CN107468340A - A kind of operating robot energy instrument control system and energy instrument control method - Google Patents
A kind of operating robot energy instrument control system and energy instrument control method Download PDFInfo
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- CN107468340A CN107468340A CN201710709105.8A CN201710709105A CN107468340A CN 107468340 A CN107468340 A CN 107468340A CN 201710709105 A CN201710709105 A CN 201710709105A CN 107468340 A CN107468340 A CN 107468340A
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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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
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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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00607—Coagulation and cutting with the same instrument
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00702—Power or energy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
- A61B2018/1246—Generators therefor characterised by the output polarity
- A61B2018/126—Generators therefor characterised by the output polarity bipolar
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B2018/1462—Tweezers
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Abstract
The invention discloses a kind of operating robot energy instrument control system and energy instrument control method, for realizing the remote control of the energy instrument in operating robot.The control system includes：Main control device, router, the first control panel and energy instrument；Wherein, after the main control device receives the control command being controlled for the action to the energy instrument, the control command is sent to by first control panel by the router, the control command is resolved to control signal by first control panel, and the state of the M output interface is controlled according to the control signal, the state of the output interface includes being turned on or off, and the control signal is sent to by the energy instrument by the output interface in opening, the energy instrument is enabled to perform the control command according to the control signal and the output interface in opening.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of operating robot energy instrument control system and energy measuring device
Tool control method.
Background technology
Energy instrument is to act on tissue with form of energy such as electric energy, acoustic energy and luminous energy, realizes tissue cutting and blood coagulation
Enable to cutting quick, accurate etc. the operating theater instruments equipment of function, and using energy instrument, and can also in cutting
Possess blood coagulation, without infection the advantages that, therefore be widely used in the operation in surgical operation, such as the high frequency currently used for operation
Electric knife, laser knife and ultrasound knife etc..
At present, the application of energy instrument is also in the doctor to be performed the operation the hand-held stage operated, to energy instrument
Control process be also required to doctor and interacted manually with the interactive device on energy instrument, and then realize the function of energy instrument
Control, control mode are more single so that doctor can only be operated before sick bed of performing the operation, moreover, being carried out in long-time
During operation, doctor is easy to fatigue occur, and then easy situations such as causing doctor's hand tremor, so as to also be increased by operation
Risk.
The content of the invention
The embodiment of the present invention provides a kind of operating robot energy instrument control system and energy instrument control method, is used for
Realize the remote control of the energy instrument in operating robot.
First aspect, there is provided a kind of operating robot energy instrument control system, the control system include：Main control device,
Router, the first control panel and energy instrument：
The router is connected by Ethernet interface with the main control device；
First control panel includes M output interface, and different output interfaces is used to export in the M output interface
Different control signals, wherein, M is positive integer；First control panel is connected by Ethernet interface with the router；
The energy instrument is connected with M output interface in first control panel respectively by way of electrical connection,
The energy instrument is the apparatus that the operation in Minimally Invasive Surgery is performed by energy；
Wherein, when the main control device receives the control command being controlled for the action to the energy instrument
Afterwards, the control command is sent to by first control panel by the router, first control panel is by the control
Command analysis is control signal, and the state of the M output interface is controlled according to the control signal, the output interface
State includes being turned on or off, and the control signal is sent into the energy by the output interface in opening
Apparatus so that the energy instrument can be according to performing the control signal and the output interface in opening
Control command.
Optionally, the control system also includes the second control panel, and one end of second control panel passes through Ethernet interface
It is connected with the router, the other end is connected with the energy instrument, and second control panel is used to receive the master control
During the data read command that equipment is sent by the router, the data read command is used to indicate to read the energy measuring device
The current energy value of the energy instrument is read in the energy value of tool, control.
Optionally, the energy instrument is electric knife, then the control command includes energy increase order, energy reduces
Order, cutting order, blood coagulation order；Wherein, the energy increase order is used for the output current value for increasing the electric knife,
The energy reduces the output current value that order is used to reduce the electric knife, and the cutting order is used for the high-frequency electrical
The function setting of knife is cutting function, and it is coagulation function that the blood coagulation order, which is used for the function setting of the electric knife,.
