CN106272554B - A kind of operating robot operating status fault detection method - Google Patents
A kind of operating robot operating status fault detection method Download PDFInfo
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- CN106272554B CN106272554B CN201610798120.XA CN201610798120A CN106272554B CN 106272554 B CN106272554 B CN 106272554B CN 201610798120 A CN201610798120 A CN 201610798120A CN 106272554 B CN106272554 B CN 106272554B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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Abstract
The present invention relates to a kind of operating robot operating status fault detection methods, it is characterised in that setting includes main control computer, main embedded computer and the surgical robot system 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.Main control computer of the present invention, main embedded computer and mutually carry out fault detect 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
The present invention relates to a kind of operating robot fault detection methods, especially with regard to a kind of operating robot operating 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 is realized to their driving to put minimally invasive hand to good use
Art.Above-mentioned multiple control computer nodes constitute 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 counter-measure the safest is taken according to failure.Existing operating robot
System uses whether additional detection signal is broken down with real-time inspection and control computer node, will greatly increase system in this way
Communications burden.Majority system takes redundance unit with taking over fault equipment at any time at present, and the method causes system resource
Waste；Further, existing surgical robot system does not propose the system solution party based on human-body safety pointedly
Case.
Invention content
In view of the above-mentioned problems, the object of the present invention is to provide a kind of operating robot operating status fault detection method, energy
Enough safety and reliabilities that surgical robot system operation is improved 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 operating status fault detect
Method, operating status include fully operational status and incomplete operation state, it is characterised in that particular content is：1) master control calculates
Fault detect of the machine in fully operational status or incomplete operation state：A1) there is event in fully operational status in main control computer
Barrier：Main control computer is to set the period by LAN router respectively to main embedded computer and several from embedding assembly
Machine broadcasts expected pose signal, and receives the non-operation instruction signal that main embedded computer is sent to set the period, and simultaneously
The attained pose signal respectively sent from embedded computer is received to set the period；If main embedded computer, from embedded
Computer does not receive the expected pose signal that main control computer is sent by LAN router, and main insertion within the setting period
Formula computer does not receive the do-nothing operation answer signal of main control computer return by LAN router, then it is assumed that master control calculates
Machine breaks down；B1) main control computer breaks down under incomplete operation state：Main control computer passes through office to set the period
Domain network router respectively to main embedded computer and it is several from embedded computer send non-operation instruction signal, and with setting
The do-nothing operation answer signal that period receives main embedded computer and respectively returned from embedded computer；If main embedding assembly
Machine and the do-nothing operation that main control computer sent by LAN router is not received within the setting period from embedded computer
Command signal, then it is assumed that main control computer breaks down；2) main embedded computer is in fully operational status or incomplete operation
The fault detect of state：A2) main embedded computer breaks down under fully operational status：Main embedded computer is to set
Period receives the expected pose signal that main control computer is sent, and sends non-operation instruction letter to main control computer to set the period
Number and obtain main control computer return do-nothing operation answer signal；And it is monitored simultaneously respectively from embedded meter by the first communication bus
Control signal in the motor position that calculation machine is sent；If main control computer is not received by LAN router main embedding within the setting period
Enter the non-operation instruction signal of formula computer transmission, then it is assumed that main embedded computer breaks down；B2) main embedded computer
It breaks down under incomplete operation state：Main embedded computer receives the do-nothing operation that main control computer is sent to set the period
Command signal and do-nothing operation answer signal is returned to main control computer, and to set the period by LAN router to from insertion
Formula computer sends non-operation instruction signal and receives the do-nothing operation answer signal respectively returned from embedded computer；If master control
Computer does not receive the do-nothing operation answer signal that main embedded computer returns within the setting period by LAN router,
And do not receive the non-operation instruction signal of main embedded computer transmission within the setting period from embedded computer respectively, then recognize
It breaks down for main embedded computer；3) from embedded computer in fully operational status or the failure of incomplete operation state
Detection：A3 it) breaks down under fully operational status from embedded computer：Respectively pass through from embedded computer to set the period
LAN router receives the expected pose signal that main control computer is sent and is sent out to main control computer by LAN router
Send attained pose signal；Module or imaging tool is driven to drive mould to operation tool through the first communication bus to set the period simultaneously
Control signal in group transmission motor position；If main control computer does not receive within the setting period a certain passes through local from embedded computer
The attained pose signal that network router is sent, and if main embedded computer does not pass through the first communication bus within the setting period
Listen to the motor position control signal sent from embedded computer, then it is assumed that this breaks down from embedded computer；B3) from embedding
Enter formula computer to break down under incomplete operation state：Respectively it is route by LAN from embedded computer to set the period
Device receives the non-operation instruction signal that main control computer and main embedded computer are sent, and to set the period to main control computer
Do-nothing operation answer signal is returned with main embedded computer；If main control computer does not receive a certain from insertion within the setting period
The do-nothing operation answer signal that formula computer is returned by LAN router, and if setting main embedded computer in the period
This do-nothing operation answer signal returned from embedded computer is not received, then it is assumed that this breaks down from embedded computer.
