CN107334531A - A kind of robotic surgery equipment and robotic surgery equipment safety control method - Google Patents
A kind of robotic surgery equipment and robotic surgery equipment safety control method Download PDFInfo
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- CN107334531A CN107334531A CN201710642846.9A CN201710642846A CN107334531A CN 107334531 A CN107334531 A CN 107334531A CN 201710642846 A CN201710642846 A CN 201710642846A CN 107334531 A CN107334531 A CN 107334531A
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- operating table
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0266—Operational features for monitoring or limiting apparatus function
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0266—Operational features for monitoring or limiting apparatus function
- A61B2560/0276—Determining malfunction
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- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- Animal Behavior & Ethology (AREA)
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Abstract
The invention discloses a kind of robotic surgery equipment and robotic surgery equipment safety control method.This method collects the status parameter values for characterizing operating table instrument running status, by the status parameter values of collection compared with preset state reference value, judge difference between the two whether in the error range of permission, so as to judge whether operating table instrument breaks down, for reversibility failure, prompt operating personnel and within the given period, whether the failure for analyzing operating table instrument repeatedly according to specified time interval has been removed, if after predetermined time period, the failure of operating table instrument is not removed yet, operating table instrument failure is changed to irrecoverability failure, for irrecoverability failure, prompting operator simultaneously locks operating table instrument, and control machine people's surgical apparatus is restarted.
Description
Technical field
The present invention relates to robotic surgery technical field, more particularly to a kind of robotic surgery equipment and robotic surgery
Equipment safety control method.
Background technology
Robotic surgical system is the synthesis for integrating multinomial modern high tech method.At present, robotic surgery system
System is mainly used in department of cardiac surgery and prostatectomy.Surgeon can manipulate operating table by the console away from operating table
The machine of side is performed the operation.This modus operandi is totally different from traditional operation concept, is especially led in the world in minimally invasive surgery
Domain is undisputed revolutionary surgical operation new trend.
When doing surgical operation using robot, the both hands of doctor will not touch patient.Once incision site is determined, it is equipped with
The mechanical arm of camera and other surgical technique and tools need to be only sitting in action, the surgeons such as cut-out, hemostasis and suture is implemented generally
It is on the console of operating room, observes and instruct mechanical arm work just.Moreover, the technology future can allow doctor in the earth
Is implemented to the patient of the other end by operation for one end.
To ensure the normal work of robotic surgery equipment, it is necessary to improve the security control performance of equipment.Especially once
Mode of operation mistake ensures that patient and doctor are using, it is necessary to robotic surgery equipment makes quick and correct response with this
Security during Medical Devices.
The content of the invention
For above-mentioned technical problem, the invention provides a kind of machine higher compared to prior art security control performance
People's surgical apparatus and robotic surgery equipment safety control method.
Robotic surgery equipment safety control method provided by the invention, the robotic surgery equipment control including doctor
Platform, and the operating table instrument controlled by the surgeon console, the operating table instrument include instrument arm and camera arm, institute
Method of controlling security is stated to comprise the following steps：
S10, the surgeon console are collected by the shape of the sign instrument running status of the operating table instrument Real-time Feedback
State parameter value；
The status parameter values of collection compared with preset state reference value, are judged two by S20, the surgeon console
Whether the difference between person is in the error range of permission：
If difference between the two judges the operating table instrument fault-free, performs step without departing from the error range
Rapid S80；
If difference between the two exceeds the error range, judge that the operating table instrument breaks down, perform step
Rapid S30；
S30, the surgeon console judge whether the failure of the operating table instrument belongs to restorability failure；
If the failure of the operating table instrument belongs to irrecoverability failure, step S70 is performed；
If the failure of the operating table instrument belongs to restorability failure, step S40 is performed；
S40, the surgeon console are implemented to include the warning measure for lighting yellow indicator lamp, represent the operating table instrument
There occurs restorability failure；
S50, in predetermined time period, the surgeon console returns according to specified time interval and performs step S10
And S20, to judge whether the failure of the operating table instrument has been removed；
S60, if after predetermined time period, the failure of the operating table instrument is not removed yet, the surgeon console
It is irrecoverability failure to change the original sentence to the failure, performs step 70；
S70, the surgeon console are implemented to include lighting red led and lock the operating table instrument and restart
The emergency measure of robotic surgery equipment, represent that there occurs irrecoverability failure for the operating table instrument；
S80, the surgeon console are implemented to include the measure for lighting green indicating lamp, represent the operating table instrument operation
Normally.
