CN115252136A - Driver debugging method of medical robot, industrial personal computer and medical robot - Google Patents

Driver debugging method of medical robot, industrial personal computer and medical robot Download PDF

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Publication number
CN115252136A
CN115252136A CN202210842824.8A CN202210842824A CN115252136A CN 115252136 A CN115252136 A CN 115252136A CN 202210842824 A CN202210842824 A CN 202210842824A CN 115252136 A CN115252136 A CN 115252136A
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China
Prior art keywords
target driver
servo parameter
servo
medical robot
driver
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CN202210842824.8A
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Chinese (zh)
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不公告发明人
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Shanghai Microport Medbot Group Co Ltd
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Shanghai Microport Medbot Group Co Ltd
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Priority to CN202210842824.8A priority Critical patent/CN115252136A/en
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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
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller

Abstract

The specification relates to the technical field of medical robots, and particularly discloses a driver debugging method of a medical robot, an industrial personal computer and the medical robot, wherein the medical robot comprises the industrial personal computer and a plurality of drivers, the industrial personal computer and the drivers are in communication connection based on EtherCAT, and the method is applied to the industrial personal computer and comprises the following steps: responding to the selection operation of a user on an instrument joint of the medical robot, and acquiring a device number of a target driver corresponding to the selected instrument joint; acquiring current servo parameter information corresponding to the target driver according to the equipment number of the target driver; and responding to the debugging operation of the user on the servo parameter information corresponding to the target driver, and writing the debugged servo parameter information into the target driver. The scheme can improve the debugging efficiency of the driver of the medical robot.

Description

Driver debugging method of medical robot, industrial personal computer and medical robot
Technical Field
The present disclosure relates to the field of medical robot technologies, and in particular, to a driver debugging method for a medical robot, an industrial personal computer, and a medical robot.
Background
Existing medical robots include a plurality of surgical instruments, each of which includes a plurality of joints. Each joint is provided with a motor, each motor is provided with a corresponding driver, and the drivers can control the motors to normally move after parameters are configured. At present, the debugging of the driver needs upper computer software to be connected with each motor driver through a serial port respectively. Such a debugging method is cumbersome to operate and inefficient.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the specification provides a driver debugging method of a medical robot, an industrial personal computer and the medical robot, and aims to solve the problem that the driver debugging efficiency of the medical robot is low in the prior art.
The embodiment of the specification provides a driver debugging method for a medical robot, the medical robot comprises an industrial personal computer and a plurality of drivers, the industrial personal computer is in communication connection with the drivers based on EtherCAT, and the method is applied to the industrial personal computer and comprises the following steps:
responding to the selection operation of a user on an instrument joint of the medical robot, and acquiring the equipment number of a target driver corresponding to the selected instrument joint;
acquiring current servo parameter information corresponding to the target driver according to the equipment number of the target driver;
and responding to the debugging operation of the user on the servo parameter information corresponding to the target driver, and writing the debugged servo parameter information into the target driver.
In one embodiment, the medical robot comprises an industrial personal computer and a plurality of drivers, the industrial personal computer is in communication connection with the drivers based on EtherCAT, and the method is applied to the industrial personal computer and comprises the following steps:
responding to the selection operation of a user on an instrument joint of the medical robot, and acquiring the equipment number of a target driver corresponding to the selected instrument joint;
acquiring current servo parameter information corresponding to the target driver according to the equipment number of the target driver;
responding to the debugging operation of the user on the servo parameter information corresponding to the target driver, and writing the debugged servo parameter information into the target driver
In one embodiment, after determining whether the plurality of drivers are successfully installed based on the device number, further comprising:
performing graphical interface display on the instrument joint of the medical robot;
when it is determined that one or more drivers of the plurality of drivers are not successfully installed, an instrument joint corresponding to the one or more drivers that are not successfully installed is marked for display.
In one embodiment, obtaining the current servo parameter information corresponding to the target driver according to the device number of the target driver includes:
reading a servo parameter file corresponding to the equipment number of the target driver;
analyzing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target driver, and writing the default data of the plurality of servo parameters corresponding to the target driver into a visual table;
scanning the target driver to obtain current values of a plurality of servo parameters corresponding to the target driver;
and updating the visual table based on the current numerical values of the plurality of servo parameters corresponding to the target driver to obtain the current servo parameter information corresponding to the target driver.
In an embodiment, parsing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target driver, and writing the default data of the plurality of servo parameters corresponding to the target driver into a visualization table includes:
determining a root node element in the servo parameter file, and grouping the servo parameters of the target driver based on the root node element;
and analyzing child node elements corresponding to the root node elements of each group from the servo parameter file, and filling the child node elements corresponding to the root node elements of each group into the visual table.
In one embodiment, the target drive includes at least two drives; the servo parameter file comprises default data of a plurality of servo parameters corresponding to each driver in the plurality of drivers.
In one embodiment, in response to a user debugging operation on servo parameter information corresponding to the target drive, writing the debugged servo parameter information into the target drive includes:
responding to the debugging operation of a user on the servo parameter information corresponding to the target driver, and acquiring a device number, a servo parameter identifier and a servo parameter value corresponding to the debugging operation;
and writing the debugged servo parameter information into the target driver based on the equipment number, the servo parameter identification and the servo parameter value corresponding to the debugging operation.
