WO2018041198A1 - 一种手术机器人运行状态故障检测方法 - Google Patents

一种手术机器人运行状态故障检测方法 Download PDF

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Publication number
WO2018041198A1
WO2018041198A1 PCT/CN2017/099848 CN2017099848W WO2018041198A1 WO 2018041198 A1 WO2018041198 A1 WO 2018041198A1 CN 2017099848 W CN2017099848 W CN 2017099848W WO 2018041198 A1 WO2018041198 A1 WO 2018041198A1
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WIPO (PCT)
Prior art keywords
computer
surgical
embedded computer
main
embedded
Prior art date
Application number
PCT/CN2017/099848
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English (en)
French (fr)
Inventor
徐凯
赵彬
戴正晨
赵江然
刘欢
梅务昆
张慧超
魏巍
梁博
Original Assignee
北京术锐技术有限公司
Priority date (The priority date 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 date listed.)
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Publication date
Priority claimed from CN201610798120.XA external-priority patent/CN106272554B/zh
Priority claimed from CN201610799313.7A external-priority patent/CN106370949B/zh
Priority claimed from CN201610798121.4A external-priority patent/CN106175936B/zh
Application filed by 北京术锐技术有限公司 filed Critical 北京术锐技术有限公司
Priority to CA3035311A priority Critical patent/CA3035311C/en
Priority to JP2019531522A priority patent/JP7211948B2/ja
Priority to KR1020197009257A priority patent/KR102263570B1/ko
Priority to EP17845500.2A priority patent/EP3508157B1/en
Publication of WO2018041198A1 publication Critical patent/WO2018041198A1/zh
Priority to US16/288,161 priority patent/US11357584B2/en

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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
    • A61B34/37—Master-slave 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
    • A61B34/30—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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/066—Redundant equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/40—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass for recovering from a failure of a protocol instance or entity, e.g. service redundancy protocols, protocol state redundancy or protocol service redirection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • H04W84/20—Master-slave selection or change arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00128—Electrical control of surgical instruments with audible or visual output related to intensity or progress of surgical action
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0266—Operational features for monitoring or limiting apparatus function
    • A61B2560/0271—Operational features for monitoring or limiting apparatus function using a remote monitoring unit
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0266—Operational features for monitoring or limiting apparatus function
    • A61B2560/0276—Determining malfunction
    • 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
    • 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
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40228—If deviation of compliant tool is too large, stop and alarm

Definitions

  • the invention relates to a surgical robot fault detecting method, in particular to a surgical robot running state fault detecting method.
  • the surgical robot system has been widely used in the field of minimally invasive surgery with its clear stereoscopic feedback and flexible control. Among them, Intuitive Surgical's da Vinci surgical robot has achieved great success in the field of minimally invasive surgery.
  • the surgical robot system generally includes a visual operating arm and a plurality of surgical operating arms. The surgeon inputs control commands by operating the input device and the interface. The control commands are processed by a plurality of control computer nodes that can communicate with each other and then sent to the visual operation. The arms and surgical operating arms enable their actuation to perform minimally invasive surgery.
  • the above plurality of control computer nodes constitute a distributed computer system.
  • an object of the present invention is to provide a method for detecting a malfunction state of a surgical robot, which can improve the safety and reliability of the operation of the surgical robot system without increasing the accessory detecting component.
  • the present invention adopts the following technical solution: a surgical robot operating state fault detecting method, the running state includes a full running state and an incomplete running state, and the specific content is: 1) the main control computer is in a fully running state or incomplete Fault detection of the running state: A1)
  • the main control computer fails in the full running state: the main control computer broadcasts the desired pose signal to the main embedded computer and several embedded computers respectively through the LAN router at a set period, Receiving, by a set period, a null operation instruction signal sent by the main embedded computer, and simultaneously receiving the actual pose signals sent by the embedded computer at a set period; if the main embedded computer, the Receiving, from the embedded computer, a desired pose signal sent by the host computer through the local area network router within a set period, and the main embedded computer does not receive the host computer return through the local area network router The empty operation response signal, the host computer is considered to be faulty; B1
  • the main control computer fails in an incomplete operating state: the main control computer sends a null operation instruction signal
  • each of the slave embedded computers receives the desired pose signal sent by the host computer through the local area network router at a set period and passes Transmitting, by the local area network router, an actual pose signal to the main control computer; and sending a motor position control signal to the surgical tool drive module or the imaging tool drive module via the first communication bus at a set period;
  • the control computer does not receive an actual pose signal transmitted by the embedded computer through the local area network router within a set period, and if the primary embedded computer fails the first communication within a set period
  • the bus listens to the motor position control signal sent from the embedded computer, and then the above description appears from the embedded computer
  • the failure occurs from the embedded computer in an incomplete operating state: each of the slave embedded computers receives the host computer and the host embedded computer through the local area network router at a set period Emptying the command signal and returning a null operation response signal to the host computer and the main embedded computer at a set period; if the host computer does not receive some of the slave
  • main control computer fails, first adopting an alarm mechanism and an emergency stop mechanism for the surgical robot system or only adopting the alarm mechanism, and then performing a recovery mechanism on the main control computer, the main control computer And continuing to send signals to the main embedded computer and each of the slave embedded computers through the local area network router, and if the recovery mechanism to the host computer is unsuccessful, performing a manual mechanism with the main embedded computer And controlling the slave embedded computer through the local area network router to control the surgical tool or the imaging tool to perform an action.
  • the alarm mechanism and the emergency stop mechanism are first adopted to the surgical robot system or only the alarm mechanism is adopted, and then the manual mechanism is executed by the host computer. And actuating by controlling the surgical tool or the imaging tool from the embedded computer.
  • the alarm mechanism and the emergency stop mechanism are first adopted to the surgical robot system or only the alarm mechanism is adopted, and the manual is performed by the main control computer.
  • a mechanism for replacing the faulty one of the slave embedded computers with the master embedded computer, the master computer being embedded by the master embedded computer or other The computer controls the surgical tool or the imaging tool to perform an action.
  • the recovery mechanism refers to that when the main control computer fails, the main embedded computer waits for the main control computer to restart and returns to normal. After the main control computer returns to normal, the operator is in the main The operation interface of the control computer performs a status inquiry operation, and the main control computer sends a status inquiry command to the main embedded computer through the local area network router, and after receiving the status response command sent by the main embedded computer, adjusting the operation The state of the robot system to the state before the failure.
  • the alarm mechanism specifically includes: (1) when the main control computer fails, the main embedded computer causes the corresponding main control computer indicator to update to an error display state through the second communication bus; 2) when the main embedded computer fails, the main control computer automatically switches the operation interface to the manual operation interface, where the main embedded computer is prompted to be faulty, and the main control computer correspondingly The main embedded computer indicator light is updated to the error display state; (3) when a certain failure occurs from the embedded computer, the main control computer automatically switches the operation interface to the manual operation interface, and prompts a certain interface on the interface A failure occurs from the embedded computer, at which time the main embedded computer updates the corresponding embedded computer indicator to an erroneous display state via the second communication bus.
  • the emergency stop mechanism refers to Controlling the surgical tool or the imaging tool by the corresponding surgical tool driving module or the imaging tool driving module after receiving the holding command of the main control computer or the main embedded computer from the embedded computer Stopping the motion and maintaining the current pose; or the emergency stop mechanism means replacing the hold command of the master computer after receiving the fault from the main embedded computer of the embedded computer
  • the surgical tool drive module or the imaging tool drive module controls the surgical tool or the imaging tool to stop moving and maintain a current pose.
  • the manual mechanism refers to directly controlling the main control computer, the main embedded computer or the slave embedded computer through a joint parameter manual adjustment area of the surgical robot, and further driving the module through the surgical tool or
  • the imaging tool driving module controls the action of the surgical tool or the imaging tool.
  • the specific process is: when the main control computer fails, the main embedded computer switches to a manual operation interface, and manually uses joint parameters. Adjusting the area directly controls each of the slave embedded computers, and then controlling the surgical tool or the imaging tool to perform an action by the surgical tool driving module or the imaging tool driving module; when the main embedded computer occurs In the event of a failure, the main control computer switches to a manual operation interface, and directly controls each of the slave embeddings through a manual adjustment section of joint parameters.
  • the surgical tool or the imaging tool driving module controls the surgical tool or the imaging tool to perform an action; when a certain one of the slave embedded computers fails, the master control
  • the computer switches to a manual operation interface, and the main embedded computer takes over one of the slave embedded computers, and the master computer directly controls the main embedded computer and the remaining non-faulty through the joint parameter manual adjustment area
  • the operating tool or the imaging tool is controlled to operate from the embedded computer, and further by the surgical tool driving module or the imaging tool driving module.
