculation machine is sent by LAN router, then it is assumed that main control computer goes out under incomplete operation state
Existing failure；
2) main embedded computer is to set the non-operation instruction signal of period reception main control computer transmission and be calculated to master control
Machine returns to do-nothing operation answer signal, and is referred to from embedded computer transmission do-nothing operation by LAN router with setting the period
The do-nothing operation answer signal for enabling signal and reception respectively be returned from embedded computer；If main control computer is being set in the period not
The do-nothing operation answer signal that main embedded computer returns is received by LAN router, and is respectively existed from embedded computer
The non-operation instruction signal that main embedded computer is sent is not received in the setting period, then it is assumed that main embedded computer is not
It breaks down under fully operational status；
3) main control computer and main embedding assembly are respectively received by LAN router from embedded computer to set the period
The non-operation instruction signal that machine is sent, and to set the period do-nothing operation response is returned to main control computer and main embedded computer
Signal；If main control computer is not received within the setting period and a certain is returned by LAN router from embedded computer
Do-nothing operation answer signal, and if main embedded computer does not receive this sky returned from embedded computer within the setting period
Operate answer signal, then it is assumed that this breaks down from embedded computer under incomplete operation state.
2. a kind of operating robot incomplete operation status fault detection method as described in claim 1, which is characterized in that when
When main control computer breaks down under incomplete operation state, alarm mechanism is taken to surgical robot system, and to master control
After computer executes Restoration Mechanism, main control computer continues through LAN router to main embedded computer and respectively from insertion
Formula computer sends signal, if the Restoration Mechanism to main control computer is failed, hand-machine is executed with main embedded computer
System, and by LAN router control from embedded computer, and then control operation tool/imaging tool and acted.
3. a kind of operating robot incomplete operation status fault detection method as described in claim 1, which is characterized in that when
When main embedded computer breaks down under incomplete operation state, alarm mechanism is taken to surgical robot system, and lead to
It crosses main control computer and executes manual mechanism, and then by being acted from Embedded computer system operation tool/imaging tool.
4. a kind of operating robot incomplete operation status fault detection method as described in claim 1, which is characterized in that when
It is a certain when breaking down under incomplete operation state from embedded computer, alarm mechanism is taken to surgical robot system
Afterwards, manual mechanism is executed by main control computer, replaces breaking down with main embedded computer a certain from embedding assembly
Machine, main control computer is by main embedded computer and other is carried out from Embedded computer system operation tool/imaging tool
Action.
5. a kind of operating robot incomplete operation status fault detection method as claimed in claim 2, which is characterized in that extensive
When the system of answering a pager's call refers to that main control computer breaks down, main embedded computer waits for main control computer to restart recovery normally, waits leading
After controlling computer recovery normally, operator carries out status enquiry operation in the operation interface of main control computer, and main control computer is logical
It crosses LAN router and sends status enquiry instruction to main embedded computer, receive the state that main embedded computer is sent
After response instruction, state of the adjustment surgical robot system to before breaking down.
6. a kind of operating robot incomplete operation status fault detection method as described in Claims 2 or 3 or 4, feature
It is, alarm mechanism specifically includes：
When main control computer breaks down, main embedded computer makes corresponding main control computer refer to by communication bus
Show lamp update to wrong dispaly state；
When main embedded computer breaks down, operation interface is switched to manual operation interface by main control computer automatically,
Main embedded computer is prompted to break down on the interface, while main control computer is by corresponding main embedded computer indicator light
Update wrong dispaly state；
When it is a certain break down from embedded computer when, main control computer automatically by operation interface be switched to manual operation circle
Face, prompt on the surface it is a certain break down from embedded computer, main embedded computer is total by the second communication at this time
Line makes corresponding from the update of embedded computer indicator light to wrong dispaly state.
7. a kind of operating robot incomplete operation status fault detection method as described in Claims 2 or 3 or 4, feature
It is, manual mechanism refers to manually adjusting area by the joint parameter of operating robot to directly control main control computer, main insertion
Formula computer drives module/imaging tool to drive module control operation work from embedded computer, and then by operation tool
The action of tool/imaging tool, detailed process are：
When main control computer breaks down, main embedded computer is switched to manual operation interface, manual by joint parameter
Adjustment area directly controls respectively from embedded computer, and then drives module/imaging tool to drive module control by operation tool
Operation tool and/imaging tool are acted；
When main embedded computer breaks down, main control computer is switched to manual operation interface, manual by joint parameter
Adjustment area directly controls respectively from embedded computer, and then drives module/imaging tool to drive module control by operation tool
Operation tool/imaging tool is acted；
When it is a certain break down from embedded computer when, main control computer be switched to manual operation interface, main embedding assembly
Machine taking over fault it is a certain from embedded computer, main control computer manually adjusts area by joint parameter and directly controls main insertion
Formula computer and remaining slave embedded computer not broken down, and then drive module/imaging tool to drive by operation tool
Dynamic model group control operation tool/imaging tool is acted.
