CN103399584B - A kind of control system for Long-distance Control medicine equipment and control method thereof - Google Patents
A kind of control system for Long-distance Control medicine equipment and control method thereof Download PDFInfo
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Abstract
The invention discloses a kind of control system for Long-distance Control medicine equipment, comprise for realize various input mode input and be converted into electric signal, display relevant information and by communication module control signal is transferred to implementation controller module central controller, be used for providing the communication module of various signal transmission passage and signal conversion, be used for realizing the implementation controller module that multi-dimensional movement controls; Wherein, central controller, communication module and implementation controller module signal connection successively.The invention also discloses a kind of control method of the control system for Long-distance Control medicine equipment.The present invention overcome in prior art manipulate that flexible instrument effect is poor, Non-follow control and automatically controlling can not organically combine, performance accuracy is low and the problem such as multi-dimensional movement operation inconvenience, have that structure is simple, low cost, Non-follow control and automatically controlling combine, be suitable for manipulation flexible instrument, precision is high and can the feature such as multi-dimensional movement flexibly.
Description
Technical field
The present invention relates to medicine equipment control technology, specifically a kind of control system for Long-distance Control medicine equipment and control method thereof.
Background technology
Along with soft lens technical progress, Flexible ureteroscope operation becomes the chief surgical of Urology Surgery in chamber gradually, compared with traditional ureterscopy, Flexible ureteroscope has the bendable mirror body of high suppleness, bend freely, dexterous convenient, bladder can be entered into from human body natural's passage urethra and go directly renal plevis and each kidney calices to ureter through orificium ureteris.Owing to having perfusion and service aisle, Flexible ureteroscope can process the various disease of kidney aggregation system, as calculus, and tumour.Not only comparatively safe, and result for the treatment of is remarkable, relative to underwent percutaneous renal-scope treatment method, have safer, damage little, recover the advantage such as fast.In the tumor of renal pelvis being difficult to make a definite diagnosis at Diagnosis and Treat, kidney stone, proximal ureteral calculus, there is the advantage that other equipment are incomparable and replace.Specific as follows:
1) non-blind area is checked: this is also the most outstanding advantage of soft lens.Because mirror body is soft, and mirror body head end can upwards be bent downwardly very wide-angle, accomplishes not fail to pinpoint a disease in diagnosis, the blind area can seeing hard mirror to can't see.
2) damage little: due to mirror body softness (similar to catheter), caliber thin (<6Fr), under anesthesia, direct-view is gently inserted and substantially can not be caused damage to urethra, bladder, ureter etc.Relative to hard mirror, soft lens is more easily by patient is accepted.
3) visual field is relatively clear: soft lens damage is little, can reduce damaging blood urine to greatest extent to the impact observed, thus ensures to get a clear view.In addition, soft lens belongs to electronic digital imaging, has high image resolution ratio, can the more early stage and small pathology of clear discovery, namely disease is effectively treated in early days, improves the curative effect of patient.Digitized image can also be reached computer by image capturing system by soft lens, and even online realizes synchronous remote medical consultation with specialists.
4) low to the requirement of position: patient can check in lithotomy position, dorsal position and lateral position, be particularly suitable for the patient (as lower limb malformation, severe arthritic and hemiplegic patient etc.) that can not put lithotomy position and internal organs clinostatism.
5) urethra, bladder can be checked, ureter, renal plevis and the whole urinary tract system of each kidney calices simultaneously: and hard mirror to accomplish.
But when doing Flexible ureteroscope operation, particularly during the operation of row kidney stone, need to rely on X-ray to irradiate location, it is larger that surgical doctor is subject to radiation amount, for this reason, how to reduce the radiation that doctor is subject to, realize soft lens accurately, stable position, avoiding doctor's prolonged operations tired and causing hand tremor dynamic is instant problem.
In recent years, both at home and abroad medical robot and mechanical arm invention and Application comparison many, comparative maturity have Leonardo da Vinci (DaVinci) system, Zeus system, Aesop (AESOP) 3000 medical surgery operating robot etc.
