CN115568952A - Intelligent detection system, method and device for orthopedic surgery robot - Google Patents
Intelligent detection system, method and device for orthopedic surgery robot Download PDFInfo
- Publication number
- CN115568952A CN115568952A CN202211180045.2A CN202211180045A CN115568952A CN 115568952 A CN115568952 A CN 115568952A CN 202211180045 A CN202211180045 A CN 202211180045A CN 115568952 A CN115568952 A CN 115568952A
- Authority
- CN
- China
- Prior art keywords
- information
- data information
- unit
- management platform
- abnormal data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 97
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 34
- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 30
- 230000002159 abnormal effect Effects 0.000 claims abstract description 89
- 238000012545 processing Methods 0.000 claims abstract description 43
- 238000012829 orthopaedic surgery Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 9
- 210000000988 bone and bone Anatomy 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 abstract description 24
- 238000007726 management method Methods 0.000 description 61
- 238000010586 diagram Methods 0.000 description 17
- 230000006870 function Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001902 propagating effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
Images
Classifications
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
Abstract
The invention provides an intelligent detection system, a method and a device of an orthopedic surgery robot, wherein the system comprises: the system comprises an acquisition unit, a control unit, an alarm unit and an information management platform; the control unit is respectively connected with the acquisition unit and the alarm unit through wire harnesses, and the alarm unit is also connected with the information management platform; the control unit is used for receiving and processing the multiple items of data information of the orthopedic surgery robot sent by the acquisition unit, and alarming abnormal data information in the multiple items of data information after processing the multiple items of data information; and the alarm unit is used for sending alarm information to the information management platform under the condition of receiving the abnormal data information sent by the control unit. According to the technical scheme provided by the invention, the staff can monitor the abnormal data on the information management platform, analyze, process and dispatch the abnormal data, and timely process the fault of the orthopaedic surgical robot, so that the normal operation of the orthopaedic surgical robot is ensured.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an intelligent detection system, method and device of an orthopedic surgery robot.
Background
With the continuous development of technology, more and more surgical robots appear in the medical field. The surgical robot brings benefits to patients and brings a lot of hidden dangers, and particularly when the hip joint surgical robot is used clinically, few technical staff or doctors carry out state detection on equipment before an operation, and whether the self state of the surgical robot is good or not cannot be known. Thus, the hip joint operation robot may malfunction during the operation period, which may result in abnormal operation, not only seriously affect the life of the patient, but also make the doctor have a great challenge.
Therefore, how to solve the above problems needs to be considered.
Disclosure of Invention
The invention provides an intelligent detection system, method and device of an orthopedic surgery robot, which are used for ensuring the stable operation of the orthopedic surgery robot.
In order to achieve the above object, according to a first aspect of the present invention, there is provided an intelligent detection system of an orthopedic surgical robot, comprising:
the system comprises an acquisition unit, a control unit, an alarm unit and an information management platform;
the control unit is respectively connected with the acquisition unit and the alarm unit through wire harnesses, and the alarm unit is also connected with the information management platform;
the control unit is used for receiving and processing a plurality of items of data information of the orthopaedic surgical robot sent by the acquisition unit, and processing abnormal data information in the plurality of items of data information and then sending the abnormal data information to the alarm unit;
and the alarm unit is used for sending alarm information to the information management platform under the condition of receiving the abnormal data information sent by the control unit.
Optionally, the method further comprises: a detection unit and a network unit;
the detection unit is connected with the control unit and used for receiving the abnormal data information sent by the control unit, monitoring the abnormal data information and feeding back a monitoring result corresponding to the abnormal data information to the control unit;
the information management platform comprises a first information management platform and a second information management platform; the alarm unit is respectively in communication connection with the first information management platform through the network unit and is connected with the second information management platform through a cable; and the alarm unit respectively sends the abnormal data information to the first information management platform and the second information management platform under the condition of receiving the abnormal data information sent by the control unit.
According to a second aspect of the present invention, there is provided an intelligent detection method for an orthopedic surgical robot, which is applied to the intelligent detection system for an orthopedic surgical robot, the intelligent detection method comprising:
receiving a plurality of items of data information of the orthopedic surgery robot sent by a collection unit;
and processing the multiple data information, and sending the processed abnormal data information in the multiple data to an alarm unit so that the alarm unit sends alarm information to an information management platform.