  • the host computer controls the surgical tool driving module by using the main embedded computer or the working embedded computer that is used from the embedded computer as a takeover failure, thereby controlling the operation
  • the tool performs an action, wherein the upper computer is the main control computer or the main embedded computer; when the surgical robot is in a full running state or an incomplete running state, the main control computer is faulty, and the operation is controlled.
  • the operation of the tool from the embedded computer works normally, and the main embedded computer is used as the main control computer as an example to describe controlling the operation of the surgical tool, and the operator operates the mapping selection area of the manual adjustment area of the joint parameter.
  • the posture of the surgical tool driving module to be controlled, the main embedded computer reads the surgical arm joint parameters in a set period, and sends the generated desired pose to the slave embedded computer;
  • the surgical tool driving module performs closed-loop control on the surgical actuator posture at the end of the surgical tool, in the specific order: a1) if the surgical tool carrying the surgical actuator at the end of the surgical tool is in an unfolded state, the surgical tool
  • the drive module drives the surgical actuator at the end of the surgical tool to maintain the current position, posture and return to the initial state, thereby driving the surgical arm to return straight, and then proceeds to step a2); a2) if the surgical tool carried at the end of the surgical tool is performed
  • the surgical tool driving module drives the surgical actuator at the end of the surgical tool to directly withdraw from the surgical incision on the patient to the initial position, and then proceeds to step a3); a3)
  • the operator squats the surgical tool from the surgical tool driving module to complete the separation of
  • the upper computer controls the main use of the embedded computer by controlling the failure as a takeover
  • the embedded computer or the working of the embedded computer controls the imaging tool driving module to control the imaging tool to perform an action; when the surgical robot is in a fully operational state or an incomplete operating state, the control is controlled by a certain
  • the slave computer malfunctioning from the operation of the imaging tool, and the master embedded computer is used as an example of the failure of the slave embedded computer to control the operation of the imaging tool, and the operator operates the joint
  • the imaging tool driving module to be controlled in the mapping selection area of the parameter manual adjustment area
  • the main control computer reads the surgical arm joint parameters in a set period and sends the generated desired pose to the main embedded computer
  • the main embedded computer receives The specific sequence of the desired attitude signal by the imaging tool driving module to perform closed-loop control on the imaging illumination module posture at the end of the imaging tool is: b1) if
  • the present invention has the following advantages due to the above technical solution: 1.
  • the present invention passes the master meter in the surgical robot system when the surgical robot system is in a fully operational state or an incomplete operating state.
  • the computer, the main embedded computer and the method of detecting faults from each other by the embedded computer can improve the safety and reliability of the operation of the surgical robot system without adding any auxiliary detecting components, and effectively reduce the communication burden of the system.
  • the main embedded computer of the present invention is used to record the operating state of the surgical robot system. At the same time, the main embedded computer can be used as a redundant embedded computer, and when a certain embedded computer fails, the main embedded system A computer can replace a failed slave computer. 3.
  • the present invention can complete the fault recovery by using a set security mechanism to assist in withdrawing the surgical robot part located in the patient body, which can be further Improve the safety of surgical robot systems.
  • the invention can be widely applied to a minimally invasive surgical robot system.
  • the surgical robot system comprises a main control computer, a main embedded computer and a plurality of slave embedded computers; the main control computer controls the main embedded computer and the embedded computer through a LAN router, and the main embedded computer can pass through the LAN router and the first A communication bus communicates with the embedded computer, wherein the first communication bus is preferably a CAN bus.
  • the operating state of the surgical robot of the present invention includes a fully operational state and an incomplete operational state, wherein the full operational state is defined as: the main control computer continuously transmits the desired pose signal to the main embedded computer and each of the embedded embedded computers through the local area network router, Sending a motor position control signal from the embedded computer to the surgical tool drive module/imaging tool drive module through the first communication bus to control the operation tool/imaging tool to perform any action, and any continuous control from the embedded computer through the LAN router The computer sends the actual pose signal.
  • the incomplete running state is defined as: the host computer does not continuously send the desired pose signal to the main embedded computer and any embedded computer through the LAN router, and each slave embedded computer does not continuously send the actual pose signal to the host computer. At the same time, any slave computer does not send a motor position control signal to the surgical tool drive module/imaging tool drive module through the first communication bus.
  • This embodiment describes in detail the method for detecting the fault state of the surgical robot in full operation state, including the following contents:
  • the main control computer broadcasts the desired pose signal to the main embedded computer and several embedded computers through the LAN router in a set period, and receives the idle operation command signal sent by the main embedded computer in a set period, and simultaneously
  • the setting period receives the actual pose signals sent from the embedded computer;
  • the main embedded computer receives the desired pose signal sent by the host computer in a set period, and sends a null operation command signal to the host computer at a set period and obtains a null operation response signal returned by the host computer;
  • the first communication bus monitors the motor position control signals sent from each embedded computer;
  • Each embedded computer receives the desired pose signal sent by the host computer through the LAN router at a set period and transmits the actual pose signal to the host computer through the LAN router; and simultaneously performs the operation on the first communication bus through the set period.
  • the tool driving module/imaging tool driving module sends a motor position control signal;
  • main embedded computer does not receive the desired pose signal sent by the host computer through the LAN router within the set period, and the main embedded computer does not receive the space returned by the host computer through the LAN router.
  • operation response signal it is considered that the main control computer is in a state of full operation
  • the main control computer fails, the alarm mechanism and the emergency stop mechanism are adopted for the surgical robot system, and after the recovery mechanism is executed on the main control computer, the main control computer continues to the main embedded computer and the embedded embedded through the local area network router.
  • the computer sends a signal. If the recovery mechanism of the host computer is unsuccessful, the main embedded computer executes the manual mechanism, and controls the operation tool/imaging tool from the embedded computer through the LAN router.
  • an alarm mechanism and an emergency stop mechanism are adopted for the surgical robot system, and a manual mechanism is performed by the main control computer, thereby controlling the operation by controlling the surgical tool/imaging tool from the embedded computer.
  • the main control computer acts through the main embedded computer and other controlled surgical tools/imaging tools from the embedded computer.
  • the recovery mechanism of the present invention means that when the main control computer fails, the main embedded computer waits for the main control computer to restart and returns to normal. After the main control computer returns to normal, the operator performs a status inquiry operation on the operation interface of the main control computer.
  • the main control computer sends a status inquiry command to the main embedded computer through the local area network router, and after receiving the status response command sent by the main embedded computer, adjusts the state of the surgical robot system to the state before the failure.
  • the alarm mechanism of the present invention is intended to attract the attention of the operator, and specifically includes:
  • the main embedded computer updates the corresponding main control computer indicator to the error display state through the second communication bus
  • the second communication bus is preferably a two-wire serial bus, that is, an I2C bus.
  • the main control computer automatically switches the operation interface to the manual operation interface, prompting a certain failure from the embedded computer on the interface, and the main embedded computer passes the second communication at this time.
  • the bus causes the corresponding indicator from the embedded computer to update to the error display state.
  • the emergency stop mechanism of the present invention refers to stopping the movement of the surgical tool and the imaging tool by the corresponding surgical tool driving module/imaging tool driving module after receiving the holding command of the upper computer from the embedded computer, and maintaining the current posture.
  • the upper computer can be a main control computer or a main embedded computer.
  • the manual mechanism of the present invention refers to directly controlling the main control computer, the main embedded computer or the embedded computer through the manual adjustment section of the joint parameters of the surgical robot, and then controlling the operation by the surgical tool driving module/imaging tool driving module.
  • the action of the tool/imaging tool, the specific process is:
  • the main embedded computer switches to the manual operation interface, directly controls each slave embedded computer through the manual adjustment parameter of the joint parameter, and then controls the surgical tool through the surgical tool driving module/imaging tool driving module. / imaging tool to act;
  • the main control computer switches to the manual operation interface, and directly controls each slave embedded computer through the manual adjustment parameter of the joint parameter, and then drives the module through the surgical tool/
  • the imaging tool drive module controls the surgical tool/imaging tool to perform an action
  • the main control computer switches to the manual operation interface, and the main embedded computer takes over one of the embedded embedded computers, and the main control computer directly controls the main embedded through the manual adjustment parameter of the joint parameters.
  • the host computer controls the surgical tool driving module through the main embedded computer (as a slave computer that takes over the fault) or the working slave computer to control the operation of the surgical tool.
  • the main embedded computer when the main control computer fails, the main embedded computer is used as the main control computer at this time, and the operator operates the posture of the surgical tool driving module to be controlled in the mapping selection area of the manual adjustment section of the joint parameter, and the main embedding
  • the computer reads the surgical arm joint parameters in a set period, and sends the generated desired pose to the surgery from the embedded computer, receives the desired pose signal from the embedded computer, and drives the module to the end of the surgical tool through the surgical tool.
