CN111374778A - Surgical robot topology loop control system - Google Patents

Abstract

The invention relates to the field of surgical robots, in particular to a surgical robot topology loop control system, which is characterized in that: a surgical robot topology loop control system includes a console and a surgical robot apparatus. The console comprises a master hand, an encoder, a master hand sampling control board and a console main control board; the encoder is used for acquiring the motion offset of each joint on the main hand; the master hand sampling control panel is used for calculating the spatial position of the tail end of the master hand; the surgical robot equipment comprises a main controller, an instrument seat, an instrument arm and an RCM (remote control module) mechanical arm; the master controller is used for calculating the motion offset of each of the first slave hand posture joint, the second slave hand posture joint and the slave hand position joint by adopting an inverse kinematics equation according to the space position of the tail end of the master hand, so that each of the first slave hand posture joint, the second slave hand posture joint and the slave hand position joint moves according to the calculated motion offset. According to the control system of the present invention, each of the kinematic joints of the surgical robot apparatus can be controlled.

Description

Surgical robot topology loop control system

Technical Field

The invention relates to the technical field of surgical robots, in particular to a surgical robot topology loop control system.

Background

The robot minimally invasive surgery fundamentally changes the surgery environment and the surgery mode of doctors, effectively avoids the fatigue feeling of the doctors during long-time surgery and the surgery misoperation caused by the fatigue feeling, and is beneficial to improving the surgery effect of the minimally invasive surgery. The robot minimally invasive surgery needs a surgical robot device, and how to control each motion joint on the surgical robot device is a difficult problem to be solved by the technical personnel in the field.

Disclosure of Invention

In view of the above, the present invention provides a surgical robot topology loop control system, which is mainly intended to control each kinematic joint on a surgical robot.

In order to achieve the purpose, the invention mainly provides the following technical scheme:

an embodiment of the present invention provides a surgical robot topology loop control system, including:

the console comprises a master hand, an encoder, a master hand sampling control board and a console main control board; the console main control board is in communication connection with the master hand sampling control board; the encoder is used for acquiring the motion offset of each joint on the main hand; the master hand sampling control panel is used for calculating the spatial position of the tail end of the master hand by adopting a positive kinematic equation according to the motion offset of each joint on the master hand;

a surgical robotic device comprising a master controller, a robotic seat, a robotic arm, and a RCM robotic arm; the instrument seat is provided with a first slave hand posture joint and a first motor for driving the first slave hand posture joint to move, the instrument arm is provided with a second slave hand posture joint and a second motor for driving the second slave hand posture joint to move, and the RCM instrument arm is provided with a slave hand position joint and a third motor for driving the slave hand position joint to move; the master controller is used for calculating respective motion offset of the first slave hand posture joint, the second slave hand posture joint and the slave hand position joint by adopting an inverse kinematics equation according to the space position of the tail end of the master hand, and sending signals to respective drivers of the first motor, the second motor and the third motor in turn to enable the first slave hand posture joint, the second slave hand posture joint and the slave hand position joint to move according to the calculated motion offset.

In the technical scheme, the movement of the master hand and the movement of the slave hand are divided into position movement and posture movement, the position movement of the master hand corresponds to the position movement of the slave hand, and the posture movement of the master hand corresponds to the posture movement of the slave hand, so that the movement of each joint on the slave hand can be conveniently controlled by the master hand, and the surgical instrument on the slave hand is driven to move to a required position by the matching of each movement joint on the slave hand.

The invention is further configured to: the instrument base is also provided with an absolute value encoder and an encoder sampling plate;

the absolute value encoder is used for acquiring output displacement of a first sub-motor, and the first sub-motor is a motor corresponding to the attitude joint at the tail end;

the encoder sampling plate is used for feeding back data acquired by the absolute value encoder to the motor drive plate, and the motor drive plate is in communication connection with respective drivers of the first motor, the second motor and the third motor.

By adopting the technical scheme, the closed-loop control of the first sub-motor can be realized.

The invention is further configured to: the mechanical arm is also provided with a position sensor and a position sensor driving plate;

the position sensor is used for acquiring output displacement of a second sub-motor, and the second sub-motor is a motor corresponding to a first position joint positioned at the tail end;

the position sensor driving board is used for sending signals to a driver of the second sub-motor according to data collected by the position sensor.

By adopting the technical scheme, the closed-loop control of the second sub-motor can be realized.