According to an embodiment of the invention, above-mentioned method of controlling security is further comprising the steps of：
S90, when receive doctor by press the emergency stop switch on the surgeon console send stop command when,
The surgeon console is implemented to include lighting red led and cuts off the stringent effort of the operating table instrument power source.
According to an embodiment of the invention, in above-mentioned method of controlling security, in the step S70, the surgeon console
While the operating table instrument is locked, the status parameter values of the operating table instrument are preserved to error log.
According to an embodiment of the invention, in above-mentioned method of controlling security, warning measure, emergency measure and the stringent effort
Also include sending wrong buzzer, and display is used for describing operating mistake and tackles the text message of policy.
According to an embodiment of the invention, in above-mentioned method of controlling security, restorability failure includes losing image, losing electricity
Source, and the instrument arm and/or camera arm coordinate deviate specified location.
In addition, the present invention also provides a kind of robotic surgery equipment, including：
Operating table instrument；
The surgeon console of the operating table instrument is controlled for doctor, the surgeon console is provided with robotic surgery
Equipment safety control system, the safety control system include：
State collection module, it is used to collect by the shape of the sign instrument running status of the operating table instrument Real-time Feedback
State parameter value；
State analyzing module, it is connected with the state collection module, for the state collection module collection will to be received
The status parameter values of collection compared with preset state reference value, judge difference between the two whether permission error model
In enclosing, so as to judge whether the operating table instrument breaks down；
Failure analysis module, it is connected with the state analyzing module, described in judging when the state analyzing module
When operating table instrument breaks down, determine whether the failure of the operating table instrument belongs to restorability failure；
Central control module, it is connected with state collection module, state analyzing module and the failure analysis module, is used for
1) when the state analyzing module judges the operating table instrument fault-free, control green indicating lamp is bright, represents the operation
Platform instrument normal operation；2) when the failure analysis module judges that restorability failure occurs for the operating table instrument, control
Yellow indicator lamp is bright, represents the operating table instrument there occurs restorability failure, and in predetermined time period, according to specified
Time interval controls described in state analyzing module reanalyse the failure of the operating table instrument and whether removed, if by
After predetermined time period, the failure of the operating table instrument is not removed yet, controls the failure analysis module to judge the operation
Irrecoverability failure occurs for platform instrument；3) when the failure analysis module judges that irrecoverability occurs for the operating table instrument
During failure, control red led is bright, represents the operating table instrument there occurs irrecoverability failure, and lock the hand
Art platform instrument, and control machine people's surgical apparatus are restarted.
According to an embodiment of the invention, above-mentioned surgeon console is additionally provided with emergency stop switch, when doctor is described by pressing
Emergency stop switch and when sending stop command, the central control module of the safety control system is related according to the stop command received
Signal control red led is bright, and starts jerk triggers circuit, to cut off the operating table instrument power source.
According to an embodiment of the invention, above-mentioned emergency stop switch by the yellow indicator lamp, red led and green with being referred to
Show that the integrated device state indicator lamp of lamp is arranged side by side on the panel of the surgeon console.
According to an embodiment of the invention, above-mentioned safety control system is additionally provided with the storage for connecting the central control module
Unit module, when the central control module locks the operating table instrument, the central control module receives the state
The status parameter values for collecting the operating table instrument of module collection are preserved to error log, are stored in the memory cell module.
According to an embodiment of the invention, above-mentioned operating table instrument includes instrument arm and camera arm.
Compared with prior art, one or more embodiments of the invention can have the following advantages that：
1) present invention can automatic identification equipment running status, take corresponding response at different level for different fault types
Measure, the security performance of robotic surgery equipment can be effectively improved.
2) present invention is confirmed repeatedly for that can recover class failure within the given time cycle, if failture evacuation,
Cancellation is warned, if failure remains unchanged, is automatically upgraded to unrecoverable failure, is intervened intelligently, can effectively improve machine
The security performance of device people's surgical apparatus.
3) present invention is by speech ciphering equipment, display device, device state indicator lamp and the jerk integrated on surgeon console
Operator's equipment running status are prompted in switch diversification in all directions so that operator can quickly make certainly in a short time
It is disconnected, effectively improve processing safety.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and obtained in claim and accompanying drawing.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be provided commonly for explaining the present invention, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the composition schematic diagram for the robotic surgery equipment safety control system that the embodiment of the present invention one provides；
Fig. 2 is the workflow diagram for the robotic surgery equipment safety control method that the embodiment of the present invention two provides.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made below in conjunction with accompanying drawing further
Ground describes in detail.