Leonardo da Vinci (DaVinci) system is primarily of surgeon console (SurgeonConsole); Other mechanical arm tower (PatientCart) of the bed that four mutual arms of 7 degree of freedom are housed and high-precision 3DHD vision system (VisionCart) formation.By means of high technology equipments such as high definition three-dimensional imaging, multi-joint arm Automated condtrol and cable signal transmission, the advantages such as the three-dimensional high-definition visual area that made it possess, arm non-jitter, camera lens is fixed, scope of activities is wide, apparatus degree of excursion is large, and change the traditional mode that patient stands in the other operation of operating table, whole process of operation is completed before being sitting in control desk by operator doctor, meet base of principle of human engineering, be more suitable for long-time complicated operation.This system is widely used in department of general surgery, heart surgical department, Urology Surgery, gynaecology and pediatric surgery.
ZEUS robotic surgical system is made by ComputerMotion company, can use in Europe, ZEUS system and Leonardesque device similar, it has a computer workstation, video display, a joystick (operation instrument installed on mobile operating table).ZEUS system is only approved for medical treatment test in the U.S. at present, and German doctor has used this system to carry out coronary heart disease bypass surgery.
Aesop (AESOP) 3000 robot system is issued in 1994 by ComputerMotion company, and AESOP is that the First that FDA approval uses may be used for the robot of operating room assisting operation.AESOP than Leonardo da Vinci system and ZEUS system simply too much, an AESOP just mechanical arm substantially, locate endoscope for doctor---a kind of surgery camera inserted in patient body.Pedal or sound software are used for doctor's position cameras, and this proceeds operation with regard to allowing the hand of doctor be available.AESOP provides several endoscope control form, comprises Voice command, artificial location and Non-follow control.
Following technical matters is there is in prior art:
(1), existing control system is generally used for rigid apparatus manipulation, at manipulation flexible instrument, as soft lens aspect exists certain limitation;
(2), general strict differentiation Non-follow control and automatically controlling in existing control system, generally in set of system adopt Non-follow control or automatically control, both not organically combined;
(3), existing control system cannot manipulate each degree of freedom of flexible instrument flexibly as bending etc. motion, and precision is also inadequate.
Summary of the invention
The object of the invention is to overcome the deficiency that above prior art exists, provide that a kind of structure is simple, low cost, Non-follow control and automatically controlling combines, to be suitable for manipulating flexible instrument, precision high and can the control system for Long-distance Control medicine equipment of multi-dimensional movement flexibly.
Another object of the present invention is the control method providing a kind of control system for Long-distance Control medicine equipment.
In order to achieve the above object, the present invention is by the following technical solutions: a kind of control system for Long-distance Control medicine equipment, comprise for realize various input mode input and be converted into electric signal, display relevant information and by communication module control signal is transferred to implementation controller module central controller, be used for providing the communication module of various signal transmission passage and signal conversion, be used for realizing the implementation controller module that multi-dimensional movement controls; Wherein, central controller, communication module and implementation controller module signal connection successively.
Described central controller comprises main control module, control lever load module, touch-screen load module, display module and the first CAN module; Wherein, main control module is connected with control lever load module, touch-screen load module, display module and the first CAN module respectively, and the first CAN module is connected with communication module.Main control module Main Function is: Gather and input signal, by collecting control lever input signal and touch control input signal, transfers signals to execution control end after being processed by signal by CAN module.The status information performing control end also passes main control module back by CAN module, then input signal and the status information returned is shown by display module.
Described communication module comprises the first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, first CAN module outputs signal to a CAN transceiving chip, one CAN transceiving chip outputs signal to secondary signal isolation module, secondary signal isolation module flows to implementation controller module signal, implementation controller module feedback signal gives the 2nd CAN transceiving chip, 2nd CAN transceiving chip outputs signal to the first signal isolation module, first signal isolation module outputs signal to the first CAN module, first CAN module is to main control module signal, main control module is to display module signal, and display module shows result.Signal isolation module principal security signal, power supply, between definitely independent, avoid interference.
Described implementation controller module comprises multi-dimensional movement control module, utility appliance interface, some servo-drivers, some servomotors, the second CAN module and some rotating speed displacement detecting sensors; Wherein, multi-dimensional movement control module respectively with, utility appliance interface, some servo-drivers and the second CAN module be connected, second CAN module is connected with secondary signal isolation module, each servo-driver correspondence connects 1 servomotor, and the rear axle place of each servomotor is provided with 1 rotating speed displacement detecting sensor.