The invention is further configured to: the mechanical arm is also provided with a first electromagnetic brake and a first brake driving plate; the first brake driving plate is used for sending a signal to the first electromagnetic brake so that the first electromagnetic brake locks the second slave hand posture joint;

and/or a second electromagnetic brake and a second brake driving plate are arranged on the RCM mechanical arm; the second brake driving plate is used for sending signals to the second electromagnetic brake so that the second electromagnetic brake locks the joint at the slave hand position.

By adopting the technical scheme, the stability of operation can be ensured, and the mechanical arm and the RCM mechanical arm are prevented from moving after the positions are adjusted.

The invention is further configured to: the control console also comprises a control console panel, wherein the control console panel comprises an upper computer, a touch screen for sending signals to the upper computer, a control panel of the control console panel, and a control console and field voice interaction system;

the console panel control board is also provided with a console I/O signal interface and a console sensor signal interface;

the upper computer is in communication connection with a console panel control board, and the console panel control board is in communication connection with the console main control board.

Through the setting, the console upper computer realizes communication with the UI and is responsible for the master command instruction of the whole system, such as: the switching of the operation vehicle arms, the selection of operation modes of different operation vehicle numbers and the like.

The invention is further configured to: the surgical robot topology loop control system also comprises auxiliary equipment, wherein the auxiliary equipment comprises a pneumoperitoneum machine, and/or a 3D imaging system, and/or an ultrasonic knife, and/or an electric knife;

and the console main control board is in communication connection with the auxiliary equipment.

In the above example, the function of the surgical robot device can be enhanced by the auxiliary device, and the utility is stronger.

The invention is further configured to: the surgical robot equipment further comprises a surgical car panel, wherein the surgical car panel comprises a surgical car panel control panel, a voice interaction system, an upper computer and a touch screen for sending signals to the upper computer;

the upper computer is in communication connection with the operation trolley panel control panel; the operation trolley panel control board is in communication connection with the console main control board.

In the above example, the operator conveniently controls the surgical robot device through the upper computer and the voice interaction system.

The invention is further configured to: the surgical robot equipment also comprises an upright post motor control board, an upright post driver, an upright post motor and an upright post;

the upright post is connected with the instrument arm;

the operation trolley panel control board is in communication connection with the upright post motor control board;

the upright motor control board is used for sending signals to the upright driver according to instructions of the console main control board, and the upright driver is used for controlling the upright motor to operate according to the signals so as to drive the upright motor to lift.

Through foretell setting, can drive the arm lift through the stand to adjust the height of arm, make surgical robot equipment can adapt to the operation environment of co-altitude not.

The invention is further configured to: the surgical robot equipment also comprises a cross arm, a cross arm control plate and a third electromagnetic brake;

the upright post is connected with the instrument arm through the cross arm, and the cross arm can rotate relative to the upright post;

the cross arm control panel is in communication connection with the operation trolley panel control panel;

the cross arm control board is used for sending a signal to the third electromagnetic brake according to the instruction of the operating trolley panel control board, so that the third electromagnetic brake locks the cross arm.

Through the arrangement, after the position of the cross arm is adjusted, the position of the cross arm can be locked through the third electromagnetic brake, so that the stability of the operation is ensured.

The invention is further configured to: the surgical robotic device further includes a vehicle body to move through the vehicle body;

the vehicle body is provided with a surgical vehicle control plate, an electric support leg driver, a support leg motor and an electric support leg;

the operation trolley panel control board is in communication connection with the operation trolley control board;

the operation trolley control board is used for sending signals to the electric support leg driver according to instructions of the operation trolley panel control board; the electric support leg driver is used for controlling the support leg motor to operate according to the signal so as to enable the support leg motor to drive the electric support leg to lift.

Through foretell setting, operation robot equipment moves the back of setting for the position through the automobile body, and the motion of the electronic stabilizer blade of stabilizer blade motor drive makes electronic stabilizer blade and ground offset to prevent the automobile body and remove, guarantee the stability of operation.