Further, when main control computer breaks down, alarm mechanism and urgency are taken to surgical robot system first
It shuts down system or only takes alarm mechanism, after then executing Restoration Mechanism to main control computer, main control computer continues through office
Domain network router to respectively from embedded computer send signal, 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, and then controls operation tool
Or imaging tool is acted.
Further, when main embedded computer breaks down, alarm mechanism is taken to surgical robot system first
With emergency stop mechanism or only with alarm mechanism, manual mechanism is then executed by main control computer, and then by from embedded
Computer controls operation tool or imaging tool is acted.
Further, when it is a certain break down from embedded computer when, alarm is taken to surgical robot system first
Mechanism and emergency stop mechanism or only with alarm mechanism, execute manual mechanism, with main embedded computer by main control computer
Instead of a certain from embedded computer of failure, main control computer passes through main embedded computer or other from embedded meter
Calculation machine controls operation tool or 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：(1) when main control computer breaks down, main embedded computer is logical
Crossing the second communication bus makes corresponding main control computer indicator light update to wrong dispaly state；(2) when the embedded meter of master
When calculation machine breaks down, operation interface is switched to manual operation interface by main control computer automatically, and prompt master is embedding on the surface
Enter formula computer to break down, while corresponding main embedded computer indicator light update is shown shape by main control computer to mistake
State；(3) 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.
Further, when main control computer, main embedded computer or from embedded computer under fully operational status
It is both needed to start emergency stop mechanism when breaking down, wherein：Emergency stop mechanism refer to from embedded computer receive main control computer or
Module or imaging tool is driven to drive module control operation by corresponding operation tool after the holding order of main embedded computer
Tool or imaging tool stop motion, and keep current pose；Or emergency stop mechanism refers to for a certain from insertion of failure
The main embedded computer of formula computer receives and drives module by corresponding operation tool after the holding order of main control computer
Or imaging tool driving module controls operation tool or imaging tool stop motion, and keep current pose.
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 or imaging tool to drive mould from embedded computer, and then by operation tool
The action of group control operation tool or imaging tool, detailed process are：When main control computer breaks down, main embedding assembly
Machine-cut changes to manual operation interface, manually adjusts area by joint parameter and directly controls respectively from embedded computer, and then passes through
Operation tool drives module or imaging tool driving module control operation tool or imaging tool to be acted；When the embedded meter of master
When calculation machine breaks down, main control computer is switched to manual operation interface, manually adjusts area by joint parameter and directly controls respectively
Drive module or imaging tool that module is driven to control operation tool or imaging work from embedded computer, and then by operation tool
Tool is acted；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 or imaging are driven by operation tool
Tool drives module controls operation tool or 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；When the artificial fully operational status of surgical machine or incomplete operation
It when state, is broken down with main control computer, the slave embedded computer that control operation tool is acted is working properly, main
Embedded computer carries out illustrating that controlling operation tool is acted for use as main control computer, and operator operates joint
Parameter manually adjusts the pose of the operation tool to be controlled in the mapping selection area in area driving module, main embedded computer with
Period reading surgical arm joint parameter is set, and the expected pose of generation is sent to from embedded computer；Work as surgical machine
When artificial fully operational status, receives expected pose signal from embedded computer and module opponent is driven by operation tool
The operation actuator pose of art tool tip carries out closed-loop control, and particular order is：A1) if operation tool end carries hand
The surgical arm of art actuator is in unfolded state, then the operation actuator of operation tool driving module drive surgical tools end is protected
It holds current position, posture and restores to original state, and then drive surgical arm Hui Zhi, subsequently into step a2)；A2) if
The operation actuator that operation tool end carries is not in initial position and surgical arm is in straight state, then operation tool drives module
The operative incision of the operation actuator of drive surgical tools end directly from a patient is exited to initial position, subsequently into step
Rapid a3)；A3) operator unloads operation tool from operation tool driving module, completes operation tool and operating robot
Separation；When the artificial incomplete operation state of surgical machine, receives expected pose signal from embedded computer and pass through hand
Art tool drives module controls the operation actuator pose for tool tip of performing the operation, and particular order is：A1) if operation work
The surgical arm that tool end carries operation actuator is in unfolded state, then operation tool driving module drives surgical arm Hui Zhi, so
After enter step a2)；A2) if the operation actuator that operation tool end carries is not in initial position and surgical arm is in straight
State, then the operative incision of the operation actuator of operation tool driving module drive surgical tools end directly from a patient exit
To initial position, subsequently into step a3)；A3) operator unloads operation tool from operation tool driving module, completes hand
The separation of art tool and operating robot.