Tie up driver before and after described servo-driver comprises, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down, before and after dimension driver, up and down tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver be connected respectively before and after dimension servomotor, up and down tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor, each servomotor and servo-driver form closed-loop control system.
Described control lever load module comprises the first control lever, the first lever position sensor, the second control lever, the second lever position sensor; Wherein, the first lever position sensor is located in the first control lever, and the second lever position sensor is located in the second control lever; First control lever has 5 degree of freedom direction of motion, is front, rear, left and right and rotation respectively, former and later two directions correspond to respectively tie up up and down upwards, downwards; Left and right both direction correspond to respectively left and right dimension left, to the right; Rotate the rotation that correspond to rotating shaft dimension, when turning clockwise, medicine equipment also turns clockwise, and when being rotated counterclockwise, medicine equipment is also rotated counterclockwise; Second control lever has 3 degree of freedom direction of motion, be respectively forward and backward and rotate, former and later two directions correspond to before and after dimension forward, backward, rotate then correspond to driver plate dimension, control the flexibility of medicine equipment.The signal of control lever is detected by installation site sensor in control lever, at all directions installation site sensor of control lever, when manipulation operations bar, the position transducer of correspondence direction obtains signal, sensor collects these signals and this signal is sent to master controller, master controller by after the process of signal by CAN Signal transmissions to actuating station controller, actuating station controller receives signal and immediately drives the action of servo-control system drive motor.
Described touch-screen load module comprises touch-screen, start button, stop button are set on the touchscreen, automatically return straight button, recover Hui Zhi before status button, record data button, recover data button, parameter set button and utility appliance control knob.When pressing the button at touch-screen, main control module obtains data, and the data that different buttons is corresponding are different.Main control module is once read data, then judge these data corresponding be respectively the data of which button, then real-time for data is transferred to actuating station controller, actuating station controller receives data and drives the servo controller of corresponding dimension to drive servomotor action at once, realizes the synchronism of input signal and servomotor.Wherein automatically return straight button and reduction load button, be provided with automatic Hui Zhi, locus memory function.When clicking " automatic Hui Zhi " button, control end preserves current spatial location data automatically, medicine equipment automatically returns to straightened condition, when need get back to the locus of originally recording, click " before recovery Hui Zhi status button " button, mechanical arm automatic control controls medicine equipment and gets back on the control position of original memory.The method better can manipulate medicine equipment (as soft lens) and realize various action flexibly, accelerates the driving efficiency of mechanical arm.
Described first CAN module and the second CAN module are CAN or serial communication.
For a control method for the control system of Long-distance Control medicine equipment, comprise the following steps:
(1), according to actual needs, central controller is operated, inputted by manipulation operation bar load module and touch-screen load module, display module shows corresponding operation, the signal of main control module to control lever load module, the input of touch-screen load module is collected and is processed, and passes to communication module by the first CAN module;
(2), a CAN transceiving chip of communication module receives the electric signal that the first CAN module passes over, and a CAN transceiving chip outputs signal to secondary signal isolation module, and secondary signal isolation module flows to implementation controller module signal;
(3), multi-dimensional movement control module is passed to after second CAN module Received signal strength, dimension driver before and after multi-dimensional movement control module controls respectively according to signal content, tie up driver up and down, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up driver up and down, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver drive corresponding servomotor to move respectively, realize multidimensional operation, the rotating speed displacement detecting sensor at the rear axle place of each servomotor, for detecting the displacement of each servomotor, utility appliance interface connects utility appliance,
(4), multi-dimensional movement control module feeds back signal to the 2nd CAN transceiving chip, 2nd CAN transceiving chip outputs signal to the first signal isolation module, first signal isolation module outputs signal to the first CAN module, first CAN module is to main control module signal, main control module is to display module signal, and display module shows result;
(5), operator operates according to display result.