8. a kind of operating robot incomplete operation status fault detection method as described in Claims 2 or 3 or 4, feature
It is, host computer is by being used as a certain main embedded computer used from embedded computer or normal work of taking over fault
Slave Embedded computer system operation tool drive module, and then control operation tool acted, wherein based on host computer
Control computer or main embedded computer；
When main control computer breaks down, the slave embedded computer that control operation tool is acted is working properly, main insertion
Formula computer is carried out as main control computer in use, operator, which operates joint parameter, manually adjusts institute in the mapping selection area in area
The pose of the operation tool to be controlled driving module, main embedded computer read surgical arm joint parameter to set the period, and
The expected pose of generation is sent to from embedded computer, expected pose signal is received from embedded computer and passes through hand
Art tool drives module controls the operation actuator pose for tool tip of performing the operation, and particular order is：
A1) if the surgical arm that operation tool end carries operation actuator is in unfolded state, operation tool drives module
Surgical arm Hui Zhi is driven, subsequently into step a2)；
A2 it) if the operation actuator that operation tool end carries is not in initial position and surgical arm is in straight state, performs the operation
The operative incision of the operation actuator of tool drives module drive surgical tools end directly from a patient is exited to initial bit
It sets, subsequently into step a3)；
A3) operator unloads operation tool from operation tool driving module, completes point of operation tool and operating robot
From.
9. a kind of operating robot incomplete operation status fault detection method as claimed in claim 8, which is characterized in that when
The operative incision of operation tool from a patient exits, and completes operation tool and when being kept completely separate of operating robot, host computer
By be used as taking over fault a certain main embedded computer used from embedded computer or normal work from embedded
Computer control imaging tool drive module, and then control imaging tool acted, wherein host computer be main control computer or
Main embedded computer；
When the slave embedded computer that a certain control imaging tool is acted breaks down, main embedded computer is used as and takes over
The slave embedded computer to break down carries out in use, operator operates in the mapping selection area that joint parameter manually adjusts area
The imaging tool to be controlled driving module, main control computer read surgical arm joint parameter and by the phase of generation to set the period
Pose is hoped to be sent to main embedded computer, main embedded computer receives expected pose signal and drives mould by imaging tool
Group controls the imaging illumination module pose of imaging tool end, and particular order is：
B1) if the surgical arm that imaging tool end carries imaging illumination module is in unfolded state, imaging tool drives mould
Group driving surgical arm Hui Zhi, subsequently into 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, at
As tool drives module drives the operative incision of the imaging illumination module of imaging tool end directly from a patient to exit to first
Beginning position, subsequently into step b3)；
B3) operator unloads imaging tool from imaging tool driving module, completes point of imaging tool and operating robot
From.
10. a kind of operating robot incomplete operation status fault detection method as claimed in claim 6, which is characterized in that
Communication bus uses twin wire universal serial bus.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799313.7A CN106370949B (en) | 2016-08-31 | 2016-08-31 | A kind of operating robot incomplete operation status fault detection method |
| JP2019531522A JP7211948B2 (en) | 2016-08-31 | 2017-08-31 | Surgery support robot system and its failure detection method |
| KR1020197009257A KR102263570B1 (en) | 2016-08-31 | 2017-08-31 | How to detect malfunction of surgical robot operation status |
| PCT/CN2017/099848 WO2018041198A1 (en) | 2016-08-31 | 2017-08-31 | Method for detecting running state failure of surgical robot |
| 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 |
| US16/288,161 US11357584B2 (en) | 2016-08-31 | 2019-02-28 | Method for detecting faults in operating states of surgical robots |
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| CA3035311C (en) | 2016-08-31 | 2023-08-29 | Beijing Surgerii Technology Co., Ltd. | 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 |
| CN108958989B (en) * | 2017-06-06 | 2021-09-17 | 北京猎户星空科技有限公司 | System fault recovery method and device |
| CN108908402B (en) * | 2018-07-06 | 2023-03-21 | 浙江国自机器人技术股份有限公司 | Robot hardware detection method and system |
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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. |