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 is used as a certain main embedding assembly used from embedded computer of taking over fault by control
The slave Embedded computer system imaging tool of machine or normal work drives module, and then controls imaging tool and acted；When
When the artificial fully operational status of surgical machine or incomplete operation state, with a certain control imaging tool acted from embedding
Enter formula computer to break down, main embedded computer is as taking over for the slave embedded computer to break down carries out use
Illustrate that controlling imaging tool is acted, operator operates joint parameter and manually adjusts to be controlled in the mapping selection area in area
Imaging tool drives module, and main control computer is to set period reading surgical arm joint parameter and send the expected pose of generation
To main embedded computer；When the artificial fully operational status of surgical machine, main embedded computer receives expected pose signal
It is to the particular order of the imaging illumination module pose progress closed-loop control of imaging tool end by imaging tool driving module：
B1) if the surgical arm that imaging tool end carries imaging illumination module is in unfolded state, imaging tool drives module to drive
The imaging illumination module of dynamic imaging tool end keeps current position, posture, and then drives surgical arm Hui Zhi, subsequently into step
Rapid b2)；B2) if 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 b3)；B3) operator by imaging tool from imaging tool driving module on unload, complete at
As the separation of tool and operating robot；When the artificial incomplete operation state of surgical machine, main embedded computer receives
Expected pose signal drives module to control the imaging illumination module pose of imaging tool end by imaging tool, specifically
Sequentially it is：B1) if the surgical arm that imaging tool end carries imaging illumination module is in unfolded state, imaging tool is driven
Dynamic model group drives surgical arm Hui Zhi, subsequently into step b2)；B2) if imaging tool end carry imaging illumination module not
It is in straight state in initial position and surgical arm, then the imaging illumination module of imaging tool driving module driving imaging tool end
Operative incision directly from a patient is exited to initial position, subsequently into step b3)；B3) operator by imaging tool from
It is unloaded on imaging tool driving module, completes the separation of imaging tool and operating robot.
The invention adopts the above technical scheme, which has the following advantages：1, the present invention is at surgical robot system
When fully operational status or incomplete operation state, pass through main control computer, the main embedded meter in surgical robot system
Calculation machine and the method that failure is mutually detected from embedded computer, can carry under the premise of not increasing any attached detecting element
The safety and reliability of high surgical robot system operation, and effectively reduce the communications burden of system.2, of the invention
Main embedded computer is used to record the operating status of surgical robot system, meanwhile, main embedded computer can be used as superfluous
Remaining slave embedded computer uses, when it is a certain break down from embedded computer after, main embedded computer it is alternative go out
The slave embedded computer of existing failure.3, when main control computer in surgical robot system, main embedded computer or from insertion
When formula computer breaks down, the security mechanism that setting may be used in the present invention completes fault recovery, is exited positioned at disease with auxiliary
Operating robot part in human body, can further improve the safety of surgical robot system.The present invention can extensive use
In minimally-invasive surgery robot system.