Optionally, after receiving a plurality of items of data information of the orthopaedic surgical robot sent by the acquisition unit, the processing the plurality of items of data information includes:
comparing the plurality of items of data information with a preset data threshold range corresponding to each item of data information respectively;
and if determining that one item of data information is not located within the preset data threshold value range, determining the item of data information as abnormal data information.
Optionally, after processing the plurality of items of data information, the method further comprises:
and sending abnormal data information in the multiple items of data information to a detection unit so that the detection unit monitors and feeds back the abnormal data information.
Optionally, the method further comprises:
and receiving feedback information sent by the detection unit, and correspondingly storing the feedback information corresponding to the abnormal data information.
Optionally, the method further comprises:
and receiving a control instruction sent by the information management platform, wherein the control instruction is used for checking the target parameter information of the orthopaedic surgery robot and sending the target parameter information corresponding to the control instruction to the information management platform.
According to a third aspect of the present invention, there is provided an intelligent detection apparatus for an orthopedic surgical robot, comprising:
the receiving and transmitting module is used for receiving the multiple items of data information of the orthopedic surgery robot sent by the acquisition unit;
and the processing module is used for processing the data information and sending the processed abnormal data information in the data to an alarm unit so that the alarm unit sends alarm information to an information management platform.
Optionally, after receiving the multiple items of data information of the orthopaedic surgical robot sent by the acquisition unit, the processing module, when processing the multiple items of data information, is specifically configured to:
comparing the plurality of items of data information with a preset data threshold range corresponding to each item of data information respectively;
and if determining that one item of data information is not located within the preset data threshold value range, determining the item of data information as abnormal data information.
Optionally, after processing the plurality of items of data information, the processing module is further configured to:
and sending abnormal data information in the multiple items of data information to a detection unit so that the detection unit monitors and feeds back the abnormal data information.
Optionally, the transceiver module is further configured to:
and receiving the feedback information sent by the detection unit, and correspondingly storing the feedback information corresponding to the abnormal data information.
Optionally, the transceiver module is further configured to:
and receiving a control instruction sent by the information management platform, wherein the control instruction is used for checking the target parameter information of the orthopaedic surgical robot and sending the target parameter information corresponding to the control instruction to the information management platform.
According to a fourth aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the intelligent detection method of an orthopaedic surgical robot as described above when executing the program.
According to a fifth aspect of the present invention, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the intelligent detection method of an orthopaedic surgical robot as described above.
The technical scheme of the invention at least has the following beneficial effects:
according to the intelligent detection system, the method and the device for the orthopaedic surgical robot, the collection unit is used for collecting information of a plurality of components of the orthopaedic surgical robot and sending the collected information of a plurality of data to the control unit, and the alarm unit is used for sending the abnormal data to the information management platform for alarming after the control unit determines the abnormal data in the plurality of data, so that a worker can monitor the abnormal data on the information management platform, analyze, process and schedule the abnormal data, timely process faults of the orthopaedic surgical robot, and further guarantee normal operation of the orthopaedic surgical robot.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent detection system of an orthopedic surgery robot provided by the present invention;
FIG. 2 is a schematic flow chart of an intelligent detection method for an orthopedic surgery robot according to the present invention;
FIG. 3 is a schematic structural diagram of a robot trolley according to the present invention;
FIG. 4 is a schematic view illustrating a process of detecting a robotic trolley according to the present invention;
fig. 5 is a schematic flow chart illustrating a process of detecting a torque value of a robot arm according to the present invention;
FIG. 6 is a schematic diagram illustrating a process for detecting UPS power of a robot trolley according to the present invention;
FIG. 7 is a block diagram of an intelligent detection device of an orthopedic surgery robot according to the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
It should be understood that, in the various embodiments of the present invention, the sequence numbers of the processes do not mean the execution sequence, and the execution sequence of the processes should be determined by the functions and the internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It should be understood that in the present application, "comprising" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that, in the present invention, "a plurality" means two or more. "and/or" is merely an association relationship describing an associated object, meaning that there may be three relationships, for example, and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "comprising a, B and C", "comprising a, B, C" means that all three of a, B, C are comprised, "comprising a, B or C" means comprising one of a, B, C, "comprising a, B and/or C" means comprising any 1 or any 2 or 3 of a, B, C.
It should be understood that in the present invention, "B corresponding to a", "a corresponds to B", or "B corresponds to a" means that B is associated with a, and B can be determined from a. Determining B from a does not mean determining B from a alone, but may be determined from a and/or other information. And the matching of A and B means that the similarity of A and B is greater than or equal to a preset threshold value.