This description embodiment still provides a medical robot's industrial computer, medical robot still includes a plurality of drivers, the industrial computer with a plurality of drivers are based on EtherCAT communication connection, the industrial computer includes:
the selection module is used for responding to the selection operation of a user on the instrument joint of the medical robot and acquiring the equipment number of the target driver corresponding to the selected instrument joint;
the acquisition module is used for acquiring the current servo parameter information corresponding to the target driver according to the equipment number of the target driver;
and the debugging module is used for responding to the debugging operation of the user on the servo parameter information corresponding to the target driver and writing the debugged servo parameter information into the target driver.
The embodiment of the specification further provides a medical robot, which comprises an industrial personal computer, a plurality of drivers and a plurality of instrument joints, wherein the industrial personal computer is in communication connection with the drivers based on EtherCAT;
the drivers correspond to the instrument joints one by one and are used for driving the motors in the corresponding instrument joints to work;
the industrial personal computer is used for responding to the selection operation of the user on the instrument joint and acquiring the equipment number of the target driver corresponding to the selected instrument joint; the servo control device is also used for acquiring current servo parameter information corresponding to the target driver according to the equipment number of the target driver; and the servo parameter debugging module is also used for responding to the debugging operation of the user on the servo parameter information corresponding to the target driver and writing the debugged servo parameter information into the target driver.
In one embodiment, a motion control software and graphical user interface application program development framework are installed in the industrial personal computer; the graphical user interface application program development framework stores a user interface developed by a developer in advance;
the industrial personal computer responds to the selection operation of the user on the instrument joint by using the user interface, and obtains the equipment number of the target driver corresponding to the selected instrument joint; responding to the debugging operation of the user on the servo parameter information corresponding to the target driver by using the user interface, and acquiring a device number, a servo parameter identifier and a servo parameter value corresponding to the debugging operation;
and the user interface transmits the acquired equipment number, the servo parameter identification and the servo parameter value corresponding to the debugging operation to a PLC module of the motion control software so as to write the debugged servo parameter information into the target driver.
The embodiment of the present specification further provides a medical device, which includes a processor and a memory for storing processor executable instructions, and when the processor executes the instructions, the steps of the drive debugging method for the medical robot described in any embodiment above are implemented.
The present specification further provides a computer readable storage medium, on which computer instructions are stored, and the instructions, when executed, implement the steps of the drive commissioning method for a medical robot described in any of the above embodiments.
In an embodiment of the specification, a driver debugging method for a medical robot is provided, in which an industrial personal computer is in communication connection with a plurality of drivers in the medical robot through EtherCAT, and the industrial personal computer can receive a selection operation of a user on an instrument joint of the medical robot, acquire a device number of a target driver corresponding to the selected instrument joint, further acquire servo parameter information of the target driver according to the device number, receive a debugging operation of the user on the servo parameter information of the target driver, acquire debugged servo parameter information corresponding to the debugging operation, and write the debugged servo parameter information into the target driver through an EtherCAT network. Because the industrial computer is connected with a plurality of drivers, therefore, parameters of a plurality of drivers of the medical robot can be debugged through the industrial computer, repeated plugging and unplugging of cables are not needed, servo parameters of the drivers can be modified simultaneously, debugging efficiency is high, and labor cost and time cost can be saved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the description, are incorporated in and constitute a part of this specification, and do not constitute a limitation of this specification. In the drawings:
FIG. 1 shows a schematic diagram of drive debugging;
FIG. 2 shows a mechanical block diagram of the medical robot;
FIG. 3 illustrates a conventional debug driver schematic;
fig. 4 is a flowchart illustrating a drive commissioning method of a medical robot according to an embodiment of the present description;
FIG. 5 shows a schematic diagram of driver debugging in an embodiment of the present description;
FIG. 6 is a general flowchart of a debug system in an embodiment of the present description;
FIG. 7 illustrates a flow diagram of an installation wizard module in one embodiment of the present description;
FIG. 8 illustrates an installation guide module-joint installation diagram in one embodiment of the present description;
FIG. 9 is a diagram illustrating an installation guide module-joint error reporting diagram in one embodiment of the present disclosure;
FIG. 10 is a diagram illustrating a parameter wizard module main interface display in one embodiment of the present description;
FIG. 11 is a diagram illustrating an installation guide module-selected joint in one embodiment of the present disclosure;
FIG. 12 is a diagram illustrating a main interface display of a parameter wizard module in one embodiment of the present description;
FIG. 13 is a flow diagram illustrating parsing of xml by the parameter wizard module in one embodiment of the present description;
FIG. 14 is a flow diagram of a parameter wizard module in one embodiment of the present description;
fig. 15 is a block diagram showing a structure of an industrial personal computer of the medical robot according to the embodiment of the present specification;
fig. 16 is a schematic structural diagram of a medical device according to an embodiment of the present disclosure.