Embodiment one
As shown in figure 1, it is the composition of one provided by the invention exemplary robotic surgery equipment safety control system
Schematic diagram.It should be noted that Fig. 1 is only the composition schematic diagram of modular unit.The present invention in the specific implementation, can be according to tool
Body requirement is added on this basis, modifications or substitutions (embodiment as described below), as long as of the present invention
, all should be within protection scope of the present invention in technical scope.
Generally, robotic surgery equipment can be divided into two large divisions：Surgeon console and doctor are controlled by the doctor
The operating table instrument that platform processed manipulates.In the present embodiment, the operating table instrument mainly includes instrument arm and camera arm.
As it was previously stated, the security in order to ensure patient and doctor when using robotic surgery equipment, the present invention are curing
Raw console is provided with robotic surgery equipment safety control system as shown in Figure 1.The system mainly includes：
State collection module 100, for collecting by the sign instrument running status of the operating table instrument Real-time Feedback
Status parameter values；
State analyzing module 200, it connects described state collection module 100, for by the state collection module collection
By the status parameter values of collection compared with the state reference value of system intialization, judge whether difference between the two is allowing
Error range in, so as to judge whether the operating table instrument breaks down；Herein it should be noted that the shape of system intialization
State reference value both can be that system is known or system is calculated indirectly according to certain principle based on known parameters
's；
Failure analysis module 300, it connects the state analyzing module 200, for judging when the state analyzing module
When the operating table instrument breaks down, determine whether the failure of the operating table instrument belongs to restorability failure；
Central control module 400, it connects state collection module 100, state analyzing module 200 and the accident analysis mould
Block 300, and it is mainly used in following three kinds of situations：
1) do not broken down when the state analyzing module judges the operating table instrument (including the feelings that failure has been removed
Condition) when, the central control module controls the green indicating lamp on surgeon console panel bright, represents the operating table instrument fortune
Row is normal；
2) when the failure analysis module judges that restorability failure occurs for the operating table instrument, the center control
Yellow indicator lamp on module control surgeon console panel is bright, represents the operating table instrument there occurs restorability failure,
And in predetermined time period, the operating table is reanalysed according to state analyzing module described in specified time interval controls
Whether the failure of instrument has been removed, if after predetermined time period, the failure of the operating table instrument is not removed yet, then is controlled
Making the failure analysis module judgement operating table instrument, there occurs irrecoverability failure；
3) when the failure analysis module judges that irrecoverability failure occurs for the operating table instrument, the center control
Red led on molding block control surgeon console panel is bright, and representing the operating table instrument, there occurs irrecoverability event
Barrier, and the operating table instrument is locked, and control machine people's surgical apparatus is restarted.
4) when doctor is by pressing the emergency stop switch to send stop command, the central control module is according to receiving
Stop command coherent signal control red led it is bright, and start jerk triggers circuit, to cut off the operating table instrument electricity
Source.
In addition, above-mentioned safety control system is also provided with connecting the memory cell mould of the central control module 400
Block 500, for when the central control module is locking the operating table instrument, the central control module is by the state
The status parameter values for the operating table instrument that collection module is collected are preserved to error log, are stored in the memory cell module.
In the present embodiment, above-mentioned emergency stop switch can with by yellow indicator lamp, red led and green indicating lamp collection
Into device state indicator lamp be vertically disposed on the panel of the surgeon console.Emergency stop switch protrusion surface, it is easy to grasp
Identify.Device state indicator lamp uses three coloured light lamppost, represents irrecoverability failure substantially according to red, yellow represents can
Restorative failure, green represent that the principle of normal operation is shown.This design ensures that emergency situations operator can the very first time
Resolution is made, shortens the reaction time, improves processing safety.