As used herein, the term "if" may be interpreted as "at \8230; …" or "in response to a determination" or "in response to a detection" depending on the context.
The technical means of the present invention will be described in detail with reference to specific examples. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic structural diagram of an intelligent detection system of an orthopedic surgery robot according to an embodiment of the present invention.
The intelligent detection system of the orthopedic surgery robot comprises: the system comprises an acquisition unit, a control unit, an alarm unit and an information management platform; the control unit is respectively connected with the acquisition unit and the alarm unit through wire harnesses, and the alarm unit is also connected with the information management platform.
Wherein, collection unit, the control unit and alarm unit all set up in bone surgery robot's inside, and the control unit passes through the pencil to be connected with collection unit and alarm unit respectively, can carry out the information interaction.
The control unit is used for receiving and processing the multiple items of data information of the orthopaedic surgical robot sent by the acquisition unit, and processing the multiple items of data information and then sending abnormal data information in the multiple items of data information to the alarm unit.
It should be noted that the number of the acquisition units may be multiple, and the multiple acquisition units may be, for example, an electric quantity acquisition unit, a torque value acquisition unit, a temperature acquisition unit, and an angle acquisition unit. Accordingly, the plurality of items of data information include electric quantity value information, torque value information, temperature value information, and angle value information.
The plurality of acquisition units are respectively connected with the acquired components in the orthopaedic surgery robot through cables so as to send the data information of each acquired component to the control unit for data processing. In one implementation, a preset value threshold of each acquired component is stored in the control unit, and when the control unit determines that the data information is not within the corresponding preset value range, the control unit processes the data information into abnormal data information. And if the control unit determines that the data information is located in the corresponding preset numerical value range, processing the data information into normal data information. Through the processing, the control unit can determine abnormal data information in the multiple items of data information so as to perform subsequent processing on the abnormal data information.
And the alarm unit is used for sending alarm information to the information management platform under the condition of receiving the abnormal data information sent by the control unit.
According to the intelligent detection system for the orthopaedic surgical robot, the collection unit is used for collecting information of a plurality of components of the orthopaedic surgical robot and sending the collected information of a plurality of data to the control unit, the alarm unit is used for sending the abnormal data to the information management platform for alarming after the control unit determines the abnormal data in the plurality of data, so that a worker can monitor the abnormal data on the information management platform, analyze, process and schedule the abnormal data, timely process faults of the orthopaedic surgical robot, and further guarantee normal operation of the orthopaedic surgical robot.
The intelligent detection system provided by the embodiment of the invention further comprises: a detection unit and a network unit;
the detection unit is connected with the control unit and used for receiving the abnormal data information sent by the control unit, monitoring the abnormal data information and feeding back a monitoring result corresponding to the abnormal data information to the control unit.
On one hand, when the detection unit monitors the abnormal data information, the detection unit can generate log information from the abnormal data information so as to feed the log information back to the control unit, and then the abnormal data information is analyzed according to the log information to determine a solution.
On the other hand, the detection unit can also monitor and track normal data information and record the normal data information. In one mode, the detection unit may record the normal operation time of the orthopaedic surgical robot, and may specifically include the normal operation time of a specific component, for example, the normal operation time of an Uninterruptible Power System (UPS). Generally, each part has the maximum service time, and the early warning can be carried out when the part is close to the maximum service time by recording the normal operation time of each part, so that the part is replaced in advance, and the occurrence of the fault of the orthopaedic surgery robot is avoided in advance.
The information management platform comprises a first information management platform and a second information management platform; the alarm unit is respectively in communication connection with the first information management platform through the network unit and is connected with the second information management platform through a cable; and the alarm unit respectively sends the abnormal data information to the first information management platform and the second information management platform under the condition of receiving the abnormal data information sent by the control unit.
It should be noted that the network unit may provide a local area network, a wireless network Communication technology Wi-Fi network, a fourth Generation Mobile Communication technology (4G) network, or a fifth Generation Mobile Communication technology (5G) network.
The first information management platform can be understood as a cloud platform, namely, the first information management platform and the bone surgery robot are not in the same region, and the bone surgery robot can be remotely monitored. The second information management platform can be understood as a local platform, i.e. in the same region as the orthopaedic surgical robot, for example, the second information management platform may be installed on the orthopaedic surgical robot body or may be independent of the orthopaedic surgical robot, so that the orthopaedic surgical robot may be monitored at the local end. Through the first information management platform and the second information management platform, the monitoring of the same orthopedic surgery robot by field workers and remote workers can be met, so that abnormal data information can be analyzed and processed.