By the technical scheme, the surgical robot topological loop control system at least has the following beneficial effects:

in the technical scheme provided by the invention, the motion offset of each joint on the master hand is measured by the encoder, and the master hand sampling control board can calculate the spatial position of the tail end of the master hand by adopting a positive kinematic equation according to data acquired by the encoder; the master controller is used for calculating respective motion offset of the first slave hand posture joint, the second slave hand posture joint and the slave hand position joint by adopting an inverse kinematics equation according to the space position of the tail end of the master hand, and sending signals to respective drivers of the first motor, the second motor and the third motor in turn to enable the first slave hand posture joint, the first slave hand posture joint and the slave hand position joint to move according to the calculated motion offset, so that the aim of controlling each motion joint on the surgical robot equipment is fulfilled.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

Fig. 1 is a block diagram of a surgical robot topology loop control system according to an embodiment of the present invention;

fig. 2 is a partial block diagram of a surgical robot topology loop control system including a robot base, a robot arm, and an RCM robot arm according to an embodiment of the present invention;

fig. 3 is a block diagram of a portion of a surgical robot topology loop control system according to an embodiment of the present invention, which includes a console panel;

fig. 4 is a partial block diagram of a surgical robot topology loop control system including an auxiliary device and a surgical cart power supply system according to an embodiment of the present invention;

fig. 5 is a block diagram of a surgical robot topology loop control system including a surgical cart according to an embodiment of the present invention;

fig. 6 is a partial structural block diagram of a surgical robot topology loop control system including a column and a crossbar control according to an embodiment of the present invention.

Reference numerals: 1. an encoder; 2. a master hand sampling control panel; 3. a console main control panel; 4. a main controller; 5. a mechanical seat; 51. a first motor; 52. an absolute value encoder; 53. an encoder sampling plate; 54. a motor drive plate; 6. an instrument arm; 61. a second motor; 62. a first electromagnetic brake; 63. a first brake drive plate; 64. a position sensor; 65. a position sensor drive plate; 66. a card-poking sensor; 7. an RCM mechanical arm; 71. a third motor; 72. a second electromagnetic brake; 73. a second brake drive plate; 8. a console panel; 81. a console upper computer; 82. a touch screen; 83. a console panel control panel; 84. the console and the field voice interaction system; 9. an auxiliary device; 101. a panel control board of the operation trolley; 102. a voice interaction system; 103. an upper computer; 104. a touch screen; 111. a control panel of the upright post motor; 112. a column driver; 113. a column motor; 121. a cross arm control panel; 122. a third electromagnetic brake; 131. a surgical cart control board; 132. an electric foot driver; 133. a leg motor; 134. a surgical cart motion driver; 135. a surgical cart motor; 136. an electric stand bar; 141. a console display armrest position adjustment drive; 142. a handrail motor; 151. a power supply control board; 152. a UPS power supply; 100. a surgical robot topology loop control system.

Detailed Description

To further explain the technical means and effects of the present invention adopted to achieve the predetermined object, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "an embodiment" refers to not necessarily the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As shown in fig. 1 and 2, one embodiment of the present invention provides a surgical robot topology loop control system 100, which includes a console and a surgical robot apparatus.

The console comprises a master hand, an encoder 1, a master hand sampling control board 2 and a console main control board 3. The console main control board 3 is in communication connection with the master hand sampling control board 2 to send instructions to the master hand sampling control board 2. Preferably, the console main control board 3 is connected with the master hand sampling control board 2 through a CAN bus. The master hand includes a position joint and a pose joint. The encoder 1 is used for acquiring the motion offset of each joint on the main hand. The master hand sampling control board 2 is used for calculating the space position (X, Y, Z) of the tail end of the master hand by adopting a positive kinematic equation according to the motion offset of each joint on the master hand. Preferably, the encoder 1 is connected to the master hand sampling control board 2 through an SSI interface.

SSI (Synchronous Serial Interface) is a full-duplex Serial Interface that allows a chip to communicate with a variety of Serial devices. It is a more common interface mode in the high-precision absolute value angle encoder 1, and it adopts the host active reading mode, i.e. under the control of the clock pulse sent by the master, the synchronous data transmission is started from the Most Significant Bit (MSB).

The surgical robotic device includes a master controller 4, an instrument holder 5, an instrument arm 6, and an RCM robotic arm 7. The instrument holder 5 has a first slave hand posture joint and a first motor 51. The first motor 51 is used to drive the first slave hand pose articulation. The number of the first slave hand posture joints may be two or more, and correspondingly, the number of the first motors 51 is equal to that of the first slave hand posture joints, and the first slave hand posture joints correspond to the first slave hand posture joints one by one. In one specific application example, the number of the first slave hand posture joints and the number of the first motors 51 are 4.