Optionally, the cutter head of the electric knife is bipolar cutter head, and the mode of operation of the electric knife includes bipolar mould
Formula；
When the electric knife is received for indicating that the electric knife switches to the first control signal of double pole mode
Afterwards, two electrodes of the electric knife are in enabled state so that the pathological tissues production between described two electrodes
Raw high temperature, to realize the cutting of the electric knife or coagulation function.
Optionally, the mode of operation of the electric knife also includes monopolar mode,
When the electric knife is received for indicating that the electric knife switches to the second control signal of monopolar mode
Afterwards, one of electrode in two electrodes of the electric knife is in enabled state, and is in enabled state by described
Electrode with setting pole plate on one's sick bed to form two electrodes, to cause the disease contacted with the electrode in enabled state
Become tissue and produce high temperature, to realize the cutting of the electric knife or coagulation function.
Optionally, the mode of operation of the electric knife also includes non-energy apparatus pattern；
When the electric knife is received for indicating that the electric knife disconnects the control signal being connected with energy source
Afterwards, the energy source is provided for cutting the energy with blood coagulation for the electric knife, then the two of the electric knife electrode
It is in forbidding enabled state, then both ends of the two of the electric knife electrode as instrument, to receive other
Control signal allows to realize the electric knife crawl pathological tissues or separates the function of pathological tissues.
Second aspect, there is provided a kind of operating robot energy instrument control method, this method include：
Energy instrument receives the control command of the main control device transmission by the first control panel, and the control command is used for
Indicate the energy instrument action which be to be；The energy instrument includes the first control panel, and first control panel includes M
Individual output interface, different output interfaces is used to export different control signals in the M output interface, wherein, M is just whole
Number；
The control command is resolved to control signal by the energy instrument by first control panel, and by described
First control panel controls the state of the M output interface according to the control signal, and the state of the output interface includes opening
Open or close so that the energy instrument can be held according to the control signal and the output interface in opening
The row control command.
Optionally, the energy instrument also includes the second control panel, then methods described also includes：
Energy instrument receives the data read command that the main control device is sent, and the data read command is used to indicate to read
Take the energy value of the energy instrument；
The energy instrument reads the current energy value of the energy instrument by the control of the second control panel；
The current energy value is sent to the main control device by the energy instrument by the first control panel, to cause
The current energy value can be shown by stating main control device.
The third aspect, there is provided a kind of computer installation, described device include processor, and the processor is used to perform storage
Method any one of the energy instrument control method provided such as second aspect is provided during the computer program stored in device
Step.
Fourth aspect, there is provided a kind of computer-readable recording medium, be stored thereon with computer program, the computer journey
The step of method any one of the energy instrument control method provided such as first aspect is provided when sequence is executed by processor.
In embodiments of the present invention, control command can be sent to by the first control by Ethernet by main control device
Plate, and then by the action of the first control panel control energy instrument, so, main control device then can flexibly be arranged on other positions
Put, and energy instrument is controlled by control panel so that energy instrument is not carried out dynamic outside the control signal of control panel
Make so that surgical procedure is more accurate, and so, energy instrument is directly operated for a long time without doctor, entered
And also avoid doctor operation and operation risk that caused hand tremor is brought for a long time.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, it will make below to required in the embodiment of the present invention
Accompanying drawing is briefly described, it should be apparent that, accompanying drawing described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structural representation of operating robot energy instrument control system provided in an embodiment of the present invention；
Fig. 2 is the operating robot energy instrument control system provided in an embodiment of the present invention for adding the second control panel
A kind of structural representation；
Fig. 3 is the flow chart of operating robot energy instrument control method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural representation of computer installation provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
The technical background of the embodiment of the present invention is described below.
At present, the application of energy instrument is also in the doctor to be performed the operation the hand-held stage operated, to energy instrument
Control process be also required to doctor and interacted manually with the interactive device on energy instrument, and then realize the function of energy instrument
Control, control mode are more single so that doctor can only be operated before sick bed of performing the operation, and so, be carried out in long-time
During operation, doctor is easy to fatigue occur, so as to also be increased by the risk of operation.