  • the actuator pose is closed-loop controlled, thereby implementing the operation of the surgical robot to safely withdraw the portion of the surgical robot in the patient's body to the initial position, in the following order:
  • the surgical tool driving module drives the surgical actuator at the end of the surgical tool to maintain the current position, posture and return to the initial state (eg, the surgical actuator is a surgical forceps) Should return to the closed position), and then drive the surgical arm back straight, then proceed to step 2);
  • the surgical tool driving module drives the surgical actuator at the end of the surgical tool to directly withdraw from the surgical incision on the patient to the initial position, and then enter Step 3);
  • the upper computer passes through the main embedded computer (as a socket computer to take over from the embedded computer) or works normally.
  • the imaging tool is driven from the embedded computer to drive the module, thereby controlling the imaging tool to perform the action.
  • the main embedded computer when a certain control image forming tool malfunctions from the embedded computer, the main embedded computer is used as an takeover from the embedded computer, and the operator operates the joint selection area of the joint parameter manual adjustment area.
  • Imaging tool drive module to be controlled master computer Reading the surgical arm joint parameters in a set period and transmitting the generated desired pose to the main embedded computer, the main embedded computer receives the desired pose signal and the imaging illumination module position of the imaging tool end by the imaging tool drive module
  • the posture is closed-loop controlled, thereby implementing the operation of the surgical robot to safely withdraw the portion of the surgical robot in which the imaging tool is located in the patient to the initial position, in the following order:
  • the imaging tool driving module drives the imaging illumination module at the end of the imaging tool to maintain the current position and posture, thereby driving the surgical arm to return straight, and then entering the step 2);
  • the imaging tool driving module drives the imaging illumination module at the end of the imaging tool to directly exit from the surgical incision on the patient to the initial position, Then proceed to step 3);
  • This embodiment describes in detail the failure detection method of the surgical robot incomplete operation state, including the following contents:
  • the main control computer sends a null operation instruction signal to the main embedded computer and several embedded computers through the LAN router in a set period, and receives the empty operation returned by the main embedded computer and each slave embedded computer in a set period. Answer signal.
  • the main embedded computer receives the idle operation instruction signal sent by the main control computer in a set period and returns a null operation response signal to the main control computer, and sends a null operation instruction signal to the slave embedded computer through the local area network router at a set period and A null operation response signal returned from each embedded computer is received.
  • Each embedded computer receives the idle operation command signal sent by the main control computer and the main embedded computer through the local area network router in a set period, and returns a null operation response signal to the main control computer and the main embedded computer in a set period.
  • the command signal is considered to be a failure of the main embedded computer in an incomplete operating state.
  • null operation response signal returned from the embedded computer through the LAN router within the set period, and if the main embedded computer does not receive the return from the embedded computer within the set period The null operation response signal is considered to have failed from the embedded computer in an incomplete operating state.
  • the specific alarm mechanism, the recovery mechanism, the manual mechanism and the operation process are basically the same as those in Embodiment 1, the only difference The fault occurs when the main control computer, the main embedded computer or a certain embedded computer only adopts the alarm mechanism when the fault occurs in the incomplete operation state, and no emergency stop mechanism is adopted.