As shown in fig. 2, the intelligent detection method for the bone surgery robot provided by the present invention is applied to the intelligent detection system for the bone surgery robot, and the intelligent detection method comprises the following steps:
s11: and receiving a plurality of items of data information of the orthopaedic surgery robot sent by a collection unit.
It should be noted that the bone surgery robot includes: mechanical arm platform truck, navigation platform truck and master control platform truck. Optionally, the multiple items of data information may only include multiple items of data information of the robot trolley, may also include multiple items of data information of the robot trolley and the navigation trolley, and may also include multiple items of data information of the robot trolley, the navigation trolley, and the main control trolley, which are not illustrated here.
S12: and processing the multiple data information, and sending the processed abnormal data information in the multiple data to an alarm unit so that the alarm unit sends alarm information to an information management platform.
Optionally, the alarm information includes the abnormal data information. In addition, the alarm information can also comprise prompt information.
According to the intelligent detection method for the orthopaedic surgery robot, provided by the embodiment of the invention, the plurality of data information of the orthopaedic surgery robot are received and then processed, and the processed abnormal data information is sent to the information management platform through the alarm unit, so that a worker can find and check the abnormal data information in time and further analyze and process the abnormal data information, the orthopaedic surgery robot can recover to a normal state as soon as possible, and the stability of a surgery process is ensured.
The intelligent detection method for the orthopaedic surgery robot provided by the embodiment of the invention is used for processing a plurality of data information of the orthopaedic surgery robot after receiving the plurality of data information of the orthopaedic surgery robot sent by the acquisition unit, and comprises the following steps:
comparing the plurality of items of data information with a preset data threshold range corresponding to each item of data information respectively;
and if determining that one item of data information is not located in the preset data threshold value range, determining the item of data information as abnormal data information.
For example, when the plurality of items of data information include electric quantity value information, torque value information, temperature value information, and angle value information, the preset data threshold range of the electric quantity corresponding to the electric quantity value information is 30% to 90%, the preset data threshold range of the torque corresponding to the torque value information is-320n × m to +320n × m, the preset data threshold range of the temperature corresponding to the temperature value information is-20 ° to 55 °, and the preset data threshold range of the angle corresponding to the angle value information is-170 ° to +170 °. Optionally, the preset data threshold range may be set according to actual conditions. And after receiving the information sent by the acquisition unit, the control unit respectively determines whether each item of data information is located in a corresponding preset data range. And if one item of data information is located in the corresponding preset data range, determining that the item of data information is normal data information. And if the data information is not positioned in the corresponding preset data range, determining that the data information is not abnormal data information.
According to the intelligent detection method for the orthopaedic surgical robot provided by the embodiment of the invention, after the plurality of items of data information are processed, the method further comprises the following steps:
and sending abnormal data information in the multiple items of data information to a detection unit so that the detection unit monitors and feeds back the abnormal data information.
Optionally, the control unit may further send multiple items of normal data information to the detection unit, so that the detection unit monitors and tracks the multiple items of normal data information, and records the multiple items of normal data information at the same time, thereby implementing early warning. For example, the normal operation time of the control module of the orthopedic surgery robot is recorded, and the control module is replaced in advance when the maximum use time of the control module is close to, so that the problem of possible failure caused by the fact that the control module reaches the maximum use time is solved.
The abnormal data information is monitored by the detection unit, log information can be generated by the abnormal data information and fed back to the control unit, and therefore the abnormal data information is analyzed according to the log information, and how to solve the abnormal problem of the orthopedic surgery robot is determined.
The embodiment of the invention provides an intelligent detection method of an orthopedic surgery robot, which further comprises the following steps:
and receiving feedback information sent by the detection unit, and correspondingly storing the feedback information corresponding to the abnormal data information.
By storing the feedback information corresponding to the abnormal data information, the worker can check the abnormal data information at any time, so that the abnormal data information is analyzed and processed.
By way of example, the intelligent detection method for the orthopaedic surgical robot provided by the embodiment of the present invention further includes:
and receiving a control instruction sent by the information management platform, wherein the control instruction is used for checking the target parameter information of the orthopaedic surgical robot and sending the target parameter information corresponding to the control instruction to the information management platform.