The instrument arm 6 has a second slave hand posture joint and a second motor 61. The second motor 61 is used to drive the second slave hand pose articulation. In one specific application example, the number of the second slave hand posture joints and the number of the second motors 61 are each one.

The RCM robot arm 7 has a slave hand position joint and a third motor 71. The third motor 71 is used to drive articulation from the hand position. The number of the slave hand position joints may be two or more, and the number of the third motors 71 is equal to the number of the slave hand position joints and corresponds to one. In one specific application example, the number of joints and the third motor 71 from the hand position is two.

The master controller 4 is configured to calculate respective amounts of movement offset of the first slave hand posture joint, the second slave hand posture joint, and the slave hand position joint by using an inverse kinematics equation according to the spatial position (X, Y, Z) of the end of the master hand, and accordingly send signals to respective drivers of the first motor 51, the second motor 61, and the third motor 71, so that the first slave hand posture joint, the second slave hand posture joint, and the slave hand position joint move according to the calculated amounts of movement offset.

In the technical scheme, the movement of the master hand and the movement of the slave hand are divided into position movement and posture movement, the position movement of the master hand corresponds to the position movement of the slave hand, and the posture movement of the master hand corresponds to the posture movement of the slave hand, so that the movement of each joint on the slave hand can be conveniently controlled by the master hand, and the surgical instrument on the slave hand is driven to move to a required position by the matching of each movement joint on the slave hand.

Further, as shown in fig. 1, the aforementioned master sampling control board 2 and the master controller 4 may be communicatively connected by using an Ethernet bus.

The drives of the main controller 4 and the first motor 51, the second motor 61, and the third motor 71 may be communicatively connected by an EtherCAT bus.

EtherCAT (ethernet for Control Automation technology) is a real-time industrial field bus communication protocol based on the development framework of ethernet, and the emergence of EtherCAT establishes a new standard for the real-time performance and the flexibility of topology of a system. The EtherCAT has the characteristics of high performance, flexible topological structure, easiness in application, low cost, high-precision equipment synchronization, selectable cable redundancy, functional safety protocol, hot plug and the like.

In the above example, it can transmit data in real time at high speed through the EtherCAT bus provided.

Further, as shown in fig. 2, the aforementioned instrument base 5 may further be provided with an absolute value encoder 52 and an encoder sampling plate 53. The absolute value encoder 52 is used to acquire the output displacement of the first sub-motor to determine the absolute position of the first sub-motor. The first sub-motor is a motor corresponding to the posture joint at the tail end. Namely, the first sub-motor is a motor for driving the posture joint movement at the tip. The encoder sampling board 53 is configured to feed back data acquired by the absolute value encoder 52 to the motor driving board 54, and the motor driving board 54 is in communication connection with respective drivers of the first motor 51, the second motor 61, and the third motor 71, so as to implement closed-loop control on the first sub-motor.

Preferably, the encoder sampling board 53 and the motor driving board 54 of the first sub-motor are both connected by using an RS232 communication interface.

RS232 is one of the communication interfaces on personal computers, and is an asynchronous transmission standard interface established by the Electronic Industries Association (EIA). Usually, the RS232 interface is presented in the form of 9 pins (DB-9) or 25 pins (DB-25).

Further, as shown in fig. 2, the instrument holder 5 may further include a force sensor. The force sensor is used for detecting the output force of each motor on the mechanical seat 5 so as to be used for force feedback.

Further, as shown in fig. 2, the robot arm 6 may further include a position sensor 64 and a position sensor driving board 65. The position sensor 64 is used to acquire the output displacement of the second sub-motor to determine the absolute position of the second sub-motor. The second sub-motor is a motor corresponding to the first position joint at the tail end, namely the second sub-motor is a motor for driving the first position joint at the tail end to move. The position sensor drive board 65 is used for sending signals to the driver of the second sub-motor according to the data collected by the position sensor 64, so as to realize closed-loop control of the second sub-motor.

As shown in fig. 2, the aforementioned arm 6 also has a card sensor 66. The card sensor 66 is used to detect whether or not the surgical instrument is loaded in the mounting position on the instrument arm 6. The card sensor 66 CAN be in communication connection with the console main control board 3 through a CAN bus. Specifically, when the stamp card sensor 66 detects that the surgical instrument is mounted on the instrument arm 6, a signal is sent to the console main control board 3, and the console main control board 3 locks the vehicle body of the surgical robot device after receiving the signal, so as to prevent the vehicle body of the surgical robot device from moving.