  • the working principle of the alarm mechanism, the recovery mechanism, and the manual mechanism in this embodiment is completely the same as that in Embodiment 1, and details are not described herein again.
  • the host computer controls the surgical tool driving module through the main embedded computer (as a slave computer that takes over the fault) or from the embedded computer to operate the surgical tool, thereby controlling the operation of the surgical tool.
  • Example 1 is basically the same. Because the surgical robot is in an incomplete running state, the specific process of safely withdrawing the surgical tool in the surgical robot to the initial position is different, specifically:
  • the surgical tool driving module drives the surgical arm to return straight, and then proceeds to step 2);
  • the surgical tool driving module drives the surgical actuator at the end of the surgical tool to directly withdraw from the surgical incision on the patient to the initial position, and then enter Step 3);
  • the upper computer passes through the main embedded computer (as a socket computer to take over from the embedded computer) or works normally.
  • the imaging tool is driven from the embedded computer to drive the module, and then the imaging tool is controlled to perform the action.
  • This process is basically the same as that in Embodiment 1. Since the surgical robot system is in an incomplete running state, the imaging tool in the surgical robot is safely withdrawn to the initial position. The process is different, specifically:
  • step 2 If the surgical arm carrying the imaging illumination module at the end of the imaging tool is in an unfolded state, the imaging tool driving module drives the surgical arm to return straight, and then proceeds to step 2);
  • the imaging tool drive module drives the imaging illumination module at the end of the imaging tool to directly exit from the surgical incision on the patient to the initial position, and then proceeds to step 3);

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Abstract

一种手术机器人运行状态故障检测方法，其特征在于设置包括有主控计算机、主嵌入式计算机和从嵌入式计算机的手术机器人系统；主控计算机通过局域网路由器对主嵌入式计算机和从嵌入式计算机进行控制，主嵌入式计算机分别通过局域网路由器和第一通信总线与从嵌入式计算机进行相互通信。上述手术机器人运行状态故障检测方法中的主控计算机、主嵌入式计算机和从嵌入式计算机相互进行故障检测，可以在不增加任何附属检测元件的前提下提高手术机器人系统运行的安全性和可靠性，且有效减少系统的通信负担，可以广泛应用于微创手术机器人系统中。

Description

一种手术机器人运行状态故障检测方法
相关申请的交叉引用
本专利申请要求于2016年8月31日提交的下述三件中国专利申请的优先权，申请号为201610798120.X、发明名称为“一种手术机器人运行状态故障检测方法”的中国专利申请，申请号为201610799313.7、发明名称为“一种手术机器人不完全运行状态故障检测方法”的中国专利申请，申请号为201610798121.4、发明名称为“一种手术机器人完全运行状态故障检测方法”的中国专利申请，上述申请的全文以引用的方式并入本文中。
技术领域
本发明涉及一种手术机器人故障检测方法，特别是关于一种手术机器人运行状态故障检测方法。
背景技术
近年来，微创手术由于其创伤面积小、恢复快等特点已经成为一种重要的外科手术方法，手术机器人系统凭借其清晰的立体视觉反馈、灵活操控等特点已经广泛地应用于微创手术领域，其中，Intuitive Surgical公司的da Vinci(达芬奇)手术机器人在微创手术领域取得了巨大成功。手术机器人系统通常包括一个视觉操作臂和多个手术操作臂，外科医生通过操作输入设备和界面输入控制指令，该控制指令经过可相互通信的多个控制计算机节点的运算处理后，发送给视觉操作臂和手术操作臂实现对它们的驱动以施展微创手术。上述多个控制计算机节点组成了一种分布式计算机系统。
由于施展于人体的微创手术对手术机器人系统安全性存在严苛要求，需要对各控制计算机节点实时进行故障检测，并根据故障采取最为安全的应对措施。现有手术机器人系统采用额外的检测信号以实时监测控制计算机节点是否出现故障，这样将大大增加系统的通信负担。目前多数系统采取冗余设备以随时接管故障设备，此方法造成了系统资源的浪费；进一步地，现有手术机器人系统并未针对性地提出以人体安全为基础的系统解决方案。
发明内容
针对上述问题，本发明的目的是提供一种手术机器人运行状态故障检测方法，能够在不增加附属检测元件的前提下提高手术机器人系统运行的安全性和可靠性。
为实现上述目的，本发明采取以下技术方案：一种手术机器人运行状态故障检测方法，运行状态包括完全运行状态和不完全运行状态，具体内容为：1)主控计算机在完全运行状态或不完全运行状态的故障检测：A1)所述主控计算机在完全运行状态出现故障：所述主控计算机以设定周期通过局域网路由器分别向主嵌入式计算机和若干从嵌入式计算机广播期望位姿信号，并以设定周期接收所述主嵌入式计算机发送的空操作指令信号，且同时以设定周期接收各所述从嵌入式计算机发送的实际位姿信号；如果所述主嵌入式计算机、所述从嵌入式计算机在设定周期内未收到所述主控计算机通过所述局域网路由器发送的期望位姿信号，且所述主嵌入式计算机未通过所述局域网路由器接收到所述主控计算机返回的空操作应答信号，则认为所述主控计算机出现故障；B1)所述主控计算机在不完全运行状态下出现故障：所述主控计算机以设定周期通过所述局域网路由器分别向所述主嵌入式计算机和若干所述从嵌入式计算机发送空操作指令信号，并以设定周期接收所述主嵌入式计算机和各所述从嵌入式计算机返回的空操作应答信号；如果所述主嵌入式计算机和所述从嵌入式计算机在设定周期内均未收到所述主控计算机通过所述局域网路由器发送的空操作指令信号，则认为所述主控计算机出现故障；2)所述主嵌入式计算机在完全运行状态或不完全运行状态的故障检测：A2)所述主嵌入式计算机在完全运行状态下出现故障：所述主嵌入式计算机以设定周期接收所述主控计算机发送的期望位姿信号，并以设定周期向所述主控计算机发送空操作指令信号并获得所述主控计算机返回的空操作应答信号；且同时通过第一通信总线监听各所述从嵌入式计算机发送的电机位控信号；如果所述主控计算机在设定周期内未通过所述局域网路由器接收到所述主嵌入式计算机发送的空操作指令信号，则认为所述主嵌入式计算机出现故障；B2)所述主嵌入式计算机在不完全运行状态下出现故障：所述主嵌入式计算机以设定周期接收所述主控计算机发送的空操作指令信号且向所述主控计算机返回空操作应答信号，并以设定周期通过所述局域网路由器向所述从嵌入式计算机发送空操作指令信号且接收各所述从嵌入式计算机返回的空操作应答信号；如果所述主控计算机在设定周期内未通过所述局域网路由器接收到所述主嵌入式计算机返回的空操作应答信号，且各所述从嵌入式 计算机在设定周期内未接收到所述主嵌入式计算机发送的空操作指令信号，则认为所述主嵌入式计算机出现故障；3)所述从嵌入式计算机在完全运行状态或不完全运行状态的故障检测：A3)所述从嵌入式计算机在完全运行状态下出现故障：各所述从嵌入式计算机以设定周期通过所述局域网路由器接收所述主控计算机发送的期望位姿信号且通过所述局域网路由器向所述主控计算机发送实际位姿信号；同时以设定周期经所述第一通信总线向手术工具驱动模组或成像工具驱动模组发送电机位控信号；如果所述主控计算机在设定周期内未收到某一所述从嵌入式计算机通过所述局域网路由器发送的实际位姿信号，且如果在设定周期内所述主嵌入式计算机未通过所述第一通信总线监听到所述从嵌入式计算机发送的电机位控信号，则认为此所述从嵌入式计算机出现故障；B3)所述从嵌入式计算机在不完全运行状态下出现故障：各所述从嵌入式计算机以设定周期通过所述局域网路由器接收所述主控计算机和所述主嵌入式计算机发送的空操作指令信号，且以设定周期向所述主控计算机和所述主嵌入式计算机返回空操作应答信号；如果所述主控计算机在设定周期内未收到某一所述从嵌入式计算机通过所述局域网路由器返回的空操作应答信号，且如果在设定周期内所述主嵌入式计算机未收到此所述从嵌入式计算机返回的空操作应答信号，则认为此所述从嵌入式计算机出现故障。