Described step (3) first regulates the speed ring of each servomotor and electric current loop and forms inner ring, then position ring is adjusted, form position, speed double closed-loop system, because servo controller itself can carry out three ring closed loop adjustment of speed and electric current by the data of rotating speed displacement detecting sensor, simultaneously, the monitoring information of rotating speed displacement detecting sensor also will feed back to implementation controller module, convert feedack to positional information, be transferred to main control module; Described front and back dimension driver, tie up and to tie up servomotor before and after driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver correspondence, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down up and down, 1 reducer casing is connected at each servomotor, ratio of gear is 1:n, if servomotor turns an angle W, the slide rail displacement of medicine equipment mechanical arm is L, it is N that rotating speed displacement detecting sensor returns umber of pulse, then displacement is: Displacement=(360/nW) * N*L.
The present invention, relative to prior art, has following advantage and effect:
1, present invention employs to comprise and input for realizing various input mode and be converted into the central controller of electric signal and display relevant information, for providing the communication module of various signal transmission passage and signal conversion and for realizing the implementation controller module that multi-dimensional movement controls, have that structure is simple, low cost, Non-follow control and automatically controlling combines, being suitable for manipulation flexible instrument, precision is high and can the feature such as multi-dimensional movement flexibly.
2, the present invention is applicable to each medicine equipment, as soft lens, gastroscope etc., is specially adapted to flexible instrument.
3, the present invention can be controlled front and back dimension driver respectively according to signal content, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down by multi-dimensional movement control module, the corresponding servomotor of driver drives, servomotor correspondence can also arrange reducer casing as required, thus realize flexible motion, so that the surgery situation that reply is complicated.
4, the front and back in the present invention are tieed up servomotor, are tieed up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down, first set each servomotor position corner accuracy, then control the continuous small control of each servomotor by signal.
5, the present invention can realize multi-dimensional movement control, first regulate the speed ring of each servomotor and electric current loop and form inner ring, then position ring is adjusted, form position, speed double closed-loop system, the position fed back difference adjustment amount of the given position reference quantity of synchronous motor and multiple motor is done ratio, is realized the synchro control of position by interpolation arithmetic.
6, the first control lever in the present invention has 5 degree of freedom direction of motion, and the second control lever has 3 degree of freedom direction of motion, touch-screen is arranged status button before automatically returning straight button and recovering Hui Zhi, as required, can realize various action.
7, the present invention is provided with control lever load module and touch-screen load module, more has position to feel, realize various exceedingly difficult movements flexibly when control lever input pattern makes doctor operate; Automatically return as needed straight or recover state before Hui Zhi time, adopt touch-screen input pattern, these two kinds of control modes can be with the use of, easy to use, improves accuracy rate.
Accompanying drawing explanation
Fig. 1 is a kind of structured flowchart of the control system for Long-distance Control medicine equipment;
Fig. 2 is a kind of control method FB(flow block) of the control system for Long-distance Control medicine equipment;
Fig. 3 is the closed loop control algorithm schematic diagram of master system in the present invention.
Number in the figure and title as follows:
| 1 | Central controller | 2 | Communication module |
| 3 | Implementation controller module |
Embodiment
For ease of it will be appreciated by those skilled in the art that the present invention is described in further detail below in conjunction with drawings and Examples.
Embodiment 1:
As shown in Fig. 1 ~ 2, medicine equipment in the present embodiment is soft lens, for a control system for Long-distance Control medicine equipment, for realize various input mode input and be converted into electric signal, display relevant information and by communication module control signal is transferred to implementation controller module central controller 1, be used for providing the communication module 2 of various signal transmission passage and signal conversion, be used for realizing the implementation controller module 3 that multi-dimensional movement controls; Wherein, central controller 1, communication module 2 and implementation controller module 3 signal connection successively.
Central controller 1 in the present embodiment comprises main control module, control lever load module, touch-screen load module, display module and the first CAN module; Wherein, main control module is connected with control lever load module, touch-screen load module, display module and the first CAN module respectively, and the first CAN module is connected with communication module.Main control module Main Function is: Gather and input signal, by collecting control lever input signal and touch control input signal, transfers signals to execution control end after being processed by signal by CAN module.The status information performing control end also passes main control module back by CAN module, then input signal and the status information returned is shown by display module.Main control module in the present embodiment is the STM32 Series of MCU of being produced by STMicw Electronics (STMicroelectronics) group, and this is a based on aiming at the custom-designed ARMCortex-M3 kernel of Embedded Application requiring high-performance, low cost, low-power consumption.That STM32 carries is bxCAN, namely substantially expands CAN.It supports CAN protocol 2.0A and 2.0B.Only need the transceiving chip JTA1050 of an external CAN.
