CN108814715B - Sound effect control method and system for pedal of laparoscopic surgery robot - Google Patents
Sound effect control method and system for pedal of laparoscopic surgery robot Download PDFInfo
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- CN108814715B CN108814715B CN201810345103.XA CN201810345103A CN108814715B CN 108814715 B CN108814715 B CN 108814715B CN 201810345103 A CN201810345103 A CN 201810345103A CN 108814715 B CN108814715 B CN 108814715B
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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
- A61B34/74—Manipulators with manual electric input means
Abstract
The invention discloses a sound effect control method and system for a pedal of a laparoscopic surgery robot. The sound effect control method comprises the following steps: when any pedal is stepped on, the pedal sends out a control signal corresponding to the pedal; the main control computer receives the control signal and controls the laparoscopic surgery robot to execute corresponding actions according to the control signal; the microcontroller receives the control signal and generates a corresponding driving pulse signal according to the control signal; the sound effect device receives the driving pulse signal and generates a corresponding sound effect according to the driving pulse signal; wherein, a plurality of sound effects corresponding to a plurality of pedals are all different so as to prompt the user about the type of the pedal to be stepped on. The invention can give out corresponding prompts with different sound effects when different pedals are stepped, and is beneficial to improving the identification degree of a doctor on the pedal keys and improving the operation accuracy of the doctor in the operation process.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgical robots, in particular to a sound effect control method and system for pedals of a laparoscopic surgical robot.
Background
Minimally Invasive Surgery (MIS) robotics is an emerging field of research that has developed in recent years. According to different structural forms, minimally invasive surgical robots can be divided into three types: master-slave minimally invasive surgical robots, active minimally invasive surgical robots, and teleoperated minimally invasive surgical robots. Wherein, master-slave mode minimal access surgery robot mainly includes four parts: doctor's control cabinet, operation panel, image control cabinet and surgical instruments. The doctor console is a control center of the whole surgical robot system, a main doctor obtains a three-dimensional visual effect of a surgical site through an immersive visual system, the action of a mechanical arm on the console can be controlled through a main hand (copying the movement of the doctor) on the doctor console, and a high-quality visual system can be controlled through a pedal.
At present, the pedals of the surgical robot can only make mechanical sound when being pressed, and the mechanical sound made by the pedals with different functions when being pressed is small and has little difference. The doctor can not judge the type of the pedal according to the sound when the pedal is stepped, and the problem of inaccurate stepping can be caused.
The defects of the prior art are as follows: the sound of the doctor when stepping on different pedals has almost no recognition, and the doctor may cause misoperation in the operation process.
Disclosure of Invention
In view of the above technical problems, the present invention provides a method for controlling the sound effect of a pedal of a laparoscopic surgery robot, which mainly comprises the following steps:
when any pedal is stepped on, the pedal sends out a control signal corresponding to the pedal;
the main control computer receives the control signal and controls the laparoscopic surgery robot to execute corresponding actions according to the control signal;
the microcontroller receives the control signal and generates a corresponding driving pulse signal according to the control signal;
the sound effect device receives the driving pulse signal and generates a corresponding sound effect according to the driving pulse signal;
wherein, a plurality of sound effects corresponding to a plurality of pedals are all different so as to prompt the user about the type of the pedal to be stepped on.
In one embodiment, the plurality of pedals consists essentially of a main switch pedal, a main clutch pedal, an endoscope pedal, and an energy instrument pedal; wherein the content of the first and second substances,
when the main switch pedal is stepped, a main switch control signal is sent out so as to control other switches of the laparoscopic surgery robot to be effective;
when the main clutch pedal is stepped, a main clutch control signal is sent out so as to cut off the control of a doctor console on a mechanical arm and an instrument of the laparoscopic surgery robot;
when the endoscope pedal is stepped down, sending an endoscope control signal to switch an operating handle of the laparoscopic surgery robot to control an endoscope mechanical arm;
when the energy instrument pedal is stepped, an energy instrument control signal is sent out to control the energy electrotome of the laparoscopic surgery robot to coagulate or cut the visceral tissues.