进一步地，当所述主控计算机发生故障时，首先对手术机器人系统采取报警机制和急停机制或仅仅采取所述报警机制，然后对所述主控计算机执行恢复机制后，所述主控计算机继续通过所述局域网路由器向所述主嵌入式计算机和各所述从嵌入式计算机发送信号，若对所述主控计算机的所述恢复机制未成功，则以所述主嵌入式计算机执行手动机制，并通过所述局域网路由器控制所述从嵌入式计算机，进而控制手术工具或成像工具进行动作。
进一步地，当所述主嵌入式计算机发生故障时，首先对手术机器人系统采取所述报警机制和所述急停机制或仅仅采用所述报警机制，然后通过所述主控计算机执行所述手动机制，进而通过所述从嵌入式计算机控制所述手术工具或所述成像工具进行动作。
进一步地，当某一所述从嵌入式计算机发生故障时，首先对手术机器人系统采取所述报警机制和所述急停机制或仅仅采用所述报警机制，通过所述主控计算机执行所述手动机制，以所述主嵌入式计算机代替出现故障的某一所述从嵌入式计算机，所述主控计算机通过所述主嵌入式计算机或其它所述从嵌入式 计算机控制所述手术工具或所述成像工具进行动作。
进一步地，所述恢复机制是指所述主控计算机发生故障时，所述主嵌入式计算机等待所述主控计算机重启恢复正常，待所述主控计算机恢复正常后，操作者在所述主控计算机的操作界面进行状态询问操作，所述主控计算机通过所述局域网路由器向所述主嵌入式计算机发送状态询问指令，接收到所述主嵌入式计算机发来的状态应答指令后，调整手术机器人系统至发生故障前的状态。
进一步地，所述报警机制具体包括：(1)当所述主控计算机发生故障时，所述主嵌入式计算机通过第二通信总线使得所对应的主控计算机指示灯更新到错误显示状态；(2)当所述主嵌入式计算机发生故障时，所述主控计算机自动将操作界面切换到手动操作界面，在该界面上提示所述主嵌入式计算机发生故障，同时所述主控计算机将对应的主嵌入式计算机指示灯更新到错误显示状态；(3)当某一所述从嵌入式计算机发生故障时，所述主控计算机自动将操作界面切换到手动操作界面，在该界面上提示某一所述从嵌入式计算机发生故障，此时所述主嵌入式计算机通过第二通信总线使得所对应的从嵌入式计算机指示灯更新到错误显示状态。
进一步地，当所述主控计算机、所述主嵌入式计算机或所述从嵌入式计算机在完全运行状态下发生故障时均需启动所述急停机制，其中：所述急停机制是指所述从嵌入式计算机接收到所述主控计算机或所述主嵌入式计算机的保持命令后通过相应所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具停止运动，并保持当前位姿；或所述急停机制是指代替出现故障的某一所述从嵌入式计算机的所述主嵌入式计算机接收到所述主控计算机的保持命令后通过相应所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具停止运动，并保持当前位姿。
进一步地，所述手动机制是指通过手术机器人的关节参数手动调整区直接控制所述主控计算机、所述主嵌入式计算机或所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具的动作，具体过程为：当所述主控计算机发生故障时，所述主嵌入式计算机切换到手动操作界面，通过关节参数手动调整区直接控制各所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具进行动作；当所述主嵌入式计算机发生故障时，所述主控计算机切换到手动操作界面，通过关节参数手动调整区直接控制各所述从嵌入 式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具进行动作；当某一所述从嵌入式计算机发生故障时，所述主控计算机切换到手动操作界面，所述主嵌入式计算机接管故障的某一所述从嵌入式计算机，所述主控计算机通过关节参数手动调整区直接控制所述主嵌入式计算机和其余未出现故障的所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具进行动作。
进一步地，上位机通过作为接管故障的某一所述从嵌入式计算机使用的所述主嵌入式计算机或正常工作的所述从嵌入式计算机控制所述手术工具驱动模组，进而控制所述手术工具进行动作，其中，上位机为所述主控计算机或所述主嵌入式计算机；当手术机器人为完全运行状态或不完全运行状态时，均以所述主控计算机发生故障，控制所述手术工具进行动作的所述从嵌入式计算机工作正常，所述主嵌入式计算机作为所述主控计算机进行使用为例说明控制所述手术工具进行动作，操作者操作关节参数手动调整区的映射选择区中所要控制的所述手术工具驱动模组的位姿，所述主嵌入式计算机以设定周期读取手术臂关节参数，并将产生的期望位姿发送到所述从嵌入式计算机；当手术机器人为完全运行状态时，所述从嵌入式计算机接收到期望位姿信号并通过所述手术工具驱动模组对所述手术工具末端的手术执行器位姿进行闭环控制，具体顺序为：a1)如果所述手术工具末端携带手术执行器的手术臂处于展开状态，则所述手术工具驱动模组驱动所述手术工具末端的手术执行器保持当前的位置、姿态并恢复至初始状态，进而驱动手术臂回直，然后进入步骤a2)；a2)如果所述手术工具末端携带的手术执行器未处于初始位置且手术臂处于直态，则所述手术工具驱动模组驱动所述手术工具末端的手术执行器直接从病人身上的手术切口退出至初始位置，然后进入步骤a3)；a3)操作者将所述手术工具从所述手术工具驱动模组上缷下，完成所述手术工具与手术机器人的分离；当手术机器人为不完全运行状态时，所述从嵌入式计算机接收到期望位姿信号并通过所述手术工具驱动模组对所述手术工具末端的手术执行器位姿进行控制，具体顺序为：a1)如果所述手术工具末端携带手术执行器的手术臂处于展开状态，则所述手术工具驱动模组驱动手术臂回直，然后进入步骤a2)；a2)如果所述手术工具末端携带的手术执行器未处于初始位置且手术臂处于直态，则所述手术工具驱动模组驱动所述手术工具末端的手术执行器直接从病人身上的手术切口退出至 初始位置，然后进入步骤a3)；a3)操作者将所述手术工具从所述手术工具驱动模组上缷下，完成所述手术工具与手术机器人的分离。
进一步地，当所述手术工具从病人身上的手术切口退出，完成所述手术工具与手术机器人的完全分离时，上位机通过控制作为接管故障的某一所述从嵌入式计算机使用的所述主嵌入式计算机或正常工作的所述从嵌入式计算机控制所述成像工具驱动模组，进而控制所述成像工具进行动作；当手术机器人为完全运行状态或不完全运行状态时，均以某一控制所述成像工具进行动作的所述从嵌入式计算机发生故障，所述主嵌入式计算机作为接管发生故障的所述从嵌入式计算机进行使用为例说明控制所述成像工具进行动作，操作者操作关节参数手动调整区的映射选择区中所要控制的所述成像工具驱动模组，所述主控计算机以设定周期读取手术臂关节参数并将产生的期望位姿发送到所述主嵌入式计算机；当手术机器人为完全运行状态，所述主嵌入式计算机接收到期望位姿信号通过所述成像工具驱动模组对所述成像工具末端的成像照明模组位姿进行闭环控制的具体顺序为：b1)如果所述成像工具末端携带成像照明模组的手术臂处于展开状态，则所述成像工具驱动模组驱动所述成像工具末端的成像照明模组保持当前的位置、姿态，进而驱动手术臂回直，然后进入步骤b2)；b2)如果所述成像工具末端携带的成像照明模组未处于初始位置且手术臂处于直态，则所述成像工具驱动模组驱动所述成像工具末端的成像照明模组直接从病人身上的手术切口退出至初始位置，然后进入步骤b3)；b3)操作者将所述成像工具从所述成像工具驱动模组上缷下，完成所述成像工具与手术机器人的分离；当手术机器人为不完全运行状态时，所述主嵌入式计算机接收到期望位姿信号通过所述成像工具驱动模组对所述成像工具末端的成像照明模组位姿进行控制，具体顺序为：b1)如果所述成像工具末端携带成像照明模组的手术臂处于展开状态，则所述成像工具驱动模组驱动手术臂回直，然后进入步骤b2)；b2)如果所述成像工具末端携带的成像照明模组未处于初始位置且手术臂处于直态，则所述成像工具驱动模组驱动所述成像工具末端的成像照明模组直接从病人身上的手术切口退出至初始位置，然后进入步骤b3)；b3)操作者将所述成像工具从所述成像工具驱动模组上缷下，完成所述成像工具与手术机器人的分离。
本发明由于采取以上技术方案，其具有以下优点：1、本发明在手术机器人系统处于完全运行状态或不完全运行状态时，通过手术机器人系统中的主控计 算机、主嵌入式计算机和从嵌入式计算机相互检测故障的方法，可以在不增加任何附属检测元件的前提下提高手术机器人系统运行的安全性和可靠性，而且有效减少了系统的通信负担。2、本发明的主嵌入式计算机用于记录手术机器人系统的运行状态，同时，主嵌入式计算机可以作为冗余的从嵌入式计算机使用，当某一从嵌入式计算机发生故障后，主嵌入式计算机可替代出现故障的从嵌入式计算机。3、当手术机器人系统中主控计算机、主嵌入式计算机或从嵌入式计算机出现故障时，本发明可以采用设定的安全机制完成故障恢复，以辅助退出位于病人体内的手术机器人部分，可进一步提高手术机器人系统的安全性。本发明可以广泛应用于微创手术机器人系统中。
具体实施方式