The input information that demonstrates that display module is used to image and the status information of each dimension fed back.Be equipped with high precision rotating speed displacement detecting sensor at the mechanical outlet terminal of every one dimension, this sensing for verifying the implementation status of the servo control system of every one dimension, guarantee topworks's safety, stable, accurately, reliable.We have installed rotating speed displacement detecting sensor to detect speed and the position of servomotor on the servomotor of every one dimension.Tieing up up and down, tie up before and after the peacekeeping of left and right, we first set the position corner accuracy of each servomotor, show that servomotor turns an angle W by inspection, the slide rail displacement of mechanical arm is L, then count by returning umber of pulse N to rotating speed displacement detecting sensor, a pulse represents that motor makes a circle, then can calculate displacement and be:
Displacement＝(360/W)*N*L
And in rotating shaft peacekeeping driver plate dimension, we only need to have detected an angle value that servomotor rotates just by rotating speed displacement detecting sensor.Tie up up and down, tie up before and after the peacekeeping of left and right, three dimensions constitute a three dimensions.Space bit (the x of soft lens clearly can be known by the positional information detecting these three dimensions, y, z), the angle position w1 that rotating shaft peacekeeping driver plate dimension is detected by displacement or angle detection detecting sensor, w2, it is the more concrete location of the locus to soft lens, therefore locus coordinate (x, y, the z of soft lens, w1, w2).
But take into account precision problem here, because the action of each dimension of soft lens in human body all requires very slow, very accurate, and movement range is also very little, be generally several millimeters, but if displacement is several millimeters, it is very little that the angle that servomotor rotates also can become, such measurement is accurate not, and error can be larger.Therefore, we have added a gear reduction box on servomotor, ratio of gear is 1:n, an effect of slowing down can be played to motor, reach action and need requirement slowly, ratio of gear is 1:n simultaneously, and be that servomotor turns an angle W before not adding in other words, the slide rail displacement of mechanical arm is L; After adding gear reduction box, the slide rail displacement of mechanical arm is L, and so the angle of electric machine rotation becomes nW, then the displacement calculated becomes:
Displacement＝(360/nW)*N*L
And rotating shaft peacekeeping driver plate dimension is also the same, be the angle that servomotor rotates before not adding gear reduction box be exactly angle w1, the w2 that soft lens rotates, angle w1 ', w2 ' that after adding gear reduction box, servomotor rotates, be the n of soft lens rotational angle doubly:
w1＝nw1’
w2＝nw2’
These data are transferred to main control module after the process of actuating station controller, and main control module is shown these data by LCDs, the executing state seeing current servo motor that user just can be real-time.Manipulation doctor can be allowed to find the position sense of machinery sooner, realize various exceedingly difficult movements flexibly, and reduce manipulation doctor working strength.
Communication module in the present embodiment comprises the first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, first CAN module outputs signal to a CAN transceiving chip, one CAN transceiving chip outputs signal to secondary signal isolation module, secondary signal isolation module flows to implementation controller module signal, implementation controller module feedback signal gives the 2nd CAN transceiving chip, 2nd CAN transceiving chip outputs signal to the first signal isolation module, first signal isolation module outputs signal to the first CAN module, first CAN module is to main control module signal, main control module is to display module signal, and display module shows result.Signal isolation module principal security signal, power supply, between definitely independent, avoid interference.
Implementation controller module in the present embodiment comprises multi-dimensional movement control module, utility appliance interface, some servo-drivers, some servomotors, the second CAN module and some rotating speed displacement detecting sensors; Wherein, multi-dimensional movement control module is connected with utility appliance interface, some servo-drivers and the second CAN module respectively, second CAN module is connected with secondary signal isolation module, each servo-driver correspondence connects 1 servomotor, and the rear axle place of each servomotor is provided with 1 rotating speed displacement detecting sensor.Actuating station controller receives the drive singal of each dimension that main control module transmits, thus control servo-driver drives servomotor to carry out corresponding action.The action situation of rotating speed displacement detecting sensor monitoring servomotor, and real-time monitoring information is fed back to servo controller and actuating station controller.The control mode that the present embodiment adopts two close cycles to regulate, because servo controller itself can carry out three ring closed loop adjustment of speed and electric current by the data of rotating speed displacement detecting sensor.The monitoring information of rotating speed displacement detecting sensor also will feed back to actuating station controller simultaneously.Actuating station controller according to feedack, can convert the data of rotating speed displacement detecting sensor to positional information, is transferred to main control module, show through display module.