Further, as shown in fig. 2, the mechanical arm 6 may further include a first electromagnetic brake 62 and a first brake driving plate 63. The first brake driving plate 63 is used for sending a signal to the first electromagnetic brake 62, so that the first electromagnetic brake 62 locks the second slave hand posture joint, stability of operation is guaranteed, and the mechanical arm 6 is prevented from moving after being well positioned.

Further, as shown in fig. 2, a second electromagnetic brake 72 and a second brake driving plate 73 may be disposed on the RCM mechanical arm 7. The second brake driving plate 73 is used for sending a signal to the second electromagnetic brake 72, so that the second electromagnetic brake 72 locks the joint at the slave hand position, the stability of the operation is ensured, and the movement of the RCM mechanical arm 7 after the position is adjusted is prevented.

The RCM (Remote Center of Motion) mechanical arm has the function of providing a Remote Motion Center point, and the Remote Motion Center point is superposed with a minimally invasive surgery incision, so that the surgical instrument and the surgical incision of a patient can be prevented from being pulled in the minimally invasive surgery process, and the surgical safety is ensured.

Further, as shown in fig. 3, the console may further include a console panel 8. The console panel 8 comprises a console upper computer 81, a touch screen 82 for sending signals to the console upper computer 81, a console panel control board 83, and a console and field voice interaction system 84. The console panel control board 83 also has a console I/O signal interface and a console sensor signal interface. And the console I/O signal interface is used for connecting a signal lamp. The console upper computer 81 is in communication connection with a console panel control board 83. The console panel control board 83 is communicatively connected to the console main control board 3.

Through foretell setting, control cabinet host computer 81 realizes communicating with UI, is responsible for entire system's master instruction simultaneously, if: the switching of the operation vehicle arms, the selection of operation modes of different operation vehicle numbers and the like.

Further, the console upper computer 81 and the console panel control board 83 may be connected by using an RS232 communication interface. The console panel control board 83 and the console main control board 3 are connected by a CAN bus.

CAN is an abbreviation of Controller Area Network (hereinafter CAN) and is a serial communication protocol standardized by ISO international. CAN belongs to the field bus category and is a serial communication network that effectively supports distributed control or real-time control.

Further, as shown in fig. 4, the surgical robot topology loop control system 100 of the present invention may further include an auxiliary device 9. The auxiliary device 9 may comprise one or more of a pneumoperitoneum machine, a 3D imaging system, an ultrasonic blade, an electric blade. The console main control board 3 is in communication connection with the auxiliary device 9. Preferably, the console main control board 3 and the auxiliary device 9 are connected by using an RS232 communication interface.

In the above example, the function of the surgical robot apparatus can be enhanced by the provision of the auxiliary apparatus 9, which is more practical.

Further, as shown in fig. 5, the surgical robot apparatus may further include a surgical cart panel. The operation car panel comprises an operation car panel control panel 101, a voice interaction system 102, an upper computer 103 and a touch screen 104 used for sending signals to the upper computer 103. The upper computer 103 is in communication connection with the operation trolley panel control board 101. Preferably, the upper computer 103 and the operation cart panel control board 101 are connected by an RS232 communication interface. The operation trolley panel control board 101 is in communication connection with the console main control board 3. Preferably, the surgical cart panel control board 101 and the console main control board 3 are connected through a CAN bus.

In the above example, the operator conveniently controls the surgical robot device through the upper computer 103 and the voice interaction system 102.

Further, as shown in fig. 6, the aforementioned surgical robot apparatus may further include a column motor control board 111, a column driver 112, a column motor 113, and a column. The upright is connected to an instrument arm 6. The operation trolley panel control board 101 is in communication connection with the upright post motor control board 111. Preferably, the surgical cart panel control board 101 and the upright post motor control board 111 are connected by a CAN bus. The column motor control board 111 is used for sending signals to the column driver 112 according to the instructions of the console main control board 3. The column driver 112 is used for controlling the operation of the column motor 113 according to the signal of the console main control panel 3, so that the column motor 113 drives the column to lift.

Through the arrangement, the mechanical arm 6 can be driven to lift through the upright column so as to adjust the height of the mechanical arm 6, so that the surgical robot equipment can adapt to surgical environments with different heights.