Detailed Description
The principles and spirit of the present description will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely to enable those skilled in the art to better understand and to implement the present description, and are not intended to limit the scope of the present description in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As will be appreciated by one skilled in the art, embodiments of the present description may be embodied as a system, apparatus, method, computer-readable storage medium, computer program product, data structure, or signal/data stream. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
Fig. 1 shows a schematic diagram of driver debugging. As shown in fig. 1, before the motor driver drives the motor, related parameters of the motor, such as rated current, rated voltage, etc., need to be configured by means of debugging software, and after the parameters are matched with actual parameters of the motor, the driver can drive the motor to normally operate.
The medical robot may include a plurality of surgical instruments, each surgical instrument including a plurality of instrument joints, the motors in each instrument joint being driven by a separate driver. Fig. 2 shows a mechanical structure diagram of the medical robot. As shown in fig. 2, the actuators of a medical robot typically consist of a physician's console and a patient surgical platform. On the left side of fig. 2 is a doctor console, which may comprise two master control arms, the drive parameters of the joints of which may be common. The right side of fig. 2 is a patient surgical platform. The patient operation platform comprises at least one operation arm, and the driving parameters of the joints of the operation arm can be universal.
Fig. 3 shows a conventional debug driver schematic. As shown in fig. 3, at present, the debugging of the driver of the instrument joint of the medical robot can be performed by connecting a computer with the driver through a network cable or a serial port, after the corresponding motor parameters are configured, the motor can run normally, then the connecting cable is pulled out and then the next driver is connected for configuration, and the above steps are repeated. The medical robot has dozens of joints in total, and the traditional method has the defects in the field of the medical robot, such as the need of repeatedly plugging and unplugging cables, incapability of simultaneously modifying parameters of a plurality of drivers, low debugging efficiency and the like.
Based on this, this specification embodiment provides a drive debugging method of medical robot. Fig. 4 shows a flowchart of a drive commissioning method for a medical robot in an embodiment of the present description. Although the present specification provides method operational steps or apparatus configurations as illustrated in the following examples or figures, more or fewer operational steps or modular units may be included in the methods or apparatus based on conventional or non-inventive efforts. In the step or structure in which the necessary cause and effect relationship does not logically exist, the execution sequence of the steps or the module structure of the apparatus is not limited to the execution sequence or the module structure described in the embodiment of the present specification and shown in the drawings. When the described methods or modular structures are applied in a practical device or end product, they can be executed sequentially or in parallel according to the embodiments or the methods or modular structures shown in the figures (for example, in the environment of parallel processors or multi-thread processing, or even in the environment of distributed processing).
Specifically, as shown in fig. 4, a method for debugging a drive of a medical robot provided by an embodiment of the present specification may include the following steps:
step S401, in response to a selection operation of the instrument joint of the medical robot by the user, acquires a device number of the target driver corresponding to the selected instrument joint.
The driver debugging method of the medical robot in the embodiment of the specification is applied to the industrial personal computer. An industrial personal computer, i.e. an industrial control computer, is part of the medical robot. An industrial personal computer in a medical robot is a general name of a tool which adopts a bus structure and detects and controls a surgical process and surgical instruments.
The medical robot may include an industrial personal computer and a plurality of drivers. The industrial computer is as main control station, and a plurality of drivers are as the slave station, and the industrial computer passes through the EtherCAT communication mode and connects gradually with a plurality of drivers. Referring to fig. 5, a schematic diagram of driver debugging in an embodiment of the present specification is shown. As shown in fig. 5, an industrial personal computer as a master station may be connected to an actuator as a slave station by EtherCAT in the original industrial personal computer environment of the medical robot.
EtherCAT (Ethernet Control Automation Technology) is deterministic industrial Ethernet, mainly completes two functions of communication and Control application, and the EtherCAT physical layer selects standard Ethernet physical layer devices. The master station of EtherCAT can be implemented in software in a standard ethernet media access controller. The slave station of EtherCAT needs a special slave station controller of EtherCAT to realize the flying transmission, for example, the slave station can be realized by an FPGA and has ready codes, and the controller can also be realized by an ASIC.
The industrial personal computer can display the instrument joints of the medical robot in a visual graphical interface. The user can select the instrument joint displayed in the graphical interface, and then debug the driver corresponding to the selected instrument joint. The industrial personal computer can respond to the selection operation of the user on the instrument joint of the medical robot, and acquire the equipment number of the target driver corresponding to the shutdown of the selected instrument. The equipment number refers to the number of all drivers connected to the industrial personal computer. For example, the numbering can be done automatically starting from 0, in the order of the connection of the drives on the bus.
The industrial personal computer can store the corresponding relation between the instrument joint and the driver equipment number. After the user selects an instrument joint, the industrial personal computer may determine a device number of a target driver corresponding to the instrument joint based on the stored correspondence between the instrument joint and the driver device number.
And step S402, acquiring the current servo parameter information corresponding to the target driver according to the equipment number of the target driver.