It should be noted that, in the operation process of the orthopaedic surgical robot, when a worker wants to check the operation state of the orthopaedic surgical robot, the worker can send a control instruction to the control unit through the information management platform, and then check the target parameter information on the information management platform through the control unit. By checking the target parameter information, the motion state information of the orthopaedic surgery robot can be known in time, the orthopaedic surgery robot is monitored in real time, the normal operation of the robot is guaranteed, and the occurrence of faults is reduced.
Next, a robot arm cart in an orthopedic surgery robot will be described as an example. For convenience of description, the acquisition unit may also be referred to as a data acquisition module, the control unit may also be referred to as a central control module, the alarm unit may also be referred to as an alarm module, the detection unit may also be referred to as a central detection module, the first information management platform may also be referred to as an information management platform (company), and the second information management platform may also be referred to as an information management platform (trolley).
Specifically, as shown in fig. 3, the robot trolley is provided with a data acquisition module, a central control module, a central detection module, a network unit, and an information management platform (trolley). The data acquisition module is used for intelligently acquiring the working state of each device in the mechanical arm trolley according to the instruction of the central control module and sending the state information to the central control module.
Optionally, the object acquired by the data acquisition module comprises: the device comprises a UPS module, a mechanical arm control box module, a power supply detection module, a ground support module, an internal temperature control module, a caster traction and braking module and the like. The UPS module provides a power supply for the robot trolley, and the user can be reminded of charging through the state of the indicator lamp when the electric quantity is too low. Important parameters such as the electric quantity, the service life, the input and output current and the voltage of the UPS module can be acquired by the data acquisition module, and are sent to the central control module to be compared with the data, and are sent to the central detection module to be tracked in real time during the use. The mechanical arm control box module is a set of system modules such as a control box for controlling the posture adjustment of the mechanical arm in the mechanical arm trolley, the mechanical arm and the like. The important parameters of the power supply, the service life, the input and output voltages, self-checking parameters, communication signals, motors of all joints of the mechanical arm, torque values, angle values and the like of the mechanical arm control box can be acquired by the data acquisition module, sent to the central controller for control and data comparison, and sent to the central detection module for real-time tracking during use. If the preset value and the acquired actual value are determined to be abnormal through comparison, the central controller transmits information to the alarm module, and the alarm module transmits the information management platform (trolley) to the information management platform (company) through the network unit for recording and reporting.
The central control module is used for storing and comparing the state information acquired by the data acquisition module. For example, the current operating state parameter of the device is compared with a preset value parameter, or compared with an updated preset value parameter, and when the current operating state parameter is successfully compared within the preset value parameter range, the central controller transmits information to the central detection module. If the current working parameters of the equipment are not in the parameter range of the preset values, the central controller can simultaneously send the information to the central detection module and the alarm module.
The central detection module is used for tracking and detecting the working parameters of the current day and preset parameters in real time, if the parameters are abnormal, the central detection module can send information to the alarm module and continuously track the information, logs are formed in the period, and the central controller module can call the logs and send the logs to the information management platform (company) and the information management platform (trolley).
Alternatively, as shown in fig. 4, when performing fault detection on the robot trolley, firstly, a worker sends an instruction to the information management platform (trolley) on the robot trolley through the information management platform (company) and the network unit, then the signal processor converts the received instruction into a language which can be recognized by the data acquisition module (i.e., signal processing), and the data acquisition module performs data acquisition on the UPS power supply, the robot control box module, the ground support module, and the like. The data acquisition module sends acquired data information to the central control module, the central control module compares preset data with the acquired data, if abnormal data exist, the data are sent to the alarm module, and if normal data do not exist, the data are sent to the central detection module. The central detection module monitors, tracks and compares the data in real time during the use period of the equipment, and if abnormity is found, the abnormal information is fed back to the central control module and is processed after identification. The central control module sends the abnormal information to the alarm module after finding the abnormality, and the alarm module sends the error information to the information platform (trolley) and sends the error information to the information management platform (company) of the company through the network unit. The staff can judge according to the error information, and the alarm disappears by updating the data on line, or after judging that the equipment has a fault, the after-sales staff carries out field maintenance or part replacement.
Next, referring to fig. 5, the torque value of the robot arm in the robot cart and the collection of the UPS power amount will be described.