In one embodiment, the frequency of the plurality of driving pulse signals corresponding to the plurality of pedals is different, and the duty ratio is the same.
In one embodiment, the sound effect control method may further include the steps of:
the indicator light device receives the driving pulse signal and displays corresponding colors according to the driving pulse signal;
the display colors corresponding to the pedals are different, so that the type of the pedal pressed by the user is prompted.
In one embodiment, the sound effect device further amplifies the driving pulse signal and generates a corresponding sound effect according to the amplified driving pulse signal.
The invention also provides a sound effect control system of the pedal of the laparoscopic surgery robot, which mainly comprises a doctor console and a plurality of pedals, wherein when any pedal is stepped, the pedal sends out a control signal corresponding to the pedal;
the physician console comprises:
the main control computer is connected with the pedals and used for receiving the control signals and controlling the laparoscopic surgery robot to execute corresponding actions according to the control signals;
the microcontroller is connected with the pedals and used for receiving the control signals and generating corresponding driving pulse signals according to the control signals;
the sound effect device is connected with the microcontroller and used for receiving the driving pulse signal and generating a corresponding sound effect according to the driving pulse signal;
wherein, a plurality of sound effects corresponding to a plurality of pedals are all different so as to prompt the user about the type of the pedal to be stepped on.
In one embodiment, the plurality of pedals essentially comprise:
the main switch pedal is used for sending out a main switch control signal when being stepped down so as to control other switches of the laparoscopic surgery robot to be effective;
the main clutch pedal is used for sending a main clutch control signal when being stepped down so as to cut off the control of a doctor console on a mechanical arm and an instrument of the laparoscopic surgery robot;
an endoscope pedal for emitting an endoscope control signal to switch an operation handle of the laparoscopic surgery robot to control the endoscope robot arm when being stepped on;
and the energy instrument pedal is used for sending out an energy instrument control signal when being stepped down so as to control the energy electrotome of the laparoscopic surgery robot to coagulate or cut the visceral tissues.
In one embodiment, the frequency of the plurality of driving pulse signals corresponding to the plurality of pedals is different, and the duty ratio is the same.
In one embodiment, the main switch pedal mainly comprises a main switch for sending out a main switch control signal and an isolation circuit for isolating the main switch from an external interference source;
the main clutch pedal mainly comprises a main clutch switch for sending a main clutch control signal and an isolation circuit for isolating the main clutch switch from an external interference source;
the endoscope pedal mainly comprises an endoscope switch for sending out an endoscope control signal and an isolation circuit for isolating the endoscope switch from an external interference source;
the energy instrument pedal mainly comprises an energy instrument switch used for sending out an energy instrument control signal and an isolation circuit used for isolating the energy instrument switch from an external interference source.
In one embodiment, the doctor console may further include:
the indicating lamp device is connected with the microcontroller and used for receiving the driving pulse signal and displaying corresponding colors according to the driving pulse signal;
the display colors corresponding to the pedals are different, so that the type of the pedal pressed by the user is prompted.
One or more embodiments of the present invention may have the following advantages over the prior art:
1) the sound effect control method of the pedal of the laparoscopic surgery robot can give out corresponding prompts with different sound effects when different pedals are stepped, and is beneficial to improving the identification degree of a doctor on the pedal key and improving the operation accuracy of the doctor in the surgery process.