After the device number of the target driver is obtained, the industrial personal computer can obtain current servo parameter information corresponding to the target driver. Wherein the servo parameter information may include information of a plurality of servo parameters of the driver, and the plurality of servo parameters may include at least one of: rated current, rated voltage, motor type, brake type, sensor switch, detection switch, motor type, encoder wire number, motor resistance, motor voltage, motor inductance, encoder type, motor gain, and the like. The industrial personal computer can acquire the information of all current servo parameters of the driver from the target driver.
Step S403, in response to a debugging operation of the user on the servo parameter information corresponding to the target drive, writing the debugged servo parameter information into the target drive.
A user can debug the servo parameter information corresponding to the target driver in a graphical display interface of the industrial personal computer. Wherein the debugging operation may be to debug parameter values of one or more parameters of the target drive. The industrial personal computer can respond to the debugging operation of the user on the servo parameter information corresponding to the target driver, acquire the debugged servo parameter information corresponding to the debugging operation, and write the debugged servo parameter information into the target driver.
In the above embodiment, the industrial personal computer is in communication connection with the plurality of drivers in the medical robot through the EtherCAT, and the industrial personal computer can receive the selection operation of the user on the instrument joint of the medical robot, acquire the device number of the target driver corresponding to the selected instrument joint, further acquire the servo parameter information of the target driver according to the device number, and also can receive the debugging operation of the user on the servo parameter information of the target driver, acquire the debugged servo parameter information corresponding to the debugging operation, and write the debugged servo parameter information into the target driver through the EtherCAT network. Because the industrial computer is connected with a plurality of drivers, therefore, parameters of a plurality of drivers of the medical robot can be debugged through the industrial computer, repeated plugging and unplugging of cables are not needed, servo parameters of the drivers can be modified simultaneously, debugging efficiency is high, and labor cost and time cost can be saved.
In some embodiments of the present description, before acquiring the device number of the target driver corresponding to the selected instrument joint, the method may further include: scanning the plurality of drivers to obtain a plurality of device numbers; determining whether the plurality of drivers are successfully installed based on the device number.
In particular, the industrial control computer can be communicatively connected with a plurality of drivers based on EtherCAT, namely the drivers or the instrument joints corresponding to the drivers. If the installation is successful, the device numbers of all the drivers can be obtained when scanning the plurality of drivers. If there is an unsuccessful installation of the drive, the obtained device number is less than the number of drives. In the case where one driver is not successfully installed, none of the drivers connected once after the driver is successfully installed.
Referring to fig. 6, a general flowchart of a debugging system in an embodiment of the present disclosure is shown. In this embodiment, the industrial personal computer may be divided into an installation guide module and a parameter guide module. And acquiring equipment connected with the industrial personal computer by using the installation guide module in an EtherCAT communication mode, sequentially corresponding the acquired equipment numbers to joints of the robot according to the network cable connection sequence, and displaying through a graphical interface to realize installation guide. The method comprises the steps of utilizing a parameter guide module to select joints needing debugging, selecting a plurality of joints, providing a set of standard parameters corresponding to the plurality of joints and corresponding reference ranges according to selection results, and after a user edits and modifies the standard parameters, reading and writing parameters of a driver to realize parameter guide, namely debugging of the driver until a motor normally runs.
Referring to FIG. 7, a flow chart of installing a wizard module in one embodiment of the present description is shown. As shown in fig. 7, a corresponding joint may be installed, i.e. the driver corresponding to the instrument joint is connected to the industrial control computer. Thereafter, the plurality of drives may be scanned for the corresponding slave station numbers (i.e., device numbers). In the case where slave station numbers for all drivers are obtained, the user interface is updated to display the instrument joint. In the event that the slave station numbers for all of the drives are not available, the corresponding joints may be reinstalled until all of the drives are installed successfully.
Referring to fig. 8, a schematic view of installation guide module-joint installation in one embodiment of the present disclosure is shown. As shown in fig. 8, in the installation guide module of the debugging system, an "O" shape identifies a currently installed joint, and an uninstalled joint displays "/", so that the installation progress of the current machine can be clearly fed back to an installer, and simple human-computer interaction is realized.
Fig. 9 shows a schematic diagram of installation guide module-joint error reporting in an embodiment of the present description. As shown in FIG. 9, after the installation is completed, the error code of the current slave station can be detected, if not 0, the error code is in an error state, and the joint in the UI displays a prohibition symbol
Figure BDA0003751772150000081
In some embodiments of the present specification, after determining whether the plurality of drivers are successfully installed based on the device number, the method may further include: performing graphical interface display on the instrument joint of the medical robot; when it is determined that one or more drivers of the plurality of drivers are not successfully installed, marking and displaying instrument joints corresponding to the one or more drivers which are not successfully installed. Meanwhile, for the instrument joint with the displayed mark, the user is not allowed to perform selection operation on the instrument joint, namely, the user is not allowed to perform parameter debugging on the driver with the failed installation.
In some embodiments of this specification, obtaining the current servo parameter information corresponding to the target drive according to the device number of the target drive may include: reading a servo parameter file corresponding to the equipment number of the target driver; analyzing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target driver, and writing the default data of the plurality of servo parameters corresponding to the target driver into a visual table; scanning the target driver to obtain current values of a plurality of servo parameters corresponding to the target driver; and updating the visual table based on the current values of the plurality of servo parameters corresponding to the target driver to obtain the current servo parameter information corresponding to the target driver.