Specific implementation mode
Detailed description is carried out to the present invention below by way of 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".
Surgical robot system includes a main control computer, a main embedded computer and several from embedding assembly
Machine；Main control computer is controlled by LAN router to main embedded computer and from embedded computer, main insertion
Formula computer is in communication with each other by LAN router and the first communication bus with from embedded computer respectively, wherein
The preferred CAN bus of first communication bus.
The operating status of operating robot of the present invention includes fully operational status and incomplete operation state, wherein completely
Operating status is defined as：Main control computer is continued by LAN router to main embedded computer and respectively from embedding assembly
Machine sends expected pose signal, any to drive module/imaging to operation tool by the first communication bus from embedded computer
Tool drives module sends motor position control signal and then controls operation tool/imaging tool and acted, any from embedded meter
Calculation machine continues to send attained pose signal to main control computer by LAN router.
Incomplete operation state is defined as：Main control computer does not continue through LAN router to main embedding assembly
Machine and it is any from embedded computer send expected pose signal, respectively from embedded computer continue to main control computer send out
Send attained pose signal, at the same it is any from embedded computer not over the first communication bus to operation tool driving module/
Imaging tool drives module to send motor position and controls signal.
Pass through two specific embodiments operating robot fully operational status that the present invention will be described in detail and hand separately below
The fault detection method of art robot incomplete operation state.
Embodiment 1：
Operating robot fully operational status fault detection method is described in detail in the present embodiment, including following interior
Hold：
1, main control computer is to set the period by LAN router respectively to main embedded computer and several from embedding
Enter formula computer broadcast expected pose signal, and the non-operation instruction letter that main embedded computer is sent is received to set the period
Number, and simultaneously the attained pose signal respectively sent from embedded computer is received to set the period；
2, main embedded computer receives the expected pose signal that main control computer is sent to set the period, 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
It crosses the first communication bus and monitors the motor position control signal respectively sent from embedded computer；
3, the expectation that main control computer is sent respectively is received by LAN router from embedded computer to set the period
Pose signal and by LAN router to main control computer send attained pose signal；It is logical through first to set the period simultaneously
Believe that bus sends motor position and control signal to operation tool driving module/imaging tool driving module；
If 4, main embedded computer, from embedded computer do not receive main control computer within the setting period and pass through office
The expected pose signal that domain network router is sent, and main embedded computer does not receive master control by LAN router and calculates
The do-nothing operation answer signal that machine returns, then it is assumed that main control computer breaks down under fully operational status；
If 5, main control computer does not receive main embedded computer by LAN router within the setting period and sends out
The non-operation instruction signal sent, then it is assumed that main embedded computer breaks down under fully operational status；
If 6, main control computer does not receive within the setting period a certain passes through LAN router from embedded computer
The attained pose signal of transmission, and if setting the period in main embedded computer not by the first communication bus listen to from
Control signal in the motor position that embedded computer is sent, then it is assumed that this occurs event from embedded computer under fully operational status
Barrier.
Further, when main control computer breaks down, alarm mechanism and emergency stop machine are taken to surgical robot system
System, and to main control computer execute Restoration Mechanism after, main control computer continues through LAN router to respectively from embedded meter
Calculation machine sends expected pose signal, if the Restoration Mechanism to main control computer is failed, hand is executed with main embedded computer
Mechanism, and by LAN router control from embedded computer, and then operation tool/imaging tool is controlled into action
Make.
Further, when main embedded computer breaks down, alarm mechanism and urgency are taken to surgical robot system
Shut down system after, and by main control computer execute manual mechanism, and then by from Embedded computer system operation tool/at
As tool is acted.
Further, when it is a certain break down from embedded computer when, alarm mechanism is taken to surgical robot system
After emergency stop mechanism, by main control computer execute manual mechanism, with main embedded computer replace break down it is a certain from
Embedded computer, main control computer by main embedded computer and it is other from Embedded computer system operation tool/at
As 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, emergency stop mechanism of the invention refers to passing through after receiving the holding order of host computer from embedded computer
Corresponding operation tool driving module/imaging tool driving module control operation tool and imaging tool stop motion, and keep working as
Preceding pose, wherein host computer can be main control computer or main embedded computer.