2) According to the sound effect control system of the pedal of the laparoscopic surgery robot, the microcontroller and the sound effect device are added in the existing doctor console, the microcontroller can generate corresponding driving pulse signals according to control signals when the pedal is stepped on, and the sound effect device can generate corresponding sound effects according to the driving pulse signals, so that corresponding prompts with different sound effects can be sent out when different pedals are stepped on, and the system is beneficial to improving the recognition degree of a doctor on the pedal key and improving the operation accuracy of the doctor in the surgery process.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view illustrating a sound effect control system of pedals of a laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for controlling sound effects of pedals of the laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a sound effect control system of pedals of a laparoscopic surgical robot according to an embodiment of the present invention;
FIG. 4 is a schematic view illustrating another embodiment of the sound effect control system of the pedals of the laparoscopic surgical robot according to the present invention;
fig. 5 is another flowchart of a method for controlling sound effects of pedals of the laparoscopic surgical robot according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
In order to solve the problem that in the prior art, when a doctor steps on different pedals, the sound almost has no recognition degree, and misoperation of the doctor in the operation process can be caused, the embodiment of the invention provides a method and a system for controlling the sound effect of the pedals of the laparoscopic surgery robot.
Fig. 1 is a schematic structural view of a sound effect control system of pedals of a laparoscopic surgical robot.
As shown in fig. 1, the sound effect control system of pedals of the laparoscopic surgical robot according to the embodiment of the present invention mainly includes a surgeon console 1 and a plurality of pedals 2. The doctor console 1 mainly includes: a host computer 11, a microcontroller 12 and a sound effect device 13. Wherein, the main control computer 11 is connected with a plurality of pedals 2, the microcontroller 12 is connected with a plurality of pedals 2, and the sound effect device 13 is connected with the microcontroller 12.
Based on the sound effect control system of the pedal of the laparoscopic surgery robot, the present embodiment further provides a sound effect control method of the pedal of the laparoscopic surgery robot, which is specifically shown as follows.
Fig. 2 is a flowchart of a sound effect control method of pedals of the laparoscopic surgical robot of the present embodiment. As shown in fig. 2, the following steps S210 to S240 may be included.
In step S210, when any one of the pedals 2 is depressed, the pedal 2 issues a control signal corresponding to the pedal 2.
In a preferred embodiment of the present invention, as shown in fig. 3, the plurality of pedals 2 may include a main switch pedal 21, a main clutch pedal 22, an endoscope pedal 23, and an energy instrument pedal 24. Specifically, when the main switch pedal 21 is depressed, a main switch control signal is issued to control other switches of the laparoscopic surgical robot to be active. When the main clutch pedal 22 is depressed, a main clutch control signal is issued to cut off the control of the robotic arms and instruments of the laparoscopic surgical robot by the surgeon's console. When the endoscope pedal 23 is depressed, an endoscope control signal is issued to switch a doctor operating device (e.g., an operating handle) of the laparoscopic surgical robot to control the endoscope robot arm. When the energy instrument pedal 24 is depressed, an energy instrument control signal is emitted to control the energy electro-knife of the laparoscopic surgical robot to coagulate or cut the visceral tissue.
Of course, the plurality of pedals 2 may include other pedals in addition to the above-described main switch pedal 21, main clutch pedal 22, endoscope pedal 23, and energy instrument pedal 24, such as pedals for controlling the vision system of the laparoscopic surgical robot.
In a preferred embodiment of the present invention, the pedal is mainly provided with a pedal switch and an isolation circuit for isolating the pedal switch from an external interference source, and a path of noise interference can be cut off by the isolation circuit, so as to achieve an effect of suppressing the noise interference. Specifically, a main switch 211 for sending a main switch control signal and an isolation circuit 212 for isolating the main switch 211 from an external interference source are disposed in the main switch pedal 21. The main clutch pedal 22 includes a main clutch switch 221 for issuing a main clutch control signal and an isolation circuit 222 for isolating the main clutch switch 221 from external sources of interference. The endoscope pedal 23 includes an endoscope switch 231 for issuing an endoscope control signal and an isolation circuit 232 for isolating the endoscope switch 231 from an external interference source. The energy device pedal 24 comprises an energy device switch 241 for emitting an energy device control signal and an isolation circuit 242 for isolating the energy device switch 241 from external interference sources.