Standard parameter information of the drive may be provided in a servo parameter file. After the device number of the target drive is obtained, the servo parameter file corresponding to the target drive can be read. The servo parameter file may be in XML format, etc. The servo parameter file can be analyzed to obtain default data of a plurality of servo parameters corresponding to the target driver. The default data may include information such as a type, a default value, a value range, and a parameter description of the parameter. Default data for a plurality of servo parameters may be written to the visualization table. Then, the target driver may be scanned to obtain current values of a plurality of servo parameters corresponding to the target driver. The default values of the plurality of servo parameters in the visual table can be updated to the current values, so that the servo parameter information corresponding to the target driver is obtained. In the above embodiment, the servo parameter of the driver is stored through the servo parameter file, and if a user wants to add, modify or delete a parameter option, the user only needs to modify the servo parameter file without modifying any code, so that the code usability is improved, and the subsequent maintenance is facilitated.
Referring to fig. 10, a main interface display of a parameter wizard module in an embodiment of the present disclosure is shown. As shown in fig. 10, in the graphical display interface of the parameter guidance module, current parameter information of a plurality of servo parameters corresponding to the target driver may be displayed. For the options of the parameter wizard module function area, an explanation is given as shown in table 1 below.
TABLE 1
Function(s) Detailed Description
Importing parameters Importing the previously saved parameter file
Deriving parameters Saving current parameter data as a file
Read hits Reading the currently selected parameter
Read all of Reading all parameters of the drive
Write select Writing currently modified parameters to a drive
Write all Writing all modified parameters to the drive
EEPROM Writing data into FLASH
In some embodiments of the present description, the target drive comprises at least two drives; the servo parameter file comprises default data of a plurality of servo parameters corresponding to each driver in the plurality of drivers.
The parameter information in the parameter guidance module of FIG. 10 is for a case where an instrument joint is selected, corresponding to parameter information for a target driver. In this embodiment, the user may select at least two instrument joints. Accordingly, the target driver may include at least two drivers.
Referring to FIG. 11, a diagram of the installation guide module-selected joint in one embodiment of the present disclosure is shown. If parameters are to be modified, it is possible to go back to the installation wizard interface to select the corresponding installed joint, the relevant joints will show "", and multiple joints may be selected simultaneously, as shown in fig. 11.
In this embodiment, the servo parameter file may be set for a plurality of drivers, may include all types of parameters of the drivers, and separately displays current values of the types of parameters. FIG. 12 is a diagram illustrating a main interface display of the parameter wizard module in one embodiment of the present description. As shown in fig. 12, the current parameter information of the joints 1 and 2 can be displayed, and the servo parameter information of the joints 1 and 2 can be edited, so that the function of debugging a plurality of drivers simultaneously can be realized, and the driver adjustment efficiency can be further improved.
In some embodiments of the present specification, parsing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target drive, and writing the default data of the plurality of servo parameters corresponding to the target drive into a visualization table includes: determining a root node element in the servo parameter file, and grouping servo parameters of the target driver based on the root node element; and analyzing child node elements corresponding to the root node elements of each group from the servo parameter file, and filling the child node elements corresponding to the root node elements of each group into the visual table.
In this embodiment, the servo parameter file may be an XML file or the like. After the servo parameter file is read, the servo parameter file can be analyzed. To facilitate the user to debug the drive, the parameters may be grouped in a servo parameter file, for example, into device type parameters and motor parameters. And then corresponding parameter information is given for each group. Referring to FIG. 13, a flow diagram of parsing XML by the parameter wizard module in one embodiment of the present specification is shown. As shown in fig. 13, after reading the servo parameter file, a root node element in the servo parameter file may be determined, and the servo parameters may be grouped according to the root node element. Then, the child node elements corresponding to the root node elements of each group, that is, the information of the specific parameters, can be analyzed from the servo parameter file. Then, the child node elements corresponding to the root node element of each group may be filled in the visualization table, that is, the default data information of the target driver may be obtained. To obtain the current parameter information of the target drive, all the current parameter values of the target drive may be automatically retrieved and the visualization table may be updated, as shown in fig. 13. By the method, the servo parameter file can be analyzed, and the current parameter information of the driver can be obtained.
In some embodiments of the present specification, in response to a debugging operation of a user on servo parameter information corresponding to the target drive, writing the debugged servo parameter information into the target drive may include: responding to the debugging operation of a user on the servo parameter information corresponding to the target driver, and acquiring an equipment number, a servo parameter identifier and a servo parameter value corresponding to the debugging operation; and writing the debugged servo parameter information into the target driver based on the equipment number, the servo parameter identification and the servo parameter value corresponding to the debugging operation.