以下通过具体实施例对本发明进行详细的描绘。然而应当理解，实施例的提供仅为了更好地理解本发明，它们不应该理解成对本发明的限制，本实施例中的“/”表示的含义为“或”。
手术机器人系统包括有一主控计算机、一主嵌入式计算机和若干从嵌入式计算机；主控计算机通过局域网路由器对主嵌入式计算机和从嵌入式计算机进行控制，主嵌入式计算机可通过局域网路由器和第一通信总线与从嵌入式计算机进行相互通信，其中，第一通信总线优选CAN总线。
本发明手术机器人的运行状态包括完全运行状态和不完全运行状态，其中，完全运行状态定义为：主控计算机通过局域网路由器持续向主嵌入式计算机和各从嵌入式计算机发送期望位姿信号，任一从嵌入式计算机通过第一通信总线向手术工具驱动模组/成像工具驱动模组发送电机位控信号进而控制手术工具/成像工具进行动作，任一从嵌入式计算机通过局域网路由器持续向主控计算机发送实际位姿信号。
不完全运行状态定义为：主控计算机没有持续通过局域网路由器向主嵌入式计算机和任一从嵌入式计算机发送期望位姿信号，各从嵌入式计算机没有持续向主控计算机发送实际位姿信号，同时任一从嵌入式计算机没有通过第一通信总线向手术工具驱动模组/成像工具驱动模组发送电机位控信号。
下面分别通过两个具体实施例详细说明本发明的手术机器人完全运行状态和手术机器人不完全运行状态的故障检测方法。
实施例1：
本实施例对手术机器人完全运行状态故障检测方法进行详细说明，包括以下内容：
1、主控计算机以设定周期通过局域网路由器分别向主嵌入式计算机和若干从嵌入式计算机广播期望位姿信号，并以设定周期接收主嵌入式计算机发送的空操作指令信号，且同时以设定周期接收各从嵌入式计算机发送的实际位姿信号；
2、主嵌入式计算机以设定周期接收主控计算机发送的期望位姿信号，并以设定周期向主控计算机发送空操作指令信号并获得主控计算机返回的空操作应答信号；且同时通过第一通信总线监听各从嵌入式计算机发送的电机位控信号；
3、各从嵌入式计算机以设定周期通过局域网路由器接收主控计算机发送的期望位姿信号且通过局域网路由器向主控计算机发送实际位姿信号；同时以设定周期经第一通信总线向手术工具驱动模组/成像工具驱动模组发送电机位控信号；
4、如果主嵌入式计算机、从嵌入式计算机在设定周期内未收到主控计算机通过局域网路由器发送的期望位姿信号，且主嵌入式计算机未通过局域网路由器接收到主控计算机返回的空操作应答信号，则认为主控计算机在完全运行状态下出现故障；
5、如果主控计算机在设定周期内未通过局域网路由器接收到主嵌入式计算机发送的空操作指令信号，则认为主嵌入式计算机在完全运行状态下出现故障；
6、如果主控计算机在设定周期内未收到某一从嵌入式计算机通过局域网路由器发送的实际位姿信号，且如果在设定周期内主嵌入式计算机未通过第一通信总线监听到从嵌入式计算机发送的电机位控信号，则认为此从嵌入式计算机在完全运行状态下出现故障。
进一步地，当主控计算机发生故障时，对手术机器人系统采取报警机制和急停机制，并对主控计算机执行恢复机制后，主控计算机继续通过局域网路由器向主嵌入式计算机和各从嵌入式计算机发送信号，若对主控计算机的恢复机制未成功，则以主嵌入式计算机执行手动机制，并通过局域网路由器控制从嵌入式计算机，进而控制手术工具/成像工具进行动作。
进一步地，当主嵌入式计算机发生故障时，对手术机器人系统采取报警机制和急停机制后，并通过主控计算机执行手动机制，进而通过从嵌入式计算机控制手术工具/成像工具进行动作。
进一步地，当某一从嵌入式计算机发生故障时，对手术机器人系统采取报警机制和急停机制后，通过主控计算机执行手动机制，以主嵌入式计算机代替出现故障的某一从嵌入式计算机，主控计算机通过主嵌入式计算机和其它从嵌入式计算机控制手术工具/成像工具进行动作。
进一步地，本发明的恢复机制是指主控计算机发生故障时，主嵌入式计算机等待主控计算机重启恢复正常，待主控计算机恢复正常后，操作者在主控计算机的操作界面进行状态询问操作，主控计算机通过局域网路由器向主嵌入式计算机发送状态询问指令，接收到主嵌入式计算机发来的状态应答指令后，调整手术机器人系统至发生故障前的状态。
进一步地，本发明的报警机制是为引起操作者的注意，具体包括：
1)当主控计算机发生故障时，主嵌入式计算机通过第二通信总线使得所对应的主控计算机指示灯更新到错误显示状态，第二通信总线优选为两线式串行总线，即I2C总线；
2)当主嵌入式计算机发生故障时，主控计算机自动将操作界面切换到手动操作界面，在该界面上提示主嵌入式计算机发生故障，同时主控计算机将对应的主嵌入式计算机指示灯更新到错误显示状态；
3)当某一从嵌入式计算机发生故障时，主控计算机自动将操作界面切换到手动操作界面，在该界面上提示某一从嵌入式计算机发生故障，此时主嵌入式计算机通过第二通信总线使得所对应的从嵌入式计算机指示灯更新到错误显示状态。
进一步地，本发明的急停机制是指从嵌入式计算机收到上位机的保持命令后通过相应手术工具驱动模组/成像工具驱动模组控制手术工具和成像工具停止运动，并保持当前位姿，其中，上位机可以是主控计算机或主嵌入式计算机。
进一步地，本发明的手动机制是指通过手术机器人的关节参数手动调整区直接控制主控计算机、主嵌入式计算机或从嵌入式计算机，进而通过手术工具驱动模组/成像工具驱动模组控制手术工具/成像工具的动作，具体过程为：
1)当主控计算机发生故障时，主嵌入式计算机切换到手动操作界面，通过关节参数手动调整区直接控制各从嵌入式计算机，进而通过手术工具驱动模组/成像工具驱动模组控制手术工具/成像工具进行动作；
2)当主嵌入式计算机发生故障时，主控计算机切换到手动操作界面，通过关节参数手动调整区直接控制各从嵌入式计算机，进而通过手术工具驱动模组/ 成像工具驱动模组控制手术工具/成像工具进行动作；
3)当某一从嵌入式计算机发生故障时，主控计算机切换到手动操作界面，主嵌入式计算机接管故障的某一从嵌入式计算机，主控计算机通过关节参数手动调整区直接控制主嵌入式计算机和其余未出现故障的从嵌入式计算机，进而通过手术工具驱动模组/成像工具驱动模组控制手术工具/成像工具进行动作。
进一步地，上位机通过主嵌入式计算机(作为接管故障的某一从嵌入式计算机使用)或正常工作的各从嵌入式计算机控制手术工具驱动模组，进而控制手术工具进行动作。
例如，当主控计算机发生故障时，此时主嵌入式计算机作为主控计算机进行使用，操作者操作关节参数手动调整区的映射选择区中所要控制的手术工具驱动模组的位姿，主嵌入式计算机以设定周期读取手术臂关节参数，并将产生的期望位姿发送到从嵌入式计算机，从嵌入式计算机接收到期望位姿信号并通过手术工具驱动模组对手术工具末端的手术执行器位姿进行闭环控制，进而实现对手术机器人的操作以将手术机器人中手术工具位于病人体内的部分安全撤回至初始位置，具体顺序为：
1)如果手术工具末端携带手术执行器的手术臂处于展开状态，则手术工具驱动模组驱动手术工具末端的手术执行器保持当前的位置、姿态并恢复至初始状态(例如手术执行器为手术钳时，应该恢复到闭合姿态)，进而驱动手术臂回直，然后进入步骤2)；
2)如果手术工具末端携带的手术执行器未处于初始位置且手术臂处于直态，则手术工具驱动模组驱动手术工具末端的手术执行器直接从病人身上的手术切口退出至初始位置，然后进入步骤3)；
3)操作者将手术工具从手术工具驱动模组上缷下，完成手术工具与手术机器人的分离。
进一步地，当手术工具从病人身上的手术切口退出，完成手术工具与手术机器人的完全分离时，上位机通过主嵌入式计算机(作为接管故障的某一从嵌入式计算机使用)或正常工作的各从嵌入式计算机控制成像工具驱动模组，进而控制成像工具进行动作。
例如，当某一控制成像工具进行动作的从嵌入式计算机发生故障时，此时主嵌入式计算机作为接管发生故障的从嵌入式计算机进行使用，操作者操作关节参数手动调整区的映射选择区中所要控制的成像工具驱动模组，主控计算机 以设定周期读取手术臂关节参数并将产生的期望位姿发送到主嵌入式计算机，主嵌入式计算机接收到期望位姿信号通过成像工具驱动模组对成像工具末端的成像照明模组位姿进行闭环控制，进而实现对手术机器人的操作以将手术机器人中成像工具位于病人体内的部分安全撤回至初始位置，具体顺序为：
1)如果成像工具末端携带成像照明模组的手术臂处于展开状态，则成像工具驱动模组驱动成像工具末端的成像照明模组保持当前的位置、姿态，进而驱动手术臂回直，然后进入步骤2)；
2)如果成像工具末端携带的成像照明模组未处于初始位置且手术臂处于直态，则成像工具驱动模组驱动成像工具末端的成像照明模组直接从病人身上的手术切口退出至初始位置，然后进入步骤3)；
3)操作者将成像工具从成像工具驱动模组上缷下，完成成像工具与手术机器人的分离。
实施例2：
本实施例对手术机器人不完全运行状态故障检测方法进行详细说明，包括以下内容：
1、主控计算机以设定周期通过局域网路由器分别向主嵌入式计算机和若干从嵌入式计算机发送空操作指令信号，并以设定周期接收主嵌入式计算机和各从嵌入式计算机返回的空操作应答信号。
2、主嵌入式计算机以设定周期接收主控计算机发送的空操作指令信号且向主控计算机返回空操作应答信号，并以设定周期通过局域网路由器向从嵌入式计算机发送空操作指令信号且接收各从嵌入式计算机返回的空操作应答信号。
3、各从嵌入式计算机以设定周期通过局域网路由器接收主控计算机和主嵌入式计算机发送的空操作指令信号，且以设定周期向主控计算机和主嵌入式计算机返回空操作应答信号。
4、如果主嵌入式计算机和从嵌入式计算机在设定周期内均未收到主控计算机通过局域网路由器发送的空操作指令信号，则认为主控计算机在不完全运行状态下出现故障。
5、如果主控计算机在设定周期内未通过局域网路由器接收到主嵌入式计算机返回的空操作应答信号，且各从嵌入式计算机在设定周期内未接收到主嵌入式计算机发送的空操作指令信号，则认为主嵌入式计算机在不完全运行状态下出现故障。
6、如果主控计算机在设定周期内未收到某一从嵌入式计算机通过局域网路由器返回的空操作应答信号，且如果在设定周期内主嵌入式计算机未收到此从嵌入式计算机返回的空操作应答信号，则认为此从嵌入式计算机在不完全运行状态下出现故障。
进一步地，当主控计算机、主嵌入式计算机或某一从嵌入式计算机在不完全运行状态下发生故障时，具体报警机制、恢复机制和手动机制及操作过程与实施例1基本相同，唯一不同的是，在不完全运行状态下发生故障时，主控计算机、主嵌入式计算机或某一从嵌入式计算机仅仅采用报警机制，均不采取急停机制。另外，本实施例的报警机制、恢复机制和手动机制的工作原理与实施例1完全相同，在此不再赘述。