In step S220, the main control computer 11 receives the control signal and controls the laparoscopic surgical robot to perform a corresponding action according to the control signal.
Specifically, the main control computer 11 is provided with a plurality of IO ports (at least including IO1, IO2, IO3 and IO4), an output end of the isolation circuit 212 of the main switch pedal 21 is connected with an IO1 port of the main control computer 11, an output end of the isolation circuit 222 of the main clutch pedal 22 is connected with an IO2 port of the main control computer 11, an output end of the isolation circuit 232 of the endoscope pedal 23 is connected with an IO3 port of the main control computer 11, and an output end of the isolation circuit 242 of the energy instrument pedal 24 is connected with an IO4 port of the main control computer 11.
When a doctor steps on the pedal, a control signal is transmitted to the IO port corresponding to the main control computer 11 through the isolation circuit, and the corresponding IO port recognizes the control signal to perform accurate system control.
For example, the main switch 211 is a master switch for all controls, and when the IO1 port of the master control computer 11 recognizes a main switch control signal, other switches for controlling the laparoscopic surgical robot are activated.
When the IO2 port of the main control computer 11 recognizes the main clutch control signal, the control of the mechanical arm and the instrument of the laparoscopic surgery robot by the doctor console is cut off. When the main clutch switch 222 is stepped on, the robot arms and the instruments of the laparoscopic surgical robot are stopped, and at this time, a doctor operating device (e.g., an operating handle) of the doctor console may be adjusted; when the main clutch switch 222 is bounced, the robot arm and the instrument of the laparoscopic surgical robot continue to operate.
When the IO3 port of the host computer 11 recognizes the endoscope control signal, the doctor operating device (e.g., operating handle) of the laparoscopic surgical robot is switched to control the endoscope robot arm. Because the number of the doctor operating devices (such as operating handles) for controlling the actions of the medical instruments on the surgical manipulator is only 2, the doctor respectively holds one by the left hand and the right hand during the operation. At least two surgical instruments are used (1 grasper, 1 scissors, a monopolar electric knife, a bipolar electric knife or an ultrasonic electric knife), the endoscope also has 1 instrument arm which is equivalent to 3 mechanical arms, but the number of the operation handles is only 2, so when the endoscope mechanical arm needs to be moved, the endoscope pedal needs to be stepped down, and the operation is switched to control the endoscope mechanical arm by using a doctor operation device (such as the operation handle).
When the IO4 port of the master control computer 11 recognizes the energy instrument control signal, the energy electrotome of the laparoscopic surgery robot is controlled to coagulate or cut the visceral tissue. If the energy device switch 241 is not depressed, the action is not performed.
In step S230, the microcontroller 12 receives the control signal and generates a corresponding driving pulse signal according to the control signal.
Specifically, when a control signal sent when the pedal is stepped is transmitted to the IO port corresponding to the main control computer 11, a path of signal is added to the IO port of the microcontroller 12. In this embodiment, the microcontroller 12 can generate four driving pulses with different frequencies and the same duty cycle according to four control signals (a main switch control signal, a main clutch control signal, an endoscope control signal, and an energy apparatus control signal).
In step S240, the sound effect device 13 receives the driving pulse signal and generates a corresponding sound effect according to the driving pulse signal; wherein, a plurality of sound effects corresponding to a plurality of pedals are all different so as to prompt the user about the type of the pedal to be stepped on.
Specifically, the sound effect device 13 may include a buzzer, or may be other devices capable of emitting sound effects. The sound effect device 13 receives the driving pulse signals corresponding to different pedals, and the driving pulse signals corresponding to different pedals have the same frequency and different duty ratios, so that the buzzer is driven to generate different sound effects to prompt the user about the type of the pedal to be stepped on.