In some embodiments of the present description, the industrial personal computer may have installed therein motion control software and a graphical user interface application development framework; the graphical user interface application program development framework stores a user interface developed in advance by a developer. The industrial personal computer can respond to the selection operation of the user on the instrument joint by utilizing the user interface, and acquire the equipment number of the target driver corresponding to the selected instrument joint. The industrial personal computer can also respond to the debugging operation of the user on the servo parameter information corresponding to the target driver by utilizing the user interface, and obtain the equipment number, the servo parameter identification and the servo parameter numerical value corresponding to the debugging operation. And then, the user interface can transmit the obtained equipment number, the servo parameter identifier and the servo parameter value corresponding to the debugging operation to a PLC module of the motion control software, and the PLC module can call a CoE interface function to write the debugged servo parameter information into the target driver.
The motion control software may include motion control software such as TwinCAT. The application development framework can be a QT framework or a language framework of a similar writing interface such as C #. The selected operation and the debugging operation of a user can be obtained through interaction between the upper computer written by the QT and the TwinCAT software. Reading and writing of parameters can be achieved by the TwinCAT software interacting with the driver.
Referring to FIG. 14, a flow chart of the parameter wizard module in one embodiment of the present disclosure is shown. As shown in fig. 14, after the user selects a plurality of joints and the modified parameters are saved. The QT upper computer can transmit the station number and the SDO address corresponding to the modification operation into a PLC module of TwinCAT through ADS communication. After receiving the slave station number and the SDO address, the PLC module can call a CoE interface function according to the slave station number to realize parameter reading and writing of the target driver.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments. For details, reference may be made to the description of the related embodiments of the related processing, and details are not repeated herein.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same inventive concept, the embodiment of the specification further provides an industrial personal computer of the medical robot, and the industrial personal computer is described in the following embodiment. The medical robot comprises an industrial personal computer and a plurality of drivers, wherein the industrial personal computer is in communication connection with the drivers based on EtherCAT. The principle of the industrial personal computer for solving the problems is similar to the driver debugging method of the medical robot, so the implementation of the industrial personal computer of the medical robot can refer to the implementation of the driver debugging method of the medical robot, and repeated parts are not repeated. As used hereinafter, the term "unit" or "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware or a combination of software and hardware is also possible and contemplated. Fig. 15 is a block diagram of a configuration of an industrial personal computer of a medical robot according to an embodiment of the present disclosure, and as shown in fig. 15, the industrial personal computer includes: a selection module 151, an acquisition module 152, and a debugging module 153, the structure of which will be described below.
The selection module 151 is configured to acquire a device number of a target driver corresponding to an instrument joint of the medical robot in response to a user's selection operation on the instrument joint.
The obtaining module 152 is configured to obtain current servo parameter information corresponding to the target driver according to the device number of the target driver.
The debugging module 153 is configured to respond to a debugging operation of a user on the servo parameter information corresponding to the target drive, and write the debugged servo parameter information into the target drive.
In some embodiments of the present description, the apparatus further comprises a mounting module, the mounting module operable to: scanning the plurality of drivers to obtain a plurality of device numbers; determining whether the plurality of drivers are successfully installed based on the device number.
In some embodiments of the present description, the installation module may be further configured to: performing graphical interface display on the instrument joint of the medical robot; when it is determined that one or more drivers of the plurality of drivers are not successfully installed, marking and displaying instrument joints corresponding to the one or more drivers which are not successfully installed.
In some embodiments of the present description, the obtaining module may be specifically configured to: reading a servo parameter file corresponding to the equipment number of the target driver; analyzing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target driver, and writing the default data of the plurality of servo parameters corresponding to the target driver into a visual table; scanning the target driver to obtain current values of a plurality of servo parameters corresponding to the target driver; and updating the visual table based on the current numerical values of the plurality of servo parameters corresponding to the target driver to obtain the current servo parameter information corresponding to the target driver.
In some embodiments of the present specification, parsing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target drive, and writing the default data of the plurality of servo parameters corresponding to the target drive into a visualization table may include: determining a root node element in the servo parameter file, and grouping servo parameters of the target driver based on the root node element; and analyzing child node elements corresponding to the root node elements of each group from the servo parameter file, and filling the child node elements corresponding to the root node elements of each group into the visual table.
In some embodiments of the present description, the target drive comprises at least two drives; the servo parameter file comprises default data of a plurality of servo parameters corresponding to each driver in the plurality of drivers.
In some embodiments of the present description, the debugging module may be specifically configured to: responding to the debugging operation of a user on the servo parameter information corresponding to the target driver, and acquiring a device number, a servo parameter identifier and a servo parameter value corresponding to the debugging operation; and writing the debugged servo parameter information into the target driver based on the equipment number, the servo parameter identification and the servo parameter value corresponding to the debugging operation.
Based on the same inventive concept, the embodiment of the specification further provides a medical robot, the medical robot comprises an industrial personal computer, a plurality of drivers and a plurality of instrument joints, and the industrial personal computer is in communication connection with the drivers based on EtherCAT; the drivers correspond to the instrument joints one by one and are used for driving the motors in the corresponding instrument joints to work; the industrial personal computer is used for responding to the selection operation of the user on the instrument joint and acquiring the equipment number of the target driver corresponding to the selected instrument joint; the servo control device is also used for acquiring current servo parameter information corresponding to the target driver according to the equipment number of the target driver; and the servo parameter debugging module is also used for responding to the debugging operation of the user on the servo parameter information corresponding to the target driver and writing the debugged servo parameter information into the target driver.