As shown in Figure 3, in figure, V is the rotating speed of input, and x is for comparing symbol, and the algorithm structure all as shown in Figure 3 of dimension, left and right dimension, rotating shaft dimension and driver plate dimension up and down, just driver is not identical with motor.
Tie up driver before and after servo-driver in the present embodiment comprises, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down, before and after dimension driver, up and down tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver be connected respectively before and after dimension servomotor, up and down tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor, each servomotor and servo-driver form closed-loop control system.
Described control lever load module comprises the first control lever, the first lever position sensor, the second control lever, the second lever position sensor; Wherein, the first lever position sensor is located in the first control lever, and the second lever position sensor is located in the second control lever; First control lever has 5 degree of freedom direction of motion, is front, rear, left and right and rotation respectively, former and later two directions correspond to respectively tie up up and down upwards, downwards; Left and right both direction correspond to respectively left and right dimension left, to the right; Rotate the rotation that correspond to rotating shaft dimension, when turning clockwise, medicine equipment also turns clockwise, and when being rotated counterclockwise, medicine equipment is also rotated counterclockwise; Second control lever has 3 degree of freedom direction of motion, be respectively forward and backward and rotate, former and later two directions correspond to before and after dimension forward, backward, rotate then correspond to driver plate dimension, control the flexibility of medicine equipment.The signal of control lever is detected by installation site sensor in control lever, at all directions installation site sensor of control lever, when manipulation operations bar, the position transducer of correspondence direction obtains signal, sensor collects these signals and this signal is sent to master controller, master controller by after the process of signal by CAN Signal transmissions to actuating station controller, actuating station controller receives signal and immediately drives the action of servo-control system drive motor.
Touch-screen load module in the present embodiment comprises touch-screen, start button, stop button are set on the touchscreen, automatically return straight button, recover Hui Zhi before status button, record data button, recover data button, parameter set button and utility appliance control knob.When pressing the button at touch-screen, main control module obtains data, and the data that different buttons is corresponding are different.Main control module is once read data, then judge these data corresponding be respectively the data of which button, then real-time for data is transferred to actuating station controller, actuating station controller receives data and drives the servo controller of corresponding dimension to drive servomotor action at once, realizes the synchronism of input signal and servomotor.Wherein automatically return straight button and reduction load button, be provided with automatic Hui Zhi, locus memory function.When clicking " automatic Hui Zhi " button, control end preserves current spatial location data automatically, medicine equipment automatically returns to straightened condition, when need get back to the locus of originally recording, click " before recovery Hui Zhi status button " button, mechanical arm automatic control controls medicine equipment and gets back on the control position of original memory.The method better can manipulate medicine equipment (as soft lens) and realize various action flexibly, accelerates the driving efficiency of mechanical arm.
The first CAN module in the present embodiment and the second CAN module are CAN-2.0 bus.
For a control method for the control system of Long-distance Control medicine equipment, comprise the following steps:
(1), according to actual needs, central controller is operated, inputted by manipulation operation bar load module and touch-screen load module, display module shows corresponding operation, the signal of main control module to control lever load module, the input of touch-screen load module is collected and is processed, and passes to communication module by the first CAN module;
(2), a CAN transceiving chip of communication module receives the electric signal that the first CAN module passes over, and a CAN transceiving chip outputs signal to secondary signal isolation module, and secondary signal isolation module flows to implementation controller module signal;
(3), multi-dimensional movement control module is passed to after second CAN module Received signal strength, dimension driver before and after multi-dimensional movement control module controls respectively according to signal content, tie up driver up and down, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up driver up and down, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver drive corresponding servomotor to move respectively, realize multidimensional operation, the rotating speed displacement detecting sensor at the rear axle place of each servomotor, for detecting the displacement of each servomotor, utility appliance interface connects utility appliance,
(4), multi-dimensional movement control module feeds back signal to the 2nd CAN transceiving chip, 2nd CAN transceiving chip outputs signal to the first signal isolation module, first signal isolation module outputs signal to the first CAN module, first CAN module is to main control module signal, main control module is to display module signal, and display module shows result;
(5), operator operates according to display result.