In consideration of it, the embodiment of the present invention provides a kind of operating robot energy instrument control system, in the control system,
Control command can be sent to by Ethernet by the first control panel by main control device, and then energy is controlled by the first control panel
The action of measuring device tool, so, main control device then can flexibly be arranged on other positions, and control energy by control panel
Apparatus so that energy instrument is not carried out the action outside the control signal of control panel so that surgical procedure is more accurate, and
So, energy instrument is directly operated for a long time without doctor, and then also avoids doctor and perform the operation for a long time
And the operation risk that caused hand tremor is brought.
Technical scheme provided in an embodiment of the present invention is introduced below in conjunction with the accompanying drawings.
Fig. 1 is referred to, one embodiment of the invention provides a kind of operating robot energy instrument control system 10, the control system
System can include main control device 101, router 102, the first control panel 103 and energy instrument 104.Wherein, the router
102 can be respectively connected with by Ethernet interface and the control panel 103 of main control device 101 and first, first control panel 103
It can be connected by way of electrical connection with the energy instrument 104.
In the embodiment of the present invention, control command can be received by main control device 101, control command is passed through into router
102 are sent to the first control panel.Therefore, the main control device of the embodiment of the present invention is can serve as available for the device for receiving order
101.For example, main control device 101 can be the surgeon console in operating robot, or with the energy instrument in switch board
Corresponding control device etc., certainly, main control device 101 other possible devices can also be realized in operating robot, this
Inventive embodiments are without limitation.Wherein, control command is the order being controlled for the action to energy instrument 103,
Such as the mode of operation of control energy instrument 103 and the order of energy increase and decrease.Wherein, operating robot refers to the control by doctor
Operating robot processed carries out surgical procedures, to substitute the Medical treatment device for carrying out current doctor hand-held apparatus and carrying out surgical operation
Tool.Wherein, operating robot is mainly made up of the part such as surgeon console, switch board and mechanical arm, and surgeon console is used for
The control command of doctor is received, switch board is used for energy source placed operating theater instruments and control energy instrument etc., and mechanical arm is used
In the control command for receiving console or switch board and perform the concrete operations in surgical operation.The control of the embodiment of the present invention
System is the control for realizing energy instrument used in operating robot.
Specifically, main control device 101 can receive the order that operating personnel directly input to main control device 101, can also
The order sent by other equipment is received, such as when main control device 101 is the control device in switch board, then master control is set
Standby 101 can receive the control command that doctor is sent by surgeon console.
In the embodiment of the present invention, the first control panel 103 can receive operational order by router 102.Wherein, router
102 are used to for the operational order of main control device 101 to be transmitted to the equipment specified, and have both referred to the first control panel 103, its intermediate value here
It is noted that the function of router 102 can also be realized by other network equipments, such as can by interchanger come
Realize.First control panel 103 can pass through single-chip microcomputer (Microcontrollers) or programmable logic controller (PLC)
(Programmable Logic Controller, PLC) is realized, certainly, the first control panel 103 can also can by other
Can processing apparatus realize that the embodiment of the present invention is without limitation.Wherein, the first control panel can be arranged on switch board,
Either it is arranged on above energy instrument or sets on the robotic arm, the embodiment of the present invention is without limitation.
Specifically, the first control panel 103 includes M output interface, the different output signals in this M output interface are used
In the different control signal of output, that is to say, that each output interface is directed to different energy against this different control function
Its corresponding operating function of measuring device tool is also not quite similar, therefore in practical application, the control that different output interfaces is exported
Signal can be configured according to actual conditions.
In the embodiment of the present invention, because the operational order that router 102 forwards is the number by Ethernet to be transmitted
According to bag, therefore the first control panel 103 is after operational order is received, it is also necessary to which the operational order parsing to data packet form turns into
Control signal, the first control panel 103 can also control the state of M output interface of the first control panel according to control signal,
The state includes being turned on or off, then can be by the output interface by the control when output interface is in opening
Signal processed is sent to energy instrument.Wherein, output interface is realized by relay, then the i.e. corresponding relay of the state of output interface
The folding of device and closed mode.