进一步地，上位机通过主嵌入式计算机(作为接管故障的某一从嵌入式计算机使用)或正常工作的各从嵌入式计算机控制手术工具驱动模组，进而控制手术工具进行动作，此过程与实施例1基本相同，由于手术机器人为不完全运行状态，因此将手术机器人中的手术工具安全撤回至初始位置的具体过程存在不同，具体为：
1)如果手术工具末端携带手术执行器的手术臂处于展开状态，则手术工具驱动模组驱动手术臂回直，然后进入步骤2)；
2)如果手术工具末端携带的手术执行器未处于初始位置且手术臂处于直态，则手术工具驱动模组驱动手术工具末端的手术执行器直接从病人身上的手术切口退出至初始位置，然后进入步骤3)；
3)操作者将手术工具从手术工具驱动模组上缷下，完成手术工具与手术机器人的分离。
进一步地，当手术工具从病人身上的手术切口退出，完成手术工具与手术机器人的完全分离时，上位机通过主嵌入式计算机(作为接管故障的某一从嵌入式计算机使用)或正常工作的各从嵌入式计算机控制成像工具驱动模组，进而控制成像工具进行动作，此过程与实施例1基本相同，由于手术机器人系统为不完全运行状态，将手术机器人中成像工具安全撤回至初始位置的具体过程存在不同，具体为：
1)如果成像工具末端携带成像照明模组的手术臂处于展开状态，则成像工具驱动模组驱动手术臂回直，然后进入步骤2)；
2)如果成像工具末端携带的成像照明模组未处于初始位置且手术臂处于直 态，则成像工具驱动模组驱动成像工具末端的成像照明模组直接从病人身上的手术切口退出至初始位置，然后进入步骤3)；
3)操作者将成像工具从成像工具驱动模组上缷下，完成成像工具与手术机器人的分离。
上述各实施例仅用于说明本发明，其中方法的各实施步骤都是可以有所变化的，凡是在本发明技术方案的基础上进行的等同变换和改进，均不应排除在本发明的保护范围之外。

Claims (21)

  1. 一种手术机器人完全运行状态故障检测方法，其特征在于,所述手术机器人完全运行状态故障检测方法包括以下内容：
    1)主控计算机以设定周期通过局域网路由器分别向主嵌入式计算机和若干从嵌入式计算机广播期望位姿信号，并以设定周期接收所述主嵌入式计算机发送的空操作指令信号，且同时以设定周期接收各所述从嵌入式计算机发送的实际位姿信号；如果所述主嵌入式计算机、所述从嵌入式计算机在设定周期内未收到所述主控计算机通过所述局域网路由器发送的期望位姿信号，且所述主嵌入式计算机未通过所述局域网路由器接收到所述主控计算机返回的空操作应答信号，则认为所述主控计算机在完全运行状态下出现故障；
    2)所述主嵌入式计算机以设定周期接收所述主控计算机发送的期望位姿信号，并以设定周期向所述主控计算机发送空操作指令信号并获得所述主控计算机返回的空操作应答信号；且同时通过第一通信总线监听各所述从嵌入式计算机发送的电机位控信号；如果所述主控计算机在设定周期内未通过所述局域网路由器接收到所述主嵌入式计算机发送的空操作指令信号，则认为所述主嵌入式计算机在完全运行状态下出现故障；以及
    3)各所述从嵌入式计算机以设定周期通过所述局域网路由器接收所述主控计算机发送的期望位姿信号且通过所述局域网路由器向所述主控计算机发送实际位姿信号；同时以设定周期经所述第一通信总线向手术工具驱动模组或成像工具驱动模组发送电机位控信号；如果所述主控计算机在设定周期内未收到某一所述从嵌入式计算机通过所述局域网路由器发送的实际位姿信号，且如果在设定周期内所述主嵌入式计算机未通过所述第一通信总线监听到所述从嵌入式计算机发送的电机位控信号，则认为此所述从嵌入式计算机在完全运行状态下出现故障。
  2. 如权利要求1所述的一种手术机器人完全运行状态故障检测方法，其特征在于，当所述主控计算机发生故障时，对手术机器人系统采取报警机制和急停机制，并对所述主控计算机执行恢复机制后，所述主控计算机继续通过所述局域网路由器向所述主嵌入式计算机和各所述从嵌入式计算机发送信号，若对所述主控计算机的所述恢复机制未成功，则以所述主嵌入式计算机执行手动机制，并通过所述局域网路由器控制所述从嵌入式计算机，进而控制手术工具或成像工具进行动作。
  3. 如权利要求1所述的一种手术机器人完全运行状态故障检测方法，其特征 在于，当所述主嵌入式计算机发生故障时，对手术机器人系统采取报警机制和急停机制后，并通过所述主控计算机执行手动机制，进而通过所述从嵌入式计算机控制手术工具或成像工具进行动作。
  4. 如权利要求1所述的一种手术机器人完全运行状态故障检测方法，其特征在于，当某一所述从嵌入式计算机发生故障时，对手术机器人系统采取报警机制和急停机制后，通过所述主控计算机执行手动机制，以所述主嵌入式计算机代替出现故障的某一所述从嵌入式计算机，所述主控计算机通过所述主嵌入式计算机和其它所述从嵌入式计算机控制手术工具或成像工具进行动作。
  5. 如权利要求2所述的一种手术机器人完全运行状态故障检测方法，其特征在于，所述恢复机制是指所述主控计算机发生故障时，所述主嵌入式计算机等待所述主控计算机重启恢复正常，待所述主控计算机恢复正常后，操作者在所述主控计算机的操作界面进行状态询问操作，所述主控计算机通过所述局域网路由器向所述主嵌入式计算机发送状态询问指令，接收到所述主嵌入式计算机发来的状态应答指令后，调整手术机器人系统至发生故障前的状态。
  6. 如权利要求2或3或4所述的一种手术机器人完全运行状态故障检测方法，其特征在于，所述报警机制具体包括：
    1)当所述主控计算机发生故障时，所述主嵌入式计算机通过第二通信总线使得所对应的主控计算机指示灯更新到错误显示状态；
    2)当所述主嵌入式计算机发生故障时，所述主控计算机自动将操作界面切换到手动操作界面，在该界面上提示所述主嵌入式计算机发生故障，同时所述主控计算机将对应的主嵌入式计算机指示灯更新到错误显示状态；
    3)当某一所述从嵌入式计算机发生故障时，所述主控计算机自动将操作界面切换到手动操作界面，在该界面上提示某一所述从嵌入式计算机发生故障，此时所述主嵌入式计算机通过所述第二通信总线使得所对应的从嵌入式计算机指示灯更新到错误显示状态。
  7. 如权利要求2或3或4所述的一种手术机器人完全运行状态故障检测方法，其特征在于，所述急停机制是指所述从嵌入式计算机接收到所述主控计算机或所述主嵌入式计算机的保持命令后通过相应所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具和所述成像工具停止运动，并保持当前位姿；
    或所述急停机制是指代替出现故障的某一所述从嵌入式计算机的所述主嵌入式计算机接收到所述主控计算机的保持命令后通过相应所述手术工具驱动模组或 所述成像工具驱动模组控制所述手术工具和所述成像工具停止运动，并保持当前位姿。
  8. 如权利要求2或3或4所述的一种手术机器人完全运行状态故障检测方法，其特征在于，所述手动机制是指通过手术机器人的关节参数手动调整区直接控制所述主控计算机、所述主嵌入式计算机或所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具的动作，具体过程为：
    当所述主控计算机发生故障时，所述主嵌入式计算机切换到手动操作界面，通过关节参数手动调整区直接控制各所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具和或所述成像工具进行动作；
    当所述主嵌入式计算机发生故障时，所述主控计算机切换到手动操作界面，通过关节参数手动调整区直接控制各所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具进行动作；
    当某一所述从嵌入式计算机发生故障时，所述主控计算机切换到手动操作界面，所述主嵌入式计算机接管故障的某一所述从嵌入式计算机，所述主控计算机通过关节参数手动调整区直接控制所述主嵌入式计算机和其余未出现故障的所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具进行动作。
  9. 如权利要求2或3或4或5所述的一种手术机器人完全运行状态故障检测方法，其特征在于，上位机通过作为接管故障的某一所述从嵌入式计算机使用的所述主嵌入式计算机或正常工作的所述从嵌入式计算机控制所述手术工具驱动模组，进而控制所述手术工具进行动作，其中，上位机包括所述主控计算机或所述主嵌入式计算机；
    以所述主控计算机发生故障，控制所述手术工具进行动作的所述从嵌入式计算机工作正常，所述主嵌入式计算机作为所述主控计算机进行使用为例说明控制所述手术工具进行动作，操作者操作关节参数手动调整区中映射选择区中所要控制的所述手术工具驱动模组的位姿，所述主嵌入式计算机以设定周期读取手术臂关节参数，并将产生的期望位姿发送到所述从嵌入式计算机，所述从嵌入式计算机接收到期望位姿信号并通过所述手术工具驱动模组对所述手术工具末端的手术执行器位姿进行闭环控制，具体顺序为：
    a1)如果所述手术工具末端携带手术执行器的手术臂处于展开状态，则所述手 术工具驱动模组驱动所述手术工具末端的手术执行器保持当前的位置、姿态并恢复至初始状态，进而驱动手术臂回直，然后进入步骤a2)；
    a2)如果所述手术工具末端携带的手术执行器未处于初始位置且手术臂处于直态，则所述手术工具驱动模组驱动所述手术工具末端的手术执行器直接从病人身上的手术切口退出至初始位置，然后进入步骤a3)；
    a3)操作者将所述手术工具从所述手术工具驱动模组上缷下，完成所述手术工具与手术机器人的分离。
  10. 如权利要求9所述的一种手术机器人完全运行状态故障检测方法，其特征在于，当所述手术工具从病人身上的手术切口退出，完成所述手术工具与手术机器人的完全分离时，上位机通过控制作为接管故障的某一所述从嵌入式计算机使用的所述主嵌入式计算机或正常工作的所述从嵌入式计算机控制所述成像工具驱动模组，进而控制所述成像工具进行动作，其中，上位机包括所述主控计算机或所述主嵌入式计算；