In some embodiments of the present description, the industrial personal computer has installed therein motion control software and a graphical user interface application development framework; the graphical user interface application program development framework stores a user interface developed by a developer in advance; the industrial personal computer responds to the selection operation of the user on the instrument joint by using the user interface, and obtains the equipment number of the target driver corresponding to the selected instrument joint; responding to the debugging operation of the user on the servo parameter information corresponding to the target driver by utilizing the user interface, and acquiring an equipment number, a servo parameter identifier and a servo parameter value corresponding to the debugging operation; and the user interface transmits the acquired equipment number, the servo parameter identification and the servo parameter value corresponding to the debugging operation to a PLC module of the motion control software so as to write the debugged servo parameter information into the target driver.
From the above description, it can be seen that the embodiments of the present specification achieve the following technical effects: the industrial personal computer is in communication connection with a plurality of drivers in the medical robot through the EtherCAT, can receive the selection operation of a user on the instrument joint of the medical robot, obtains the equipment number of a target driver corresponding to the selected instrument joint, further obtains the servo parameter information of the target driver according to the equipment number, can also receive the debugging operation of the user on the servo parameter information of the target driver, obtains the debugged servo parameter information corresponding to the debugging operation, and writes the debugged servo parameter information into the target driver through the EtherCAT network. Because the industrial computer is connected with a plurality of drivers, therefore, parameters of a plurality of drivers of the medical robot can be debugged through the industrial computer, repeated plugging and unplugging of cables are not needed, servo parameters of the drivers can be modified simultaneously, debugging efficiency is high, and labor cost and time cost can be saved.
The embodiment of the present specification further provides a medical device, which may specifically refer to fig. 16, which is a schematic structural diagram of a medical device based on the method for debugging a driver of a medical robot provided in the embodiment of the present specification, and the medical device may specifically include an input device 161, a processor 162, and a memory 163. Wherein the memory 163 is for storing processor-executable instructions. The processor 162 when executing the instructions realizes the steps of the method for debugging the driver of the medical robot described in any of the above embodiments.
In this embodiment, the input device may be one of the main devices for exchanging information between a user and a computer system. The input device may include a keyboard, a mouse, a camera, a scanner, a light pen, a handwriting input board, a voice input device, etc.; the input device is used to input raw data and a program for processing the data into the computer. The input device can also acquire and receive data transmitted by other modules, units and devices. The processor may be implemented in any suitable way. For example, the processor may take the form of, for example, a microprocessor or processor and a computer-readable medium that stores computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, an embedded microcontroller, and so forth. The memory may in particular be a memory device used in modern information technology for storing information. The memory may comprise multiple levels, and in a digital system, it may be memory as long as it can hold binary data; in an integrated circuit, a circuit without a physical form and with a storage function is also called a memory, such as a RAM, a FIFO and the like; in the system, the storage device in physical form is also called a memory, such as a memory bank, a TF card and the like.
In this embodiment, the functions and effects of the medical device can be explained in comparison with other embodiments, and are not described herein.
The present specification further provides a computer storage medium based on a drive debugging method for a medical robot, and the computer storage medium stores computer program instructions, and when the computer program instructions are executed, the steps of the drive debugging method for the medical robot in any of the above embodiments are realized.
In the present embodiment, the storage medium includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard Disk Drive (HDD), or a Memory Card (Memory Card). The memory may be used to store computer program instructions. The network communication unit may be an interface for performing network connection communication, which is set in accordance with a standard prescribed by a communication protocol.
In this embodiment, the functions and effects specifically realized by the program instructions stored in the computer storage medium can be explained by comparing with other embodiments, and are not described herein again.
It should be apparent to those skilled in the art that the modules or steps of the embodiments of the present specification described above can be implemented by a general purpose computing device, they can be centralized in a single computing device or distributed over a network of multiple computing devices, and alternatively, they can be implemented by program code executable by a computing device, so that they can be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described can be executed in a different order therefrom, or they can be separately fabricated as individual integrated circuit modules, or multiple modules or steps therein can be fabricated as a single integrated circuit module. Thus, embodiments of the present description are not limited to any specific combination of hardware and software.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the description should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
The above description is only a preferred embodiment of the present disclosure, and is not intended to limit the present disclosure, and it will be apparent to those skilled in the art that various modifications and variations can be made in the embodiment of the present disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.

Claims (12)

1. The drive debugging method of the medical robot is characterized in that the medical robot comprises an industrial personal computer and a plurality of drives, the industrial personal computer is in communication connection with the drives based on EtherCAT, and the method is applied to the industrial personal computer and comprises the following steps:
responding to the selection operation of a user on an instrument joint of the medical robot, and acquiring a device number of a target driver corresponding to the selected instrument joint;
acquiring current servo parameter information corresponding to the target driver according to the equipment number of the target driver;
and responding to the debugging operation of the user on the servo parameter information corresponding to the target driver, and writing the debugged servo parameter information into the target driver.