In the embodiment of the present invention, energy instrument 104 is to act on tissue with energy such as electric energy, acoustic energy and luminous energy, is realized
The operating theater instruments of the function such as tissue cutting and blood coagulation, such as can be electric knife, laser knife and ultrasound knife；Certainly, energy
Apparatus 104 can also include other possible energy instruments 104, as long as by the form of energy come the device that is operated
Tool can be as the energy instrument 104 of the embodiment of the present invention, therefore the embodiment of the present invention is not restricted to this.Wherein, energy
Apparatus 104 is arranged on the mechanical arm of operating robot, is controlled the rotation of energy instrument, folding by mechanical arm, is stretched entry/exit
Mechanical action is waited in patient, and the setting of the energy size of energy instrument 104 and mode of operation is implemented by the present invention
First control panel 103 of example controls.
Specifically, after energy instrument 104 receives the control signal of the first control panel 103 transmission, then can be according to hair
The signal for sending the output interface of control signal and output interface to send determines action which be to be, carries out performing corresponding move
Make.
In the embodiment of the present invention, energy instrument 104 is specifically as follows electric knife, then corresponding control command can be then
Energy increase order, energy reduce order, cutting order, blood coagulation order.Wherein, energy increase order is used to increase electric knife
Output current value, energy reduces order and is used to reduce the output current value of electric knife, and cutting order is used for electric knife
Function setting be cutting function, it is coagulation function that blood coagulation order, which is used for the function setting of electric knife,.
The cutter head of electric knife provided in an embodiment of the present invention can also be bipolar cutter head, and the Working mould of the electric knife
Formula can also have a variety of, include but is not limited to following several：
(1) double pole mode, when the mode of operation of electric knife is arranged into double pole mode, i.e., when electric knife receives
After the first control signal for switching to double pole mode for indicating electric knife, then it can make it that two electrodes of electric knife are equal
In enabled state, can thus allow between pathological tissues are placed directly within into two electrodes, and pass through two electrodes
To pathological tissues provide high-frequency electrical energy so that pathological tissues come off and solidified, with realize the cutting of electric knife or
Coagulation function.When in double pole mode, the sphere of action of electric knife is only that between two electrodes, the injury to human body compared with
It is small.
(2) monopolar mode, when the mode of operation of electric knife is arranged into monopolar mode, i.e., when electric knife receives
After the second control signal for switching to monopolar mode for indicating electric knife so that in two electrodes of electric knife wherein
One electrode is in enabled state, and when the mode of operation of electric knife is monopolar mode, also needs by enabled state
Electrode is with setting pole plate on one's sick bed to form two electrodes, to cause the pathological tissues contacted with the electrode in enabled state
High temperature is produced, to realize the cutting of electric knife or coagulation function.
(3) Generals culture pattern, when the mode of operation of electric knife is arranged into Generals culture pattern, that is, high-frequency electrical is worked as
After knife is received for indicating that electric knife disconnects the control signal being connected with energy source, energy source provides use for electric knife
In cutting the energy with blood coagulation, then the two of electric knife electrode is in forbidding enabled state, at this moment the two of electric knife
Electrode then can be as the both ends of instrument, such as tweezers etc., to allow to realize high frequency receiving other control signals
Electric knife captures pathological tissues or separates the function of pathological tissues.
In the embodiment of the present invention, in order to be accurately controlled to energy instrument, therefore in the energy instrument course of work,
Need to know the energy value of energy instrument, and then make it that operating personnel are more accurately controlled according to energy value to energy instrument
System, therefore Fig. 2 is referred to, control system provided in an embodiment of the present invention can also include the second control panel 105.Wherein, second
One end of control panel 105 is connected by Ethernet interface with router 102, and the other end is connected with energy instrument 104, the second control
Plate 105 is used for when receiving the data read command that main control device 101 is sent by router 102, and data read command is used
The energy value of energy instrument 104 is read in instruction, the current energy value of energy instrument 104 is read in control.Second control panel 105
Switch board can be arranged on, be either arranged on above energy instrument or set on the robotic arm, the embodiment of the present invention to this not
It is limited.