The torque value of the robot arm is the magnitude of the torque for each position of 7 degrees of freedom of the robot arm. The torque values are different due to different functions and positions of each degree of freedom, the torque values of the first articulated arm and the second articulated arm are in a range of-320N to +320N, the torque values of the third articulated arm and the fourth articulated arm are in a range of-176N to +176N, the torque value of the fifth articulated arm is in a range of-110N to +110N, and the torque values of the sixth articulated arm and the seventh articulated arm are in a range of-40N to + 40N. When the torque value of the joint arm of the mechanical arm exceeds the bearing range due to external force in the moving process or the transportation process of the mechanical arm, the mechanical arm is damaged. The data acquisition module is used for acquiring the torque value of each joint of the mechanical arm, and then the central controller is used for comparing the acquired information with a preset numerical value. If the comparison data is abnormal, the central controller transmits the data to the alarm module, and if the data is normal, the central controller transmits the data to the central detection module. The central detection module compares the data and feeds the data back to the central control module in real time, and the alarm module transmits abnormal data to the information management platform (trolley) and finally transmits the abnormal data to the information management platform (company) through the network unit so as to carry out maintenance.
Alternatively, the process of acquiring the angle value of the robot arm and the motor value is similar to the above-described process of acquiring the torque value, and is not illustrated here.
Referring to fig. 6, the charge is prompted when the preset value of the charge of the ups is below 30%, and the charge is stopped when the charge is above 95%. Therefore, the electric quantity is within the UPS preset normal use range of 30% -95%, when the electric quantity collected by the collection module is lower than 30%, the central control module can compare the preset value with the collected data and prompt the UPS to be charged in time through light or sound. Meanwhile, the central detection module can record and track input and output voltage and current of the UPS in real time, and when the input end of the UPS is detected to have normal voltage and current and the output end of the UPS has no current or voltage output under the condition of having a load, the UPS is charged abnormally. At the moment, the central controller feeds back information to the alarm module and the central detection module, then the alarm module transmits the information to the information management platform (trolley), and finally the information is transmitted to the information management platform (company) through the network unit, so that the information is checked and maintained.
Based on the same technical concept as the intelligent detection method of the orthopedic surgery robot, referring to fig. 7, another embodiment of the present invention provides an intelligent detection device of an orthopedic surgery robot, wherein the function of the intelligent detection device is the same as that of the intelligent detection method, and is not described herein again.
The embodiment of the invention provides an intelligent detection device of an orthopedic surgery robot, which comprises:
the transceiver module 71 is used for receiving the multiple items of data information of the orthopaedic surgical robot sent by the acquisition unit;
and the processing module 72 is configured to process the multiple items of data information, and send the processed abnormal data information in the multiple items of data to an alarm unit, so that the alarm unit sends alarm information to an information management platform.
In the intelligent detection device for an orthopaedic surgical robot according to an embodiment of the present invention, after receiving multiple items of data information of the orthopaedic surgical robot sent by the acquisition unit, the processing module 72, when processing the multiple items of data information, is specifically configured to:
comparing the plurality of items of data information with a preset data threshold range corresponding to each item of data information respectively;
and if determining that one item of data information is not located in the preset data threshold value range, determining the item of data information as abnormal data information.
In the intelligent detection apparatus for an orthopaedic surgical robot according to an embodiment of the present invention, after processing the plurality of items of data information, the processing module 72 is further configured to:
and sending abnormal data information in the multiple items of data information to a detection unit so that the detection unit monitors and feeds back the abnormal data information.
In the intelligent detection device for the orthopaedic surgical robot provided in the embodiment of the present invention, the transceiver module 71 is further configured to:
and receiving feedback information sent by the detection unit, and correspondingly storing the feedback information corresponding to the abnormal data information.
In the intelligent detection device for the orthopaedic surgical robot provided in the embodiment of the present invention, the transceiver module 71 is further configured to:
and receiving a control instruction sent by the information management platform, wherein the control instruction is used for checking the target parameter information of the orthopaedic surgical robot and sending the target parameter information corresponding to the control instruction to the information management platform.
Still another embodiment of the present invention provides a schematic physical structure diagram of an electronic device, as shown in fig. 8, the electronic device may include: a processor (processor) 810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call logic instructions in the memory 830 to perform the above-described intelligent detection method of the orthopaedic surgical robot.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Yet another embodiment of the present invention provides a non-transitory computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the intelligent detection method of an orthopaedic surgical robot as described above.
The computer-readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present invention may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.