2. The method for debugging a driver of a medical robot according to claim 1, further comprising, before acquiring a device number of a target driver corresponding to the selected instrument joint:
scanning the plurality of drivers to obtain a plurality of device numbers;
determining whether the plurality of drivers are successfully installed based on the device number.
3. The drive commissioning method of a medical robot according to claim 2, further comprising, after determining whether the plurality of drives are successfully installed based on the device number:
performing graphical interface display on the instrument joint of the medical robot;
when it is determined that one or more drivers of the plurality of drivers are not successfully installed, marking and displaying instrument joints corresponding to the one or more drivers which are not successfully installed.
4. The method for debugging a driver of a medical robot according to claim 1, wherein acquiring current servo parameter information corresponding to the target driver based on a device number of the target driver comprises:
reading a servo parameter file corresponding to the equipment number of the target driver;
analyzing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target driver, and writing the default data of the plurality of servo parameters corresponding to the target driver into a visual table;
scanning the target driver to obtain current values of a plurality of servo parameters corresponding to the target driver;
and updating the visual table based on the current values of the plurality of servo parameters corresponding to the target driver to obtain the current servo parameter information corresponding to the target driver.
5. The method for debugging a driver of a medical robot according to claim 4, wherein the parsing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target driver and writing the default data of the plurality of servo parameters corresponding to the target driver into a visualization table comprises:
determining a root node element in the servo parameter file, and grouping the servo parameters of the target driver based on the root node element;
and analyzing child node elements corresponding to the root node elements of each group from the servo parameter file, and filling the child node elements corresponding to the root node elements of each group into the visual table.
6. The drive commissioning method for a medical robot according to claim 4, wherein the target drive comprises at least two drives; the servo parameter file comprises default data of a plurality of servo parameters corresponding to each driver in the plurality of drivers.
7. The drive commissioning method for a medical robot according to claim 1, wherein writing the commissioned servo parameter information into the target drive in response to a commissioning operation of the servo parameter information corresponding to the target drive by a user comprises:
responding to the debugging operation of a user on the servo parameter information corresponding to the target driver, and acquiring a device number, a servo parameter identifier and a servo parameter value corresponding to the debugging operation;
and writing the debugged servo parameter information into the target driver based on the equipment number, the servo parameter identification and the servo parameter value corresponding to the debugging operation.
8. The industrial computer of medical robot, its characterized in that, medical robot still includes a plurality of drivers, the industrial computer with a plurality of drivers are based on EtherCAT communication connection, the industrial computer includes:
the selection module is used for responding to the selection operation of a user on the instrument joint of the medical robot and acquiring the equipment number of a target driver corresponding to the selected instrument joint;
the acquisition module is used for acquiring the current servo parameter information corresponding to the target driver according to the equipment number of the target driver;
and the debugging module is used for responding to the debugging operation of the user on the servo parameter information corresponding to the target driver and writing the debugged servo parameter information into the target driver.
9. The medical robot is characterized by comprising an industrial personal computer, a plurality of drivers and a plurality of instrument joints, wherein the industrial personal computer is in communication connection with the drivers based on EtherCAT;
the drivers correspond to the instrument joints one by one and are used for driving the motors in the corresponding instrument joints to work;
the industrial personal computer is used for responding to the selection operation of the user on the instrument joint and acquiring the equipment number of the target driver corresponding to the selected instrument joint; the servo control device is also used for acquiring current servo parameter information corresponding to the target driver according to the equipment number of the target driver; and the servo parameter debugging device is also used for responding to the debugging operation of the user on the servo parameter information corresponding to the target driver and writing the debugged servo parameter information into the target driver.
10. The medical robot of claim 9, wherein the industrial personal computer has installed therein motion control software and a graphical user interface application development framework; the graphical user interface application program development framework stores a user interface developed by a developer in advance;
the industrial personal computer responds to the selection operation of the user on the instrument joint by using the user interface, and obtains the equipment number of the target driver corresponding to the selected instrument joint; responding to the debugging operation of the user on the servo parameter information corresponding to the target driver by using the user interface, and acquiring a device number, a servo parameter identifier and a servo parameter value corresponding to the debugging operation;
and the user interface transmits the acquired equipment number, the servo parameter identification and the servo parameter value corresponding to the debugging operation to a PLC module of the motion control software so as to write the debugged servo parameter information into the target driver.
11. A medical device comprising a processor and a memory for storing processor-executable instructions which, when executed by the processor, implement the steps of the drive commissioning method of a medical robot according to any one of claims 1 to 7.
12. A computer-readable storage medium having stored thereon computer instructions, wherein the instructions, when executed by a processor, implement the steps of the drive commissioning method for a medical robot according to any one of claims 1 to 7.
CN202210842824.8A 2022-07-18 2022-07-18 Driver debugging method of medical robot, industrial personal computer and medical robot Pending CN115252136A (en)

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CN202210842824.8A CN115252136A (en) 2022-07-18 2022-07-18 Driver debugging method of medical robot, industrial personal computer and medical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210842824.8A CN115252136A (en) 2022-07-18 2022-07-18 Driver debugging method of medical robot, industrial personal computer and medical robot

Publications (1)

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