Specifically, the second control panel 105 can include N number of output interface；First control panel 103 also includes multiple inputs and connect
Mouthful；Energy instrument 104 also includes N number of charactron (Light Emitting Diode, LED), and each LED charactrons are including more
Individual luminous tube, N number of LED charactrons are used for the current energy value for showing energy instrument 104；Wherein, N is positive integer；Second control
Plate 105 is connected by Ethernet interface with router 102, and the side that N number of output interface of the second control panel 105 passes through electrical connection
Formula is connected respectively with N number of LED charactrons, wherein, an output interface is connected with a LED charactrons；First control panel 103
Multiple input interfaces be all connected with each LED charactrons in N number of LED charactrons, wherein, each LED charactrons include more
Multiple input interfaces of the individual luminous tube respectively with the first control panel 103 are respectively connected with, and a luminous tube and an input interface
Connection；The quantity for the luminous tube that the quantity of the input interface of first control panel 103 includes with each LED charactrons is identical.
When the first control panel 103 and the second control panel 105 receive the number that main control device 101 sent by router 102
After reading order, data read command is used to read the current energy value of energy instrument 104, then the second control panel 105 is successively
The unlatching of N number of output interface is controlled, when being in opening with the output interface in the second control panel 105, is connect with the output
The state of each and every one luminous tube of the connected LED charactrons of mouth can be read by the corresponding input interface of the first control panel 103.Also
It is to say, after the second control panel 105 controls the unlatching of N number of output interface successively, the first control panel 103 can then be read successively
Take the state of each luminous tube of LED charactrons.
Because the state of the luminous tube of the first control panel 103 reading is binary-coded decimal (Binary-Coded Decimal), therefore
Main control device can not directly display, therefore after the state of luminous tube is read, can also will be read by the first control panel 103
The State Transferring of each luminous tube be decimal value.For example, the state for the luminous tube that the first control panel is successively read is
0000001, it is 1 to be converted to decimal value, that is to say, that the numerical value that the LED charactrons of reading are shown is 1, when by N number of LED
After the completion of charactron is successively read, then the numerical value that this N number of LED charactrons is shown can be reduced in sequence, the numerical value is energy
The current energy value of measuring device tool.
In the embodiment of the present invention, the first control panel 103 can also be sent out the decimal value after conversion by router 102
Main control device 101 is given, so that decimal value can be shown by obtaining main control device 101, such operating personnel then can directly lead to
Cross main control device 101 and obtain the current energy value of energy instrument.
Fig. 3 is referred to, one embodiment of the invention provides a kind of operating robot energy instrument control method, this method flow
It is as follows：
Step 301：Energy instrument receives the control command that main control device is sent, and control command is used to indicate energy instrument institute
The action to be performed；Energy instrument includes the first control panel, and the first control panel includes M output interface, in M output interface not
Same output interface is used to export different control signals, wherein, M is positive integer；
Step 302：Control command is resolved to control signal by energy instrument by the first control panel, and passes through the first control
Plate controls the state of M output interface according to control signal, and the state of output interface includes being turned on or off so that can measuring device
Tool can according to control signal and the output interface in opening perform control command.
In the embodiment of the present invention, the energy instrument can include the first control panel, then the energy instrument can pass through first
Control panel receives the control command that main control device is sent, and control command is resolved into control signal, and controls the first control panel
Corresponding output interface state, and then the energy instrument is held according to the state and control signal of output interface
The corresponding action of row, specifically may refer to the description of energy instrument control system part, will not be repeated here.
In order to more accurately be controlled energy instrument, energy instrument can also include the second control panel, for controlling
First control panel reads the energy value of energy instrument.Specifically, main control device can send data read command to energy instrument,
Energy instrument reads data read command by the first control panel and the second control panel, and passes through the control of the second control panel control first
The current energy value of energy instrument is read in making sheet, and energy value is sent into main control device by the first control panel so that main
Energy value that control equipment can show energy instrument and preceding.Specifically, because the contents of the section is and above-mentioned control system portion
Point content is corresponding, therefore the contents of the section can also be with reference to the description of above-mentioned energy instrument control system part, herein
Repeat no more.