Embodiment two
The present invention also provides a kind of robotic surgery equipment safety control method, applied to the machine described in such as embodiment one
Device people's surgical apparatus.As shown in Fig. 2 the method for controlling security comprises the following steps：
S10, the surgeon console are collected by the shape of the sign instrument running status of the operating table instrument Real-time Feedback
State parameter value；
The status parameter values of collection compared with preset state reference value, are judged two by S20, the surgeon console
Whether the difference between person is in the error range of permission：
If difference between the two judges the operating table instrument fault-free, performs step without departing from the error range
Rapid S80；Do not broken down here, the operating table instrument fault-free can both refer to operating table instrument, operating table can also be referred to
The failure of instrument has been removed；
If difference between the two exceeds the error range, judge that the operating table instrument breaks down, perform step
Rapid S30；
S30, the surgeon console judge whether the failure of the operating table instrument belongs to restorability failure；
If the failure of the operating table instrument belongs to irrecoverability failure, step S70 is performed；
If the failure of the operating table instrument belongs to restorability failure, step S40 is performed；
S40, the surgeon console take the warning measure including lighting yellow indicator lamp, represent the operating table instrument
There occurs restorability failure；
S50, in predetermined time period, the surgeon console returns according to specified time interval and performs step S10
And S20, to judge whether the failure of the operating table instrument has been removed；
S60, if after predetermined time period, the failure of the operating table instrument is not removed yet, the surgeon console
It is irrecoverability failure to change the original sentence to the failure, performs step 70；
S70, the surgeon console are taken including lighting red led and the locking operating table instrument and restarting
The emergency measure of robotic surgery equipment, represent that there occurs irrecoverability failure for the operating table instrument；
S80, the surgeon console take the measure including lighting green indicating lamp, represent the operating table instrument operation
Normally.
S90, when receive doctor by press the emergency stop switch on the surgeon console send stop command when,
The surgeon console is implemented to include lighting red led and cuts off the stringent effort of the operating table instrument power source.
Certainly, the above method is only merely specific implementation case.The present invention can also be expanded further on this basis.
For example, in the step S70, the surgeon console is while the operating table instrument is locked, also by the operating table
The status parameter values of instrument are preserved to error log.
In addition, the surgeon console can also send mistake when taking warning measure, emergency measure and/or stringent effort
Buzzer, and display are used for describing operating mistake and tackle the text message of policy.
Specifically, restorability failure can for example be lost image, lose power supply, and the instrument arm and/or take the photograph
Situations such as deviateing specified location as arm coordinate, do not repeat one by one herein.
It is described above, it is only the specific implementation case of the present invention, protection scope of the present invention is not limited thereto, any ripe
Those skilled in the art are known in technical specification of the present invention, modifications of the present invention or replacement all should be in the present invention
Protection domain within.
Claims (10)
1. a kind of robotic surgery equipment safety control method, the robotic surgery equipment includes surgeon console, Yi Jitong
The operating table instrument of the surgeon console control is crossed, the operating table instrument includes instrument arm and camera arm, the safety control
Method processed comprises the following steps：
S10, the surgeon console is collected is joined by the state of the sign instrument running status of the operating table instrument Real-time Feedback
Numerical value；
The status parameter values of collection compared with preset state reference value, are judged both it by S20, the surgeon console
Between difference whether in the error range of permission：
If difference between the two judges the operating table instrument fault-free, performs step without departing from the error range
S80；
If difference between the two exceeds the error range, judge that the operating table instrument breaks down, perform step
S30；
S30, the surgeon console judge whether the failure of the operating table instrument belongs to restorability failure；
If the failure of the operating table instrument belongs to irrecoverability failure, step S70 is performed；
If the failure of the operating table instrument belongs to restorability failure, step S40 is performed；
S40, the surgeon console are taken including the luminous warning measure of control yellow indicator lamp, represent the operating table instrument
There occurs restorability failure；
S50, in predetermined time period, the surgeon console returned according to specified time interval perform step S10 and
S20, to judge whether the failure of the operating table instrument has been removed；
S60, if after predetermined time period, the failure of the operating table instrument is not removed yet, and the surgeon console is changed the original sentence to
The failure is irrecoverability failure, performs step 70；
S70, the surgeon console, which is taken, to be lighted including control red led and locks the operating table instrument and restart
The emergency measure of robotic surgery equipment, represent that there occurs irrecoverability failure for the operating table instrument；
S80, the surgeon console are taken including the luminous measure of control green indicating lamp, represent the operating table instrument operation
Normally.
2. robotic surgery equipment safety control method as claimed in claim 1, it is characterised in that further comprising the steps of：
S90, when receive doctor by press the emergency stop switch on the surgeon console send stop command when, it is described
Surgeon console is implemented to include lighting red led and cuts off the stringent effort of the operating table instrument power source.
3. robotic surgery equipment safety control method as claimed in claim 1, it is characterised in that：
In the step S70, the surgeon console is while the operating table instrument is locked, by the operating table instrument
Status parameter values preserve to error log.
4. robotic surgery equipment safety control method as claimed in claim 1, it is characterised in that：
Warning measure, emergency measure and the stringent effort also include sending wrong buzzer, and display is used for describing operation mistake
Miss and tackle the text message of policy.