Further, as shown in fig. 6, the aforementioned surgical robot apparatus may further include a crossbar, a crossbar control board 121, and a third electromagnetic brake 122. The upright is connected to the instrument arm 6 by a cross arm which can rotate relative to the upright to provide coarse adjustment of the position of the instrument arm 6 prior to surgery. The cross arm control panel 121 is in communication connection with the surgical cart panel control panel 101. The crossbar control board 121 is configured to send a signal to the third electromagnetic brake 122 according to a command from the surgical cart panel control board 101, so that the third electromagnetic brake 122 locks the crossbar.

Through the arrangement, after the position of the cross arm is adjusted, the position of the cross arm can be locked through the third electromagnetic brake 122, so that the stability of the operation is ensured.

Further, as shown in fig. 5, the aforementioned surgical robot apparatus may further include a vehicle body to move by the vehicle body. The vehicle body is provided with a surgical vehicle control board 131, an electric leg driver 132, a leg motor 133 and an electric leg 136. The surgical cart panel control board 101 is in communication connection with the surgical cart control board 131. Preferably, the surgical cart panel control board 101 and the surgical cart control board 131 are connected through a CAN bus. The surgical cart control board 131 is used to send signals to the electric leg driver 132 according to the instructions of the surgical cart panel control board 101. The electric leg driver 132 is used for controlling the operation of the leg motor 133 according to the signal, so that the leg motor 133 drives the electric legs 136 to ascend and descend.

Through the arrangement, after the surgical robot device moves to the set position through the vehicle body, the support leg motor 133 drives the electric support legs 136 to move, so that the electric support legs 136 are abutted against the ground, the vehicle body is prevented from moving, and the stability of surgical operation is ensured.

Further, as shown in fig. 5, the aforementioned surgical robot apparatus may further include a cart movement driver 134 and a cart motor 135. Surgical cart motion driver 134 is communicatively coupled to surgical cart control board 131. The surgical cart motion driver 134 is used for sending signals to the surgical cart motor 135 according to the instructions of the surgical cart control board 131 to drive the cart body of the surgical robot apparatus to move.

Further, as shown in fig. 4, the surgical robot topology loop control system 100 of the present invention further includes a surgical cart power supply system, which includes a UPS power supply 152 and a power control board 151 connected to the UPS power supply 152. The power control board 151 is communicatively connected to the console main control board 3. Preferably, the power control board 151 is connected to the console main control board 3 through a CAN bus.

Further, as shown in fig. 4, the surgical robot topology loop control system 100 of the present invention further includes a console display handrail position adjustment driver 141 and a handrail motor 142. The console display armrest position adjustment driver 141 is communicatively connected to the console main control panel 3. Preferably, the console display armrest position adjustment driver 141 is connected to the console main control board 3 through an RS232 interface.

Through the above arrangement, the console display handrail position adjusting driver 141 can send a signal to the handrail motor 142 according to the instruction of the console main control board 3 to drive the handrail of the console display to move, so as to adjust the position of the handrail of the console display.

Here, it should be noted that: in the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (10)

1. A surgical robotic topology loop control system, comprising:

the control console comprises a master hand, an encoder (1), a master hand sampling control board (2) and a control console main control board (3); the console main control board (3) is in communication connection with the master hand sampling control board (2); the encoder (1) is used for acquiring the motion offset of each joint on the main hand; the master hand sampling control board (2) is used for calculating the space position of the tail end of the master hand by adopting a positive kinematic equation according to the motion offset of each joint on the master hand;

a surgical robotic device comprising a master controller (4), an instrument holder (5), an instrument arm (6), and an RCM robotic arm (7); the instrument seat (5) is provided with a first slave hand posture joint and a first motor (51) for driving the first slave hand posture joint to move, the instrument arm (6) is provided with a second slave hand posture joint and a second motor (61) for driving the second slave hand posture joint to move, and the RCM instrument arm (7) is provided with a slave hand position joint and a third motor (71) for driving the slave hand position joint to move; the master controller (4) is used for calculating the respective motion offset of the first slave hand posture joint, the second slave hand posture joint and the slave hand position joint by adopting an inverse kinematics equation according to the space position of the tail end of the master hand, and sending signals to the respective drivers of the first motor (51), the second motor (61) and the third motor (71) in sequence to enable the first slave hand posture joint, the second slave hand posture joint and the slave hand position joint to move according to the calculated motion offset.