These computer-readable program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It is noted that, unless expressly stated otherwise, all features disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features. Where used, it is further preferred, even further and more preferred that the brief introduction of the further embodiment is made on the basis of the preceding embodiment, the contents of which further, preferably, even further or more preferred the rear band is combined with the preceding embodiment as a complete constituent of the further embodiment. Several further, preferred, still further or more preferred arrangements of the back tape of the same embodiment may be combined in any combination to form a further embodiment.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (10)
1. An intelligent detection system of an orthopedic surgery robot, comprising:
the system comprises an acquisition unit, a control unit, an alarm unit and an information management platform;
the control unit is respectively connected with the acquisition unit and the alarm unit through wire harnesses, and the alarm unit is also connected with the information management platform;
the control unit is used for receiving and processing a plurality of items of data information of the orthopaedic surgical robot sent by the acquisition unit, and processing abnormal data information in the plurality of items of data information and then sending the abnormal data information to the alarm unit;
and the alarm unit is used for sending alarm information to the information management platform under the condition of receiving the abnormal data information sent by the control unit.
2. The intelligent detection system of claim 1, further comprising: a detection unit and a network unit;
the detection unit is connected with the control unit and used for receiving the abnormal data information sent by the control unit, monitoring the abnormal data information and feeding back a monitoring result corresponding to the abnormal data information to the control unit;
the information management platform comprises a first information management platform and a second information management platform; the alarm unit is respectively in communication connection with the first information management platform through the network unit and is connected with the second information management platform through a cable; and the alarm unit respectively sends the abnormal data information to the first information management platform and the second information management platform under the condition of receiving the abnormal data information sent by the control unit.
3. An intelligent detection method of an orthopedic surgery robot, which is applied to the intelligent detection system of the orthopedic surgery robot as claimed in any one of claims 1-2, and comprises the following steps:
receiving a plurality of items of data information of the orthopedic surgery robot sent by a collection unit;
and processing the multiple data information, and sending abnormal data information in the processed multiple data to an alarm unit so that the alarm unit sends alarm information to an information management platform.
4. The intelligent detection method according to claim 3, wherein after receiving the plurality of items of data information of the orthopaedic surgical robot sent by the acquisition unit, the processing the plurality of items of data information comprises:
comparing the plurality of items of data information with a preset data threshold range corresponding to each item of data information respectively;
and if determining that one item of data information is not located within the preset data threshold value range, determining the item of data information as abnormal data information.
5. The intelligent detection method according to claim 3 or 4, wherein after processing the plurality of items of data information, the method further comprises:
and sending abnormal data information in the multiple items of data information to a detection unit so that the detection unit monitors and feeds back the abnormal data information.
6. The intelligent detection method of claim 5, further comprising:
and receiving feedback information sent by the detection unit, and correspondingly storing the feedback information corresponding to the abnormal data information.
7. The intelligent detection method of claim 3, further comprising:
and receiving a control instruction sent by the information management platform, wherein the control instruction is used for checking the target parameter information of the orthopaedic surgery robot and sending the target parameter information corresponding to the control instruction to the information management platform.
8. The utility model provides an intelligent detection device of bone surgery robot which characterized in that includes:
the receiving and transmitting module is used for receiving the multiple items of data information of the orthopaedic surgical robot sent by the acquisition unit;
and the processing module is used for processing the data information and sending the processed abnormal data information in the data to an alarm unit so that the alarm unit sends alarm information to an information management platform.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the intelligent detection method for the orthopaedic surgical robot according to any one of claims 3 to 7.