Described step (3) first regulates the speed ring of each servomotor and electric current loop and forms inner ring, then position ring is adjusted, form position, speed double closed-loop system, because servo controller itself can carry out three ring closed loop adjustment of speed and electric current by the data of rotating speed displacement detecting sensor, simultaneously, the monitoring information of rotating speed displacement detecting sensor also will feed back to implementation controller module, convert feedack to positional information, be transferred to main control module; Described front and back dimension driver, tie up and to tie up servomotor before and after driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver correspondence, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down up and down, 1 reducer casing is connected at each servomotor, ratio of gear is 1:n, if servomotor turns an angle W, the slide rail displacement of medicine equipment mechanical arm is L, it is N that rotating speed displacement detecting sensor returns umber of pulse, then displacement is: Displacement=(360/nW) * N*L.
Above-mentioned control method can be used in the middle of the scientific research prosthese of operation or non-medical object, and the concrete control method of the present embodiment acts on prosthese.During concrete practical application, can proceed as follows:
First soft lens is entered urethra, the ureter of prosthese by ureter guiding sheath, and send into renal plevis, then soft lens handle placed by manual type as requested and be fixed on soft lens clamper.Enter the whole process of kidney aggregation system at touch-screen (there is display image function) upper display soft lens, comprise renal plevis, upper small cup, middle small cup, inferior calyx, and kidney aggregation system is observed; Open by the corresponding function button clicked on control operation platform touch-screen the excitation device controlling Bladder stone and launch Bladder stone; In operation, open the flow velocity of priming petock and hydraulic pressure control equipment priming petock to increase the sharpness in the visual field by control operation platform; When entering kidney aggregation system, opening control X-ray exposure device and carrying out X-ray irradiation with the position determining soft lens; In operation, check kidney aggregation system at any time by touch-screen, carry out X-ray simultaneously and irradiate with the physical location determining soft lens.According to soft lens surgical protocols, the operating grip on operation control operation platform, or the upper corresponding function button of point touching screen, upper and lower, all around motion of operating robotic arm, the rotation of mechanical arm and gyration.Meanwhile, according to actual conditions, the brake block caster of arm-and-hand system can be controlled, carry out brake hard, and then control upper and lower, all around of soft lens, rotation and gyration, adjustment soft lens position and state.
Embodiment 2
The present embodiment and embodiment 1 difference are: the medicine equipment that the present embodiment adopts is gastroscope, and each servomotor does not all connect gear reduction box.
Above-mentioned embodiment is the preferred embodiments of the present invention, can not limit the present invention, and any of other does not deviate from technical scheme of the present invention and the substitute mode of the change made or other equivalence, is included within protection scope of the present invention.
Claims (8)
1., for a control system for Long-distance Control medicine equipment, it is characterized in that: comprise for realize various input mode input and be converted into electric signal, display relevant information and by communication module control signal is transferred to implementation controller module central controller, be used for providing the communication module of various signal transmission passage and signal conversion, be used for realizing the implementation controller module that multi-dimensional movement controls; Wherein, central controller, communication module and implementation controller module signal connection successively;
Described central controller comprises main control module, control lever load module, touch-screen load module, display module and the first CAN module; Wherein, main control module is connected with control lever load module, touch-screen load module, display module and the first CAN module respectively, and the first CAN module is connected with communication module;
Described communication module comprises the first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, first CAN module outputs signal to a CAN transceiving chip, one CAN transceiving chip outputs signal to secondary signal isolation module, secondary signal isolation module flows to implementation controller module signal, implementation controller module feedback signal gives the 2nd CAN transceiving chip, 2nd CAN transceiving chip outputs signal to the first signal isolation module, first signal isolation module outputs signal to the first CAN module, first CAN module is to main control module signal, main control module is to display module signal, and display module shows result.