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/imaging tool is 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, by main embedded computer, (be used as a certain of taking over fault makes host computer from embedded computer
With) or normal work it is each from Embedded computer system operation tool drive module, and then control operation tool acted.
For example, when main control computer breaks down, main embedded computer is used as main control computer at this time,
Operator operates the pose that joint parameter manually adjusts the operation tool to be controlled in the mapping selection area in area driving module, leads
Embedded computer reads surgical arm joint parameter to set the period, and the expected pose of generation is sent to from embedding assembly
Machine receives expected pose signal from embedded computer and drives operation of the module to tool tip of performing the operation by operation tool
Actuator pose carries out closed-loop control, and then realizes the operation to operating robot operation tool in operating robot to be located at
Partial security 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
The operation actuator of group drive surgical tools end keeps current position, posture and restores to original state (such as to perform the operation and hold
When row device is surgical clamp, it should be restored to closed position), and then surgical arm Hui Zhi is driven, 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 by main embedded computer (being used as a certain of taking over fault to use from embedded computer) or
The each of normal work drives module from Embedded computer system imaging tool, and then controls imaging tool and acted.
For example, when the slave embedded computer that a certain control imaging tool is acted breaks down, main insertion at this time
Formula computer is used as the slave embedded computer to break down is taken over, and operator operates joint parameter and manually adjusts area
Mapping selection area in be controlled imaging tool driving module, main control computer with set the period read operation shoulder joint join
The expected pose of generation is simultaneously sent to main embedded computer by number, and main embedded computer receives expected pose signal and passes through
Imaging tool drives module to carry out closed-loop control to the imaging illumination module pose of imaging tool end, and then realizes to surgical engine
The operation of device people is withdrawn into initial position with the Partial security for being located at imaging tool in operating robot in patient body, specific suitable
Sequence is：
1) if the surgical arm of imaging tool end carrying imaging illumination module is in unfolded state, imaging tool driving
The imaging illumination module of module driving imaging tool end keeps current position, posture, and then drives surgical arm Hui Zhi, then
It enters 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.
Embodiment 2：
Operating robot incomplete operation status fault detection method is described in detail in the present embodiment, including following interior
Hold：
1, 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.
2, 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.
3, 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 4, 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 5, 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 6, 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, main embedded computer or it is a certain from embedded computer in incomplete operation
When breaking down under state, specific alarm mechanism, Restoration Mechanism and manual mechanism and operating process are substantially the same manner as Example 1,
Unlike unique, when breaking down under incomplete operation state, main control computer, main embedded computer or a certain from embedding
Enter formula computer only with alarm mechanism, does not take emergency stop mechanism.In addition, the alarm mechanism of the present embodiment, Restoration Mechanism
Identical with embodiment 1 with the operation principle of manual mechanism, details are not described herein.
Further, by main embedded computer, (be used as a certain of taking over fault makes host computer from embedded computer
With) or normal work it is each from Embedded computer system operation tool drive module, and then control operation tool acted,
This process is substantially the same manner as Example 1, due to the artificial incomplete operation state of surgical machine, by the hand in operating robot
There is difference in the detailed process that art tool is withdrawn into safely initial position, specially：
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 by main embedded computer (being used as a certain of taking over fault to use from embedded computer) or
The each of normal work drives module from Embedded computer system imaging tool, and then controls imaging tool and acted, this mistake
Journey is substantially the same manner as Example 1, since surgical robot system is incomplete operation state, by imaging tool in operating robot
There is difference in the detailed process that safety is withdrawn into initial position, specially：
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 operating status fault detection method, surgical robot system includes a main control computer, one
Main embedded computer and several from embedded computer；Main control computer is by LAN router to main embedded computer
Controlled with from embedded computer, main embedded computer respectively by LAN router and the first communication bus with from
Embedded computer is in communication with each other；Operating status includes fully operational status and incomplete operation state, wherein fortune completely
Row state is defined as：Main control computer is continued by LAN router to main embedded computer and respectively from embedded computer
Expected pose signal is sent, it is any that module or imaging work are driven to operation tool by the first communication bus from embedded computer
Tool driving module transmission motor position control signal controls operation tool in turn or imaging tool is acted, any from embedding assembly