    以某一控制所述成像工具进行动作的所述从嵌入式计算机发生故障，所述主嵌入式计算机作为接管发生故障的所述从嵌入式计算机进行使用为例说明控制所述成像工具进行动作，操作者操作关节参数手动调整区的映射选择区中所要控制的所述成像工具驱动模组，所述主控计算机以设定周期读取手术臂关节参数并将产生的期望位姿发送到所述主嵌入式计算机，所述主嵌入式计算机接收到期望位姿信号通过所述成像工具驱动模组对所述成像工具末端的成像照明模组位姿进行闭环控制，具体顺序为：
    b1)如果所述成像工具末端携带成像照明模组的手术臂处于展开状态，则所述成像工具驱动模组驱动所述成像工具末端的成像照明模组保持当前的位置、姿态，进而驱动手术臂回直，然后进入步骤b2)；
    b2)如果所述成像工具末端携带的成像照明模组未处于初始位置且手术臂处于直态，则所述成像工具驱动模组驱动所述成像工具末端的成像照明模组直接从病人身上的手术切口退出至初始位置，然后进入步骤b3)；
    b3)操作者将所述成像工具从所述成像工具驱动模组上缷下，完成所述成像工具与手术机器人的分离。
  11. 一种手术机器人不完全运行状态故障检测方法，其特征在于包括以下内容：
    1)主控计算机以设定周期通过局域网路由器分别向所述主嵌入式计算机和若干所述从嵌入式计算机发送空操作指令信号，并以设定周期接收所述主嵌入式计算 机和各所述从嵌入式计算机返回的空操作应答信号；如果所述主嵌入式计算机和所述从嵌入式计算机在设定周期内均未收到所述主控计算机通过所述局域网路由器发送的空操作指令信号，则认为所述主控计算机在不完全运行状态下出现故障；
    2)所述主嵌入式计算机以设定周期接收所述主控计算机发送的空操作指令信号且向所述主控计算机返回空操作应答信号，并以设定周期通过所述局域网路由器向所述从嵌入式计算机发送空操作指令信号且接收各所述从嵌入式计算机返回的空操作应答信号；如果所述主控计算机在设定周期内未通过所述局域网路由器接收到所述主嵌入式计算机返回的空操作应答信号，且各所述从嵌入式计算机在设定周期内未接收到所述主嵌入式计算机发送的空操作指令信号，则认为所述主嵌入式计算机在不完全运行状态下出现故障；
    3)各所述从嵌入式计算机以设定周期通过所述局域网路由器接收所述主控计算机和所述主嵌入式计算机发送的空操作指令信号，且以设定周期向所述主控计算机和所述主嵌入式计算机返回空操作应答信号；如果所述主控计算机在设定周期内未收到某一所述从嵌入式计算机通过所述局域网路由器返回的空操作应答信号，且如果在设定周期内所述主嵌入式计算机未收到此所述从嵌入式计算机返回的空操作应答信号，则认为此所述从嵌入式计算机在不完全运行状态下出现故障。
  12. 如权利要求11所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，当所述主控计算机在不完全运行状态下发生故障时，对手术机器人系统采取报警机制，并对所述主控计算机执行恢复机制后，所述主控计算机继续通过所述局域网路由器向所述主嵌入式计算机和各所述从嵌入式计算机发送信号，若对所述主控计算机的所述恢复机制未成功，则以所述主嵌入式计算机执行手动机制，并通过所述局域网路由器控制所述从嵌入式计算机，进而控制手术工具/成像工具进行动作。
  13. 如权利要求11所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，当所述主嵌入式计算机在不完全运行状态下发生故障时，对手术机器人系统采取报警机制，并通过所述主控计算机执行手动机制，进而通过所述从嵌入式计算机控制手术工具/成像工具进行动作。
  14. 如权利要求11所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，当某一所述从嵌入式计算机在不完全运行状态下发生故障时，对手术机器人系统采取报警机制后，通过所述主控计算机执行手动机制，以所述主嵌入式计算机代替出现故障的某一所述从嵌入式计算机，所述主控计算机通过所述主嵌入式 计算机和其它所述从嵌入式计算机控制手术工具/成像工具进行动作。
  15. 如权利要求12所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，所述恢复机制是指所述主控计算机发生故障时，所述主嵌入式计算机等待所述主控计算机重启恢复正常，待所述主控计算机恢复正常后，操作者在所述主控计算机的操作界面进行状态询问操作，所述主控计算机通过所述局域网路由器向所述主嵌入式计算机发送状态询问指令，接收到所述主嵌入式计算机发来的状态应答指令后，调整手术机器人系统至发生故障前的状态。
  16. 如权利要求12或13或14所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，所述报警机制具体包括：
    当所述主控计算机发生故障时，所述主嵌入式计算机通过通信总线使得所对应的主控计算机指示灯更新到错误显示状态；
    当所述主嵌入式计算机发生故障时，所述主控计算机自动将操作界面切换到手动操作界面，在该界面上提示所述主嵌入式计算机发生故障，同时所述主控计算机将对应的主嵌入式计算机指示灯更新到错误显示状态；
    当某一所述从嵌入式计算机发生故障时，所述主控计算机自动将操作界面切换到手动操作界面，在该界面上提示某一所述从嵌入式计算机发生故障，此时所述主嵌入式计算机通过所述通信总线使得所对应的从嵌入式计算机指示灯更新到错误显示状态。
  17. 如权利要求12或13或14所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，所述手动机制是指通过手术机器人的关节参数手动调整区直接控制所述主控计算机、所述主嵌入式计算机或所述从嵌入式计算机，进而通过手术工具驱动模组或成像工具驱动模组控制所述手术工具或所述成像工具的动作，具体过程为：
    当所述主控计算机发生故障时，所述主嵌入式计算机切换到手动操作界面，通过关节参数手动调整区直接控制各所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具和或所述成像工具进行动作；
    当所述主嵌入式计算机发生故障时，所述主控计算机切换到手动操作界面，通过关节参数手动调整区直接控制各所述从嵌入式计算机，进而通过所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具进行动作；
    当某一所述从嵌入式计算机发生故障时，所述主控计算机切换到手动操作界面，所述主嵌入式计算机接管故障的某一所述从嵌入式计算机，所述主控计算机通 过关节参数手动调整区直接控制所述主嵌入式计算机和其余未出现故障的所述从嵌入式计算机，进而通过手术工具驱动模组所述手术工具驱动模组或所述成像工具驱动模组控制所述手术工具或所述成像工具进行动作。
  18. 权利要求12或13或14所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，上位机通过作为接管故障的某一所述从嵌入式计算机使用的所述主嵌入式计算机或正常工作的所述从嵌入式计算机控制手术工具驱动模组，进而控制所述手术工具进行动作，其中，上位机为所述主控计算机或所述主嵌入式计算机；
    以所述主控计算机发生故障，控制所述手术工具进行动作的所述从嵌入式计算机工作正常，所述主嵌入式计算机作为所述主控计算机进行使用为例说明控制所述手术工具进行动作，操作者操作关节参数手动调整区的映射选择区中所要控制的所述手术工具驱动模组的位姿，所述主嵌入式计算机以设定周期读取手术臂关节参数，并将产生的期望位姿发送到所述从嵌入式计算机，所述从嵌入式计算机接收到期望位姿信号并通过所述手术工具驱动模组对所述手术工具末端的手术执行器位姿进行控制，具体顺序为：
    a1)如果所述手术工具末端携带手术执行器的手术臂处于展开状态，则所述手术工具驱动模组驱动手术臂回直，然后进入步骤a2)；
    a2)如果所述手术工具末端携带的手术执行器未处于初始位置且手术臂处于直态，则所述手术工具驱动模组驱动所述手术工具末端的手术执行器直接从病人身上的手术切口退出至初始位置，然后进入步骤a3)；
    a3)操作者将所述手术工具从所述手术工具驱动模组上缷下，完成所述手术工具与手术机器人的分离。
  19. 如权利要求18所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，当所述手术工具从病人身上的手术切口退出，完成所述手术工具与手术机器人的完全分离时，上位机通过作为接管故障的某一所述从嵌入式计算机使用的所述主嵌入式计算机或正常工作的所述从嵌入式计算机控制成像工具驱动模组，进而控制所述成像工具进行动作，其中，上位机为所述主控计算机或所述主嵌入式计算机；
    以某一控制所述成像工具进行动作的所述从嵌入式计算机发生故障，所述主嵌入式计算机作为接管发生故障的所述从嵌入式计算机进行使用为例说明控制所述成像工具进行动作，操作者操作关节参数手动调整区的映射选择区中所要控制的所 述成像工具驱动模组，所述主控计算机以设定周期读取手术臂关节参数并将产生的期望位姿发送到所述主嵌入式计算机，所述主嵌入式计算机接收到期望位姿信号通过所述成像工具驱动模组对所述成像工具末端的成像照明模组位姿进行控制，具体顺序为：
    b1)如果所述成像工具末端携带成像照明模组的手术臂处于展开状态，则所述成像工具驱动模组驱动手术臂回直，然后进入步骤b2)；
    b2)如果所述成像工具末端携带的成像照明模组未处于初始位置且手术臂处于直态，则所述成像工具驱动模组驱动所述成像工具末端的成像照明模组直接从病人身上的手术切口退出至初始位置，然后进入步骤b3)；
    b3)操作者将所述成像工具从所述成像工具驱动模组上缷下，完成所述成像工具与手术机器人的分离。
  20. 权利要求16所述的一种手术机器人不完全运行状态故障检测方法，其特征在于，所述通信总线采用两线式串行总线。
  21. 一种手术机器人运行状态故障检测方法，其中所述手术机器人的运行状态包括完全运行状态和不完全运行状态，其特征在于：所述手术机器人运行状态故障检测方法采用如权利要求1-10任一所述的一种手术机器人完全运行状态故障检测方法，以及如权利要求11-20任一所述的一种手术机器人不完全运行状态故障检测方法。
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