10. A non-transitory computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the intelligent detection method for the orthopaedic surgical robot according to any one of claims 3 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211180045.2A CN115568952A (en) | 2022-09-27 | 2022-09-27 | Intelligent detection system, method and device for orthopedic surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211180045.2A CN115568952A (en) | 2022-09-27 | 2022-09-27 | Intelligent detection system, method and device for orthopedic surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115568952A true CN115568952A (en) | 2023-01-06 |
Family
ID=84582305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211180045.2A Pending CN115568952A (en) | 2022-09-27 | 2022-09-27 | Intelligent detection system, method and device for orthopedic surgery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115568952A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102043894A (en) * | 2009-10-13 | 2011-05-04 | 北京大学 | Physiological data monitoring system and method |
| CN107049497A (en) * | 2017-05-02 | 2017-08-18 | 浙江伽奈维医疗科技有限公司 | Puncture navigation robot system |
| CN107334531A (en) * | 2017-07-31 | 2017-11-10 | 成都中科博恩思医学机器人有限公司 | A kind of robotic surgery equipment and robotic surgery equipment safety control method |
| CN111000634A (en) * | 2018-10-06 | 2020-04-14 | 希森美康株式会社 | Remote support method and remote support system for operation support robot |
| CN111163723A (en) * | 2017-08-16 | 2020-05-15 | 柯惠Lp公司 | Preventative maintenance of robotic surgical systems |
| CN113043298A (en) * | 2021-05-07 | 2021-06-29 | 徕兄健康科技(威海)有限责任公司 | Artificial intelligent robot for surgical anesthesia visit |
| CN114224267A (en) * | 2022-02-24 | 2022-03-25 | 极限人工智能有限公司 | Endoscope failure early warning method, device and system and surgical robot |
-
2022
- 2022-09-27 CN CN202211180045.2A patent/CN115568952A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102043894A (en) * | 2009-10-13 | 2011-05-04 | 北京大学 | Physiological data monitoring system and method |
| CN107049497A (en) * | 2017-05-02 | 2017-08-18 | 浙江伽奈维医疗科技有限公司 | Puncture navigation robot system |
| CN107334531A (en) * | 2017-07-31 | 2017-11-10 | 成都中科博恩思医学机器人有限公司 | A kind of robotic surgery equipment and robotic surgery equipment safety control method |
| CN111163723A (en) * | 2017-08-16 | 2020-05-15 | 柯惠Lp公司 | Preventative maintenance of robotic surgical systems |
| CN111000634A (en) * | 2018-10-06 | 2020-04-14 | 希森美康株式会社 | Remote support method and remote support system for operation support robot |
| CN113043298A (en) * | 2021-05-07 | 2021-06-29 | 徕兄健康科技(威海)有限责任公司 | Artificial intelligent robot for surgical anesthesia visit |
| CN114224267A (en) * | 2022-02-24 | 2022-03-25 | 极限人工智能有限公司 | Endoscope failure early warning method, device and system and surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106030961A (en) | Power adapter, terminal, and method for processing impedance anomalies in charging circuit | |
| CN112653230B (en) | Robot battery protection method, apparatus, electronic device and storage medium | |
| US11675364B2 (en) | System and method for preventing depletion of a robotic energy source | |
| CN110209552A (en) | A kind of device management method and device | |
| CN110988559A (en) | Online monitoring method for full life cycle of transformer substation direct current system based on Internet of things | |
| CN109193045A (en) | Electrochemical energy storage system and its control method | |
| CN110048513B (en) | Power battery energy storage system for gradient utilization vehicle | |
| CN115568952A (en) | Intelligent detection system, method and device for orthopedic surgery robot | |
| CN206063215U (en) | Control device and the micro-wound operation robot with the control device | |
| CN211296311U (en) | Intelligent power monitoring system of data center | |
| CN111932839A (en) | Emergency processing method and device for power change station | |
| KR101353928B1 (en) | Apparatus for managing crane based on wireless sensor network | |
| CN215986418U (en) | UPS battery parameter real-time acquisition analysis early warning system | |
| CN105629178A (en) | Storage battery pack open circuit monitoring device and storage battery pack open circuit monitoring method | |
| CN113257397A (en) | Hospital consumable distribution system capable of automatically tracing source and robot | |
| CN114800608B (en) | Robot fault detection method, device and storage medium | |
| CN112633533A (en) | Cable refined management and control method and system based on artificial intelligence | |
| CN113983446B (en) | Control method and control device of gas steam equipment | |
| CN116799968B (en) | Safety management system of electric equipment | |
| CN110729741A (en) | Data statistics system for power facility migration and transformation | |
| CN117200421B (en) | Safe weak current power distribution equipment based on Internet of things and intelligent control method thereof | |
| CN111267079A (en) | Intelligent inspection robot inspection method and device | |
| CN109813954A (en) | A kind of method and device of the current monitoring of mobile robot | |
| Li et al. | Research on the Application of Intelligent Algorithms in Communication Power Supply Monitoring System | |
| CN109424530A (en) | A kind of air compressor machine fault remote processing method and system based on Internet of Things |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Beijing Changmugu Medical Technology Co.,Ltd. Applicant after: Zhang Yiling Address before: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant before: BEIJING CHANGMUGU MEDICAL TECHNOLOGY Co.,Ltd. Applicant before: Zhang Yiling |