Machine continues to send attained pose signal to main control computer by LAN router；Incomplete operation state is defined as：Master control
Computer does not continue through LAN router and it is expected position to main embedded computer and any sent from embedded computer
Appearance signal does not continue respectively to send attained pose signal to main control computer from embedded computer, while any from embedded
Computer drives module or imaging tool driving module to send motor position control letter not over the first communication bus to operation tool
Number；It is characterized in that particular content is：
1) fault detect of the main control computer in fully operational status or incomplete operation state：
A1) main control computer breaks down in fully operational status：
Main control computer is to set the period by LAN router respectively to main embedded computer and several in terms of embedded
Calculation machine broadcasts expected pose signal, and receives the non-operation instruction signal that main embedded computer is sent to set the period, and same
When to set the period receive the attained pose signal that is respectively sent from embedded computer；If main embedded computer, from insertion
Formula computer does not receive the expected pose signal that main control computer is sent by LAN router within the setting period, and master is embedding
Enter the do-nothing operation answer signal that formula computer does not receive main control computer return by LAN router, then it is assumed that master control meter
Calculation machine breaks down；
B1) main control computer breaks down under incomplete operation state：
Main control computer is to set the period by LAN router respectively to main embedded computer and several in terms of embedded
Calculation machine sends non-operation instruction signal, and receives main embedded computer to set the period and respectively returned from embedded computer
Do-nothing operation answer signal；If main embedded computer and from embedded computer setting the period in do not receive master control calculate
The non-operation instruction signal that machine is sent by LAN router, then it is assumed that main control computer breaks down；
2) fault detect of the main embedded computer in fully operational status or incomplete operation state：
A2) main embedded computer breaks down under fully operational status：
Main embedded computer receives the expected pose signal that main control computer is sent to set the period, and to set the period to master
Control computer sends non-operation instruction signal and obtains the do-nothing operation answer signal of main control computer return；And pass through first simultaneously
Communication bus is monitored respectively controls signal from the motor position that embedded computer is sent；If main control computer does not lead within the setting period
It crosses LAN router and receives the non-operation instruction signal that main embedded computer is sent, then it is assumed that main embedded computer goes out
Existing failure；
B2) main embedded computer breaks down under incomplete operation state：
Main embedded computer receives non-operation instruction signal that main control computer is sent and to main control computer to set the period
Do-nothing operation answer signal is returned, and non-operation instruction is sent to from embedded computer by LAN router to set the period
The do-nothing operation answer signal that signal and reception are respectively returned from embedded computer；If main control computer does not lead within the setting period
It crosses LAN router and receives the do-nothing operation answer signal that main embedded computer returns, and respectively set from embedded computer
The non-operation instruction signal that main embedded computer is sent is not received in fixed cycle, then it is assumed that event occurs in main embedded computer
Barrier；
3) from embedded computer fully operational status or incomplete operation state fault detect：
A3 it) breaks down under fully operational status from embedded computer：
The expected pose letter that main control computer is sent respectively is received by LAN router from embedded computer to set the period
Number and by LAN router to main control computer send attained pose signal；Simultaneously to set the period through the first communication bus
Module or imaging tool driving module is driven to send motor position and control signal to operation tool；If main control computer is in the setting period
The a certain attained pose signal sent from embedded computer by LAN router is not received inside, and if in the setting period
Interior main embedded computer does not listen to the motor position control signal sent from embedded computer by the first communication bus, then recognizes
It breaks down thus from embedded computer；
B3 it) breaks down under incomplete operation state from embedded computer：
Main control computer and main embedded computer are respectively received by LAN router from embedded computer to set the period
The non-operation instruction signal of transmission, and to set the period do-nothing operation response letter is returned to main control computer and main embedded computer
Number；If main control computer does not receive a certain sky returned from embedded computer by LAN router within the setting period
Answer signal is operated, and if main embedded computer does not receive this empty behaviour returned from embedded computer within the setting period
Response signal, then it is assumed that this breaks down from embedded computer.
2. a kind of operating robot operating status fault detection method as described in claim 1, which is characterized in that when master control meter
When calculation machine break down, alarm mechanism and emergency stop mechanism are taken to surgical robot system first or only take alarm mechanism,
Then after executing Restoration Mechanism to main control computer, main control computer continues through LAN router to respectively from embedding assembly
Machine sends signal, if the Restoration Mechanism to main control computer is failed, executes manual mechanism with main embedded computer, and lead to
LAN router control is crossed from embedded computer, and then control operation tool or imaging tool are acted.