In summary, in the embodiment of the present invention, control command can be sent to by Ethernet by main control device
One control panel, and then by the action of the first control panel control energy instrument, so, main control device then can be flexibly arranged on
Other positions, and energy instrument is controlled by control panel so that energy instrument be not carried out control panel control signal it
Outer action so that surgical procedure is more accurate, and so, is directly grasped to energy instrument for a long time without doctor
Make, and then also avoid doctor operation and operation risk that caused hand tremor is brought for a long time.
Fig. 4 is referred to, one embodiment of the invention also provides a kind of computer installation, and the computer installation includes processor
401, processor 401 is used to realize energy instrument provided in an embodiment of the present invention when performing the computer program stored in memory
The step of control method.
Optionally, processor 401 can be specifically central processing unit, ASIC (English：
Application Specific Integrated Circuit, referred to as：ASIC), can be that one or more is used to control journey
The integrated circuit that sequence performs, can be using field programmable gate array (English：Field Programmable Gate
Array, referred to as：FPGA) the hardware circuit of exploitation, can be BBP.
Optionally, processor 401 can include at least one processing core.
Optionally, the computer installation also includes memory 402, and memory 402 can include read-only storage (English：
Read Only Memory, referred to as：ROM), random access memory (English：Random Access Memory, referred to as：RAM)
And magnetic disk storage.Memory 402 is used to store data required when processor 401 is run.The quantity of memory 402 is one
It is individual or multiple.Wherein, memory 402 is shown in the lump in Fig. 4, but it is understood that memory 402 is not essential function
Module, thus it is shown in broken lines in Fig. 4.
One embodiment of the invention also provides a kind of computer-readable recording medium, is stored thereon with computer program, described
Realized when computer program is executed by processor such as the step of energy instrument control method provided in an embodiment of the present invention.
In embodiments of the present invention, it should be understood that disclosed apparatus and method, can be real by another way
It is existing.For example, apparatus embodiments described above are only schematical, for example, the division of the unit or unit, is only
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, equipment or unit
Connect, can be electrical or other forms.
Each functional unit in embodiments of the present invention can be integrated in a processing unit, or unit also may be used
To be independent physical module.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the embodiment of the present invention
All or part can be embodied in the form of software product, the computer software product is stored in a storage medium
In, including some instructions are causing a computer equipment, such as can be that personal computer, server, or network are set
It is standby etc., or all or part of step of each embodiment methods described of processor (processor) the execution present invention.It is and foregoing
Storage medium includes：General serial bus USB (Universal Serial Bus flash drive), mobile hard disk, only
Read memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disc
Or CD etc. is various can be with the medium of store program codes.
Described above, above example is implemented above only the technical scheme of the application to be described in detail
The explanation of example is only intended to help the method for understanding the embodiment of the present invention, should not be construed as the limitation to the embodiment of the present invention.This
The change or replacement that those skilled in the art can readily occur in, should all cover the embodiment of the present invention protection domain it
It is interior.
Claims (10)
1. a kind of operating robot energy instrument control system, it is characterised in that including main control device, router, the first control
Plate and energy instrument：
The router is connected by Ethernet interface with the main control device；
First control panel includes M output interface, and different output interfaces is used to export difference in the M output interface
Control signal, wherein, M is positive integer；First control panel is connected by Ethernet interface with the router；
The energy instrument is connected with M output interface in first control panel respectively by way of electrical connection, described
Energy instrument is the apparatus that the operation in Minimally Invasive Surgery is performed by energy；
Wherein, after the main control device receives the control command being controlled for the action to the energy instrument, lead to
Cross the router and the control command is sent to first control panel, first control panel is by the control command solution
Analyse as control signal, and the state of the M output interface, the state bag of the output interface are controlled according to the control signal
Include and be turned on or off, and the control signal is sent to by the energy instrument by the output interface in opening,
The energy instrument is enabled to perform the control according to the control signal and the output interface in opening
Order.