5. robotic surgery equipment safety control method as claimed in claim 1, it is characterised in that：
Restorability failure includes losing image, losing power supply, and the instrument arm and/or camera arm coordinate deviate specific bit
Put.
A kind of 6. robotic surgery equipment, it is characterised in that including：
Operating table instrument；
The surgeon console of the operating table instrument is controlled for doctor, the surgeon console is provided with robotic surgery equipment
Safety control system, the safety control system include：
State collection module, it is used to collect is joined by the state of the sign instrument running status of the operating table instrument Real-time Feedback
Numerical value；
State analyzing module, it is connected with the state collection module, for by the state collection module collection by collection
Status parameter values compared with preset state reference value, judge difference between the two whether permission error range
It is interior, so as to judge whether the operating table instrument breaks down；
Failure analysis module, it is connected with the state analyzing module, for judging the operation when the state analyzing module
When platform instrument breaks down, determine whether the failure of the operating table instrument belongs to restorability failure；
Central control module, it is connected with state collection module, state analyzing module and the failure analysis module, for 1) when
When the state analyzing module judges the operating table instrument fault-free, control green indicating lamp is bright, represents the operating table instrument
Device normal operation；2) when the failure analysis module judges that restorability failure occurs for the operating table instrument, yellow is controlled
Indicator lamp is bright, represents the operating table instrument there occurs restorability failure, and in predetermined time period, according to it is specified when
Between state analyzing module described in Separation control reanalyse the failure of the operating table instrument and whether removed, if by predetermined
Period after, the failure of the operating table instrument is not removed yet, controls the failure analysis module to judge the operating table instrument
Irrecoverability failure occurs for device；3) when the failure analysis module judges that irrecoverability failure occurs for the operating table instrument
When, control red led is bright, represents the operating table instrument there occurs irrecoverability failure, and lock the operating table
Instrument, and control machine people's surgical apparatus are restarted.
7. robotic surgery equipment as claimed in claim 6, it is characterised in that：
The surgeon console is additionally provided with emergency stop switch, when doctor sends stop command by pressing the emergency stop switch
When, the central control module of the safety control system controls red led bright according to the stop command coherent signal received,
And start jerk triggers circuit, to cut off the operating table instrument power source.
8. robotic surgery equipment as claimed in claim 7, it is characterised in that：
The emergency stop switch and the device state indicator lamp integrated by the yellow indicator lamp, red led and green indicating lamp
It is arranged side by side on the panel of the surgeon console.
9. robotic surgery equipment as claimed in claim 6, it is characterised in that：
The safety control system is additionally provided with the memory cell module for connecting the central control module, when the center control
When module locks the operating table instrument, the central control module is by the operating table instrument of the state collection module collection
Status parameter values are preserved to error log, are stored in the memory cell module.
10. robotic surgery equipment safety control method as claimed in claim 6, it is characterised in that：
The operating table instrument includes instrument arm and camera arm.
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Cited By (9)
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| CN109730772A (en) * | 2018-12-27 | 2019-05-10 | 北京术锐技术有限公司 | Operate enabled control system and the robotic assisted surgery equipment with the system |
| CN111685895A (en) * | 2019-10-29 | 2020-09-22 | 成都博恩思医学机器人有限公司 | Surgical instrument type automatic identification system of surgical robot |
| CN112587239A (en) * | 2020-12-30 | 2021-04-02 | 上海微创医疗机器人（集团）股份有限公司 | Medical robot, fault detection method and storage medium |
| CN113057735A (en) * | 2021-03-16 | 2021-07-02 | 上海微创医疗机器人（集团）股份有限公司 | Control method of surgical robot system, readable storage medium and robot system |
| WO2022007628A1 (en) * | 2020-07-10 | 2022-01-13 | 北京术锐技术有限公司 | Robotic system and exit method |
| CN114347037A (en) * | 2022-02-16 | 2022-04-15 | 中国医学科学院北京协和医院 | Robot system fault detection processing method based on composite identification and robot system |
| CN114536401A (en) * | 2022-02-16 | 2022-05-27 | 中国医学科学院北京协和医院 | Robot system fault detection processing method based on multiple pose identifications and robot system |
| CN114536402A (en) * | 2022-02-16 | 2022-05-27 | 中国医学科学院北京协和医院 | Robot system fault detection processing method based on associated identification and robot system |
| CN115568952A (en) * | 2022-09-27 | 2023-01-06 | 北京长木谷医疗科技有限公司 | Intelligent detection system, method and device for orthopedic surgery robot |
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