3. a kind of operating robot operating status fault detection method as described in claim 1, which is characterized in that when main insertion
When formula computer breaks down, alarm mechanism and emergency stop mechanism are taken to surgical robot system first or only with alarming machine
System, then by main control computer execute manual mechanism, and then by from Embedded computer system operation tool or imaging work
Tool is acted.
4. a kind of operating robot operating status fault detection method as described in claim 1, which is characterized in that when it is a certain from
When embedded computer breaks down, alarm mechanism and emergency stop mechanism are taken to surgical robot system first or only with report
Alert mechanism executes manual mechanism by main control computer, replaces breaking down with main embedded computer a certain from embedded
Computer, main control computer pass through main embedded computer or other from Embedded computer system operation tool or imaging tool
It is acted.
5. a kind of operating robot operating status fault detection method as claimed in claim 2, which is characterized in that Restoration Mechanism
When referring to that main control computer breaks down, main embedded computer waits for main control computer to restart recovery normally, waits for that master control calculates
After machine restores normal, operator carries out status enquiry operation in the operation interface of main control computer, and main control computer passes through local
Network router sends status enquiry instruction to main embedded computer, receives the state response that main embedded computer is sent and refers to
After order, state of the adjustment surgical robot system to before breaking down.
6. a kind of operating robot operating status fault detection method as described in Claims 2 or 3 or 4, which is characterized in that report
Alert mechanism specifically includes：
(1) when main control computer breaks down, main embedded computer makes corresponding master control by the second communication bus
Indication lamp for computer is updated to wrong dispaly state；
(2) 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 surface, while main control computer indicates corresponding main embedded computer
Lamp is updated to wrong dispaly state；
(3) when it is a certain break down from embedded computer when, operation interface is switched to manual operation by main control computer automatically
Interface, prompt on the surface it is a certain break down from embedded computer, at this time main embedded computer pass through second communication
Bus makes corresponding from the update of embedded computer indicator light to wrong dispaly state.
7. a kind of operating robot operating status fault detection method as described in Claims 2 or 3 or 4, which is characterized in that when
Main control computer, main embedded computer or while breaking down under fully operational status from embedded computer, are both needed to start anxious
System is shut down, wherein：
Emergency stop mechanism refers to leading to after the holding order that embedded computer receives main control computer or main embedded computer
Corresponding operation tool driving module or imaging tool driving module control operation tool or imaging tool stop motion are crossed, and is kept
Current pose；
Or emergency stop mechanism refers to receive master control from the main embedded computer of embedded computer for a certain of failure
After the holding order of computer by corresponding operation tool drive module or imaging tool drive module control operation tool or at
As tool stop motion, and keep current pose.
8. a kind of operating robot operating status fault detection method as described in Claims 2 or 3 or 4, which is characterized in that hand
Mechanism refers to manually adjusting area by the joint parameter of operating robot to directly control main control computer, main embedded computer
Or from embedded computer, and then drive module or imaging tool that module is driven to control operation tool or imaging by operation tool
The action of 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 or imaging tool to drive module control by operation tool
Operation tool or 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 or imaging tool to drive module control by operation tool
Operation tool or imaging tool are 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 or imaging tool to drive by operation tool
Dynamic model group controls operation tool or imaging tool is acted.