2. the control system for Long-distance Control medicine equipment according to claim 1, is characterized in that: described implementation controller module comprises multi-dimensional movement control module, utility appliance interface, some servo-drivers, some servomotors, the second CAN module and some rotating speed displacement detecting sensors; Wherein, multi-dimensional movement control module is connected with utility appliance interface, some servo-drivers and the second CAN module respectively, second CAN module is connected with secondary signal isolation module, each servo-driver correspondence connects 1 servomotor, and the rear axle place of each servomotor is provided with 1 rotating speed displacement detecting sensor.
3. the control system for Long-distance Control medicine equipment according to claim 2, it is characterized in that: dimension driver before and after described servo-driver comprises, tie up driver up and down, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up driver up and down, left and right dimension driver, dimension servomotor before and after rotating shaft dimension driver and driver plate dimension driver are connected respectively, tie up servomotor up and down, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor, each servomotor and servo-driver form closed-loop control system.
4. the control system for Long-distance Control medicine equipment according to claim 3, is characterized in that: described control lever load module comprises the first control lever, the first lever position sensor, the second control lever, the second lever position sensor; Wherein, the first lever position sensor is located in the first control lever, and the second lever position sensor is located in the second control lever; First control lever has 5 degree of freedom direction of motion, is front, rear, left and right and rotation respectively, former and later two directions correspond to respectively tie up up and down upwards, downwards; Left and right both direction correspond to respectively left and right dimension left, to the right; Rotate the rotation that correspond to rotating shaft dimension, when turning clockwise, medicine equipment also turns clockwise, and when being rotated counterclockwise, medicine equipment is also rotated counterclockwise; Second control lever has 3 degree of freedom direction of motion, be respectively forward and backward and rotate, former and later two directions correspond to before and after dimension forward, backward, rotate then correspond to driver plate dimension, control the flexibility of medicine equipment.
5. the control system for Long-distance Control medicine equipment according to claim 3, it is characterized in that: described touch-screen load module comprises touch-screen, start button, stop button be set on the touchscreen, automatically return straight button, recover Hui Zhi before status button, record data button, recover data button, parameter set button and utility appliance control knob.
6. the control system for Long-distance Control medicine equipment according to claim 2, is characterized in that: described first CAN module and the second CAN module are CAN.
7. for a control method for the control system of Long-distance Control medicine equipment, it is characterized in that, comprise the following steps:
(1), according to actual needs, central controller is operated, inputted by manipulation operation bar load module and touch-screen load module, display module shows corresponding operation, the signal of main control module to control lever load module, the input of touch-screen load module is collected and is processed, and passes to communication module by the first CAN module;
(2), a CAN transceiving chip of communication module receives the electric signal that the first CAN module passes over, and a CAN transceiving chip outputs signal to secondary signal isolation module, and secondary signal isolation module flows to implementation controller module signal;
(3), multi-dimensional movement control module is passed to after second CAN module Received signal strength, dimension driver before and after multi-dimensional movement control module controls respectively according to signal content, tie up driver up and down, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up driver up and down, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver drive corresponding servomotor to move respectively, realize multidimensional operation, the rotating speed displacement detecting sensor at the rear axle place of each servomotor, for detecting the displacement of each servomotor, utility appliance interface connects utility appliance,
(4), multi-dimensional movement control module feeds back signal to the 2nd CAN transceiving chip, 2nd CAN transceiving chip outputs signal to the first signal isolation module, first signal isolation module outputs signal to the first CAN module, first CAN module is to main control module signal, main control module is to display module signal, and display module shows result;
(5), operator operates according to display result.
8. the control method of the control system for Long-distance Control medicine equipment according to claim 7, it is characterized in that: described step (3) first regulates the speed ring of each servomotor and electric current loop and forms inner ring, then position ring is adjusted, form position, speed double closed-loop system, because servo controller itself can carry out three ring closed loop adjustment of speed and electric current by the data of rotating speed displacement detecting sensor, simultaneously, the monitoring information of rotating speed displacement detecting sensor also will feed back to implementation controller module, convert feedack to positional information, be transferred to main control module, described front and back dimension driver, tie up and to tie up servomotor before and after driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver correspondence, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down up and down, 1 reducer casing is connected at each servomotor, ratio of gear is 1:n, if servomotor turns an angle W, the slide rail displacement of medicine equipment mechanical arm is L, it is N that rotating speed displacement detecting sensor returns umber of pulse, then displacement is: Displacement=(360/nW) * N*L.
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