2. A surgical robotic topological loop control system according to claim 1,

the instrument seat (5) is also provided with an absolute value encoder (52) and an encoder sampling plate (53);

the absolute value encoder (52) is used for acquiring output displacement of a first sub-motor, and the first sub-motor is a motor corresponding to the posture joint at the tail end;

the encoder sampling board (53) is used for feeding back data acquired by the absolute value encoder (52) to the motor driving board (54), and the motor driving board (54) is in communication connection with respective drivers of the first motor (51), the second motor (61) and the third motor (71).

3. A surgical robot topology loop control system according to claim 1 or 2,

the mechanical arm (6) is also provided with a position sensor (64) and a position sensor driving plate (65);

the position sensor (64) is used for acquiring the output displacement of a second sub-motor, and the second sub-motor is a motor corresponding to a first position joint positioned at the tail end;

the position sensor driving plate (65) is used for sending signals to a driver of the second sub motor according to data collected by the position sensor (64).

4. A surgical robot topology loop control system according to claim 1 or 2,

the mechanical arm (6) is also provided with a first electromagnetic brake (62) and a first brake driving plate (63); the first brake driving plate (63) is used for sending a signal to the first electromagnetic brake (62) to lock the second slave hand posture joint by the first electromagnetic brake (62);

and/or a second electromagnetic brake (72) and a second brake driving plate (73) are arranged on the RCM mechanical arm (7); the second brake driving plate (73) is used for sending signals to the second electromagnetic brake (72) to lock the joint of the slave hand position by the second electromagnetic brake (72).

5. A surgical robot topology loop control system according to claim 1 or 2,

the control console also comprises a control console panel (8), wherein the control console panel (8) comprises a control console upper computer (81), a touch screen (82) used for sending signals to the control console upper computer (81), a control console panel control panel (83), and a control console and field voice interaction system (84);

the console panel control board (83) is also provided with a console I/O signal interface and a console sensor signal interface;

the console upper computer (81) is in communication connection with a console panel control board (83), and the console panel control board (83) is in communication connection with the console main control board (3).

6. A surgical robotic topology loop control system according to claim 1 or 2, characterized by further comprising auxiliary equipment (9), said auxiliary equipment (9) comprising a pneumoperitoneum machine, and/or a 3D imaging system, and/or an ultrasonic blade, and/or an electric blade;

the console main control board (3) is in communication connection with the auxiliary equipment (9).

7. A surgical robot topology loop control system according to claim 1 or 2,

the surgical robot equipment further comprises a surgical car panel, wherein the surgical car panel comprises a surgical car panel control panel (101), a voice interaction system (102), an upper computer (103) and a touch screen (104) used for sending signals to the upper computer (103);

the upper computer (103) is in communication connection with the operating trolley panel control board (101); the operation trolley panel control board (101) is in communication connection with the console main control board (3).

8. A surgical robotic topological loop control system according to claim 7,

the surgical robot equipment also comprises an upright post motor control board (111), an upright post driver (112), an upright post motor (113) and an upright post;

the upright column is connected with the mechanical arm (6);

the operation trolley panel control board (101) is in communication connection with the upright post motor control board (111);

the upright post motor control board (111) is used for sending a signal to the upright post driver (112) according to an instruction of the console main control board (3), and the upright post driver (112) is used for controlling the operation of the upright post motor (113) according to the signal so that the upright post motor (113) drives the upright post to ascend and descend.

9. A surgical robotic topological loop control system according to claim 8,

the surgical robot equipment further comprises a cross arm, a cross arm control plate (121) and a third electromagnetic brake (122);

the upright post is connected with the instrument arm (6) through the cross arm, and the cross arm can rotate relative to the upright post;

the cross arm control plate (121) is in communication connection with the operating trolley panel control plate (101);

the cross arm control board (121) is used for sending a signal to the third electromagnetic brake (122) according to a command of the operating trolley panel control board (101), so that the third electromagnetic brake (122) locks the cross arm.

10. A surgical robotic topological loop control system according to claim 7,

the surgical robotic device further includes a vehicle body to move through the vehicle body;

the trolley body is provided with a surgical trolley control plate (131), an electric support leg driver (132), a support leg motor (133) and an electric support leg (136);

the operation trolley panel control board (101) is in communication connection with the operation trolley control board (131);

the operation trolley control board (131) is used for sending signals to the electric foot driver (132) according to the instructions of the operation trolley panel control board (101); the electric foot driver (132) is used for controlling the operation of the foot motor (133) according to the signal, so that the foot motor (133) drives the electric foot (136) to lift.

Images