2. control system as claimed in claim 1, it is characterised in that the control system also includes the second control panel, described
One end of second control panel is connected by Ethernet interface with the router, and the other end is connected with the energy instrument, and described
Two control panels are used for when receiving the data read command that the main control device is sent by the router, and the data are read
Take order be used for indicate read the energy value of the energy instrument, the current energy value of the control reading energy instrument.
3. control system as claimed in claim 1, it is characterised in that the energy instrument is electric knife, then the control
Order includes energy increase order, energy reduction order, cutting order, blood coagulation order；Wherein, the energy increase order is used for
Increase the output current value of the electric knife, the energy reduces the output current that order is used to reduce the electric knife
It is worth, it is cutting function that the cutting order, which is used for the function setting of the electric knife, and the blood coagulation order is used for by described in
The function setting of electric knife is coagulation function.
4. control system as claimed in claim 3, it is characterised in that the cutter head of the electric knife is bipolar cutter head, described
The mode of operation of electric knife includes double pole mode；
After the electric knife is received for indicating that the electric knife switches to the first control signal of double pole mode, institute
Two electrodes for stating electric knife are in enabled state so that the pathological tissues between described two electrodes produce high
Temperature, to realize the cutting of the electric knife or coagulation function.
5. control system as claimed in claim 4, it is characterised in that the mode of operation of the electric knife also includes monopole mould
Formula,
After the electric knife is received for indicating that the electric knife switches to the second control signal of monopolar mode, institute
State one of electrode in two electrodes of electric knife and be in enabled state, and pass through the electrode in enabled state
With setting pole plate on one's sick bed to form two electrodes, to cause the pathological tissues contacted with the electrode in enabled state
High temperature is produced, to realize the cutting of the electric knife or coagulation function.
6. control system as claimed in claim 4, it is characterised in that the mode of operation of the electric knife also includes non-energy
Apparatus pattern；
After the electric knife is received for indicating that the electric knife disconnects the control signal being connected with energy source, institute
State energy source to provide for cutting the energy with blood coagulation for the electric knife, then the two of the electric knife electrode is in
Forbid enabled state, then both ends of the two of the electric knife electrode as instrument, to receive other control letters
Number allow to realize the electric knife crawl pathological tissues or separate the function of pathological tissues.
A kind of 7. operating robot energy instrument control method, it is characterised in that including：
Energy instrument receives the control command that the main control device is sent, and the control command is used to indicate the energy instrument institute
The action to be performed；The energy instrument includes the first control panel, and first control panel includes M output interface, and the M is individual
Different output interfaces is used to export different control signals in output interface, wherein, M is positive integer；
The control command is resolved to control signal by the energy instrument by first control panel, and passes through described first
Control panel controls the state of the M output interface according to the control signal, the state of the output interface include unlatching or
Person closes so that the energy instrument can perform institute according to the control signal and the output interface in opening
State control command.
8. method as claimed in claim 7, it is characterised in that the energy instrument also includes the second control panel, then the side
Method also includes：
Energy instrument receives the data read command that the main control device is sent, and the data read command is used to indicate to read institute
State the energy value of energy instrument；
The energy instrument reads the current energy value of the energy instrument by the control of the second control panel；
The current energy value is sent to the main control device by the energy instrument by the first control panel, to cause the master
Control equipment can show the current energy value.
9. a kind of computer installation, it is characterised in that described device includes processor, and the processor is used to perform in memory
Realized during the computer program of storage as any one of claim 7-8 the step of method.
10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that：The computer program
Realized when being executed by processor as any one of claim 7-8 the step of method.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710709105.8A CN107468340A (en) | 2017-08-17 | 2017-08-17 | A kind of operating robot energy instrument control system and energy instrument control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710709105.8A CN107468340A (en) | 2017-08-17 | 2017-08-17 | A kind of operating robot energy instrument control system and energy instrument control method |
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| CN107468340A true CN107468340A (en) | 2017-12-15 |
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| CN201710709105.8A Pending CN107468340A (en) | 2017-08-17 | 2017-08-17 | A kind of operating robot energy instrument control system and energy instrument control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022007636A1 (en) * | 2020-07-08 | 2022-01-13 | 珠海市司迈科技有限公司 | Surgical operating system and unipolar and bipolar mixed output method therefor |
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