In a preferred embodiment of the present invention, as shown in fig. 3, the sound effect device 13 may include a buzzer, a resistor R, a transistor Q, and a diode D, and may amplify the driving pulse signal. Based on this, in step S240, the sound effect device 13 also amplifies the driving pulse signal, and generates a corresponding sound effect according to the amplified driving pulse signal.
In a preferred embodiment of the present invention, as shown in fig. 4, the sound effect control system may further include an indicator light device 14 connected to the microcontroller 12. As shown in fig. 5, the sound effect control method may further include step S250: the indicator lamp device 14 receives the driving pulse signal and displays a corresponding color according to the driving pulse signal; the display colors corresponding to the pedals are different, so that the type of the pedal pressed by the user is prompted. Specifically, the indicator light device may be a plurality of LED indicator lights, and the plurality of LED indicator lights receive driving pulse signals corresponding to different pedals, and display different colors as a prompt. By adopting the indicator light device 14, different colors can be displayed as prompts when different pedals are stepped, so that the identification degree of a doctor on the pedal buttons can be further improved, and the operation accuracy of the doctor in the operation process can be improved.
In summary, in the sound effect control scheme of the pedal of the laparoscopic surgical robot according to the embodiments of the present invention, a microcontroller and a sound effect device are added in an existing surgeon console, the microcontroller may generate a corresponding driving pulse signal according to a control signal when the pedal is stepped on, and the sound effect device may generate a corresponding sound effect according to the driving pulse signal, so that prompts of corresponding different sound effects may be issued when different pedals are stepped on, which is helpful for improving the recognition degree of the surgeon on the pedal key and improving the accuracy of the surgeon in the operation process.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A sound effect control method of a pedal of a surgical robot is characterized by comprising the following steps:
when any one of the pedals is stepped, the pedal sends out a control signal corresponding to the pedal, wherein any one of the pedals is also used for isolating an external interference source;
the main control computer receives the control signal and controls the surgical robot to execute corresponding actions according to the control signal;
the microcontroller receives the control signal corresponding to the pedal and generates a driving pulse signal corresponding to the pedal according to the control signal corresponding to the pedal;
the sound effect device receives the driving pulse signals corresponding to the pedals, and generates sound effects corresponding to the pedals one by one according to the driving pulse signals corresponding to the pedals so as to prompt the class of the pedals stepped by a user;
the driving pulse signals corresponding to the pedals are different in frequency and same in duty ratio.
2. The sound effect control method of claim 1, wherein the plurality of pedals comprises a main switch pedal, a main clutch pedal, an endoscope pedal, and an energy instrument pedal; wherein the content of the first and second substances,
when the main switch pedal is stepped, a main switch control signal is sent out so as to control other switches of the surgical robot to be effective;
when the main clutch pedal is stepped, a main clutch control signal is sent out so as to cut off the control of a doctor console on a mechanical arm and an instrument of the surgical robot;
when the endoscope pedal is stepped, sending an endoscope control signal to switch an operating handle of the surgical robot to control an endoscope mechanical arm;
when the pedal of the energy device is stepped, an energy device control signal is sent out so as to control the energy electrotome coagulation or cutting of the surgical robot.
3. The sound effect control method according to claim 1, further comprising the steps of:
the indicator light device receives the driving pulse signal and displays corresponding colors according to the driving pulse signal;
the display colors corresponding to the pedals are different, so that the type of the pedal pressed by the user is prompted.
4. The sound effect control method according to claim 1 or 2, wherein the sound effect device further amplifies the driving pulse signal and generates the corresponding sound effect according to the amplified driving pulse signal.