9. a kind of operating robot operating status fault detection method as described in Claims 2 or 3 or 4 or 5, feature exist
In, host computer by being used as a certain main embedded computer used from embedded computer or normal work of taking over fault
Module is driven from Embedded computer system operation tool, and then controls operation tool and is acted, wherein host computer is master control
Computer or main embedded computer；
When the artificial fully operational status of surgical machine or incomplete operation state, main control computer breaks down, control operation
The slave embedded computer that tool is acted is working properly, and main embedded computer carries out operation instruction as main control computer
Control operation tool is acted, and operator operates joint parameter and manually adjusts the operation to be controlled in the mapping selection area in area
The pose of tool drives module, main embedded computer read surgical arm joint parameter to set the period, and by the expectation of generation
Pose is sent to from embedded computer；
When the artificial fully operational status of surgical machine, expected pose signal is received from embedded computer and by work of performing the operation
Tool driving module carries out closed-loop control to the operation actuator pose for tool tip of performing the operation, and particular order is：A1) if operation work
The surgical arm that tool end carries operation actuator is in unfolded state, then operation tool drives module drive surgical tools end
Position, posture and the recovery that actuator of performing the operation keeps current drive surgical arm Hui Zhi to original state, 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 by operation tool from operation tool driving module on unload, complete operation tool with
The separation of operating robot；
When the artificial incomplete operation state of surgical machine, receives expected pose signal from embedded computer and pass through operation
Tool drives module controls the operation actuator pose for tool tip of performing the operation, and particular order is：A1) if operation tool
The surgical arm that end carries operation actuator is in unfolded state, then operation tool driving module drives surgical arm Hui Zhi, then
Enter step a2)；A2) if the operation actuator that operation tool end carries is not in initial position and surgical arm is in straight
State, then the operative incision of the operation actuator of operation tool driving module drive surgical tools end directly from a patient exit
To initial position, subsequently into step a3)；A3) operator unloads operation tool from operation tool driving module, completes hand
The separation of art tool and operating robot.
10. a kind of operating robot operating status fault detection method as claimed in claim 9, which is characterized in that work as operation
The operative incision of tool from a patient exits, and completes operation tool and when being kept completely separate of operating robot, host computer passes through
Control as taking over fault a certain main embedded computer used from embedded computer or normal work from embedded
Computer controls imaging tool and drives module, and then controls imaging tool and acted；
When the artificial fully operational status of surgical machine or incomplete operation state, it is a certain control imaging tool acted from
Embedded computer breaks down, and main embedded computer is carried out as the slave embedded computer to break down is taken over using saying
Bright control imaging tool is acted, operator operate joint parameter manually adjust to be controlled in the mapping selection area in area at
As tool drives module, main control computer is to set period reading surgical arm joint parameter and be sent to the expected pose of generation
Main embedded computer；
When the artificial fully operational status of surgical machine, main embedded computer receives expected pose signal and is driven by imaging tool
The particular order that dynamic model group carries out the imaging illumination module pose of imaging tool end closed-loop control is：B1) if imaging work
The surgical arm that tool end carries imaging illumination module is in unfolded state, then imaging tool driving module driving imaging tool end
Imaging illumination module keep current position, posture, and then surgical arm Hui Zhi is driven, 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, then imaging tool drives mould
The operative incision of the imaging illumination module of group driving imaging tool end directly from a patient is exited to initial position, then into
Enter step b3)；B3) operator unloads imaging tool from imaging tool driving module, completes imaging tool and surgical machine
The separation of people；
When the artificial incomplete operation state of surgical machine, main embedded computer receives expected pose signal by being imaged work
Tool driving module controls the imaging illumination module pose of imaging tool end, and particular order is：B1) if imaging tool
The surgical arm that end carries imaging illumination module is in unfolded state, then imaging tool driving module drives surgical arm Hui Zhi, so
After 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, the then operative incision of the imaging illumination module of imaging tool driving module driving imaging tool end directly from a patient
It exits to initial position, subsequently into step b3)；B3) operator unloads imaging tool from imaging tool driving module, complete
At the separation of imaging tool and operating robot.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798120.XA CN106272554B (en) | 2016-08-31 | 2016-08-31 | A kind of operating robot operating status fault detection method |
| 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 |
| PCT/CN2017/099848 WO2018041198A1 (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 |
| 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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| CN201610798120.XA CN106272554B (en) | 2016-08-31 | 2016-08-31 | A kind of operating robot operating status fault detection method |
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| 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 |
| CN110238878B (en) * | 2019-04-30 | 2021-03-30 | 北京云迹科技有限公司 | Self-checking method and device for robot |
| 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 |
| GB2598388A (en) * | 2020-08-31 | 2022-03-02 | Cmr Surgical Ltd | Control system for surgical robot system with safety monitor |
| GB2598387A (en) * | 2020-08-31 | 2022-03-02 | Cmr Surgical Ltd | Control system for surgical robot system wtih safety device |
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