5. The sound effect control system of the pedal of a surgical robot is characterized by comprising a doctor console and a plurality of pedals, wherein when any one of the plurality of pedals is stepped, the pedal sends out a control signal corresponding to the pedal;
the physician console comprises:
the main control computer is connected with the pedals and used for receiving the control signals and controlling the surgical robot to execute corresponding actions according to the control signals;
the microcontroller is connected with the pedals and used for receiving the control signals corresponding to the pedals and generating driving pulse signals corresponding to the pedals according to the control signals corresponding to the pedals;
the sound effect device is connected with the microcontroller and is used for receiving the driving pulse signals corresponding to the pedals and generating sound effects corresponding to the pedals one by one according to the driving pulse signals corresponding to the pedals so as to prompt the class of the pedals stepped by a user;
the driving pulse signals corresponding to the pedals are different in frequency and same in duty ratio;
wherein, any footboard is still used for keeping apart external interference source.
6. The sound effect control system of claim 5, wherein the plurality of pedals comprises:
the main switch pedal is used for sending out a main switch control signal when being stepped down so as to control other switches of the surgical robot to be effective;
the main clutch pedal is used for sending a main clutch control signal when being stepped down so as to cut off the control of a doctor console on a mechanical arm and an instrument of the surgical robot;
an endoscope pedal for sending an endoscope control signal when being stepped down to switch an operation handle of the surgical robot to control an endoscope mechanical arm;
and the energy instrument pedal is used for sending out an energy instrument control signal when being stepped down so as to control the energy electrotome coagulation or cutting of the surgical robot.
7. The sound effect control system according to claim 6,
the main switch pedal comprises a main switch for sending a main switch control signal and an isolation circuit for isolating the main switch from an external interference source;
the main clutch pedal comprises a main clutch switch for sending a main clutch control signal and an isolation circuit for isolating the main clutch switch from an external interference source;
the endoscope pedal comprises an endoscope switch for sending out an endoscope control signal and an isolation circuit for isolating the endoscope switch from an external interference source;
the energy instrument pedal comprises an energy instrument switch for emitting an energy instrument control signal and an isolation circuit for isolating the energy instrument switch from an external interference source.
8. The sound effect control system of claim 7, further comprising:
the indicating lamp device is connected with the microcontroller and used for receiving the driving pulse signal and displaying corresponding colors according to the driving pulse signal;
the display colors corresponding to the pedals are different, so that the type of the pedal pressed by the user is prompted.
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| CN109662776B (en) * | 2018-12-27 | 2020-08-11 | 北京术锐技术有限公司 | High-frequency electrotome control system and control method thereof |
| CN110448378B (en) * | 2019-08-13 | 2021-03-02 | 北京唯迈医疗设备有限公司 | Immersive intervention operation integrated console |
| CN112274255A (en) * | 2020-05-29 | 2021-01-29 | 成都博恩思医学机器人有限公司 | Pedal system of operation trolley and operation trolley |
| CN114366313B (en) * | 2022-03-21 | 2022-08-02 | 杭州华匠医学机器人有限公司 | Endoscope holding robot control method based on laparoscopic surgical instrument pose |
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| CN102421387A (en) * | 2009-03-09 | 2012-04-18 | 直观外科手术操作公司 | Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems |
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| US6083163A (en) * | 1997-01-21 | 2000-07-04 | Computer Aided Surgery, Inc. | Surgical navigation system and method using audio feedback |
| KR101181569B1 (en) * | 2010-05-25 | 2012-09-10 | 정창욱 | Surgical robot system capable of implementing both of single port surgery mode and multi-port surgery mode and method for controlling same |
| KR102109615B1 (en) * | 2011-05-31 | 2020-05-12 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Positive control of robotic surgical instrument end effector |
| CN107861622A (en) * | 2017-11-29 | 2018-03-30 | 珠海市魅族科技有限公司 | Touch-control feedback method, equipment, computer-readable recording medium and computer installation |
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Denomination of invention: A Sound Effect Control Method and System for the Pedal of a Laparoscopic Surgical Robot Effective date of registration: 20230814 Granted publication date: 20210914 Pledgee: Industrial Bank Limited by Share Ltd. Chengdu branch Pledgor: CHENGDU BORNS MEDICAL ROBOTICS Inc. Registration number: Y2023510000193 |