WO2020135665A1 - 操作使能控制系统及具有该系统的机器人辅助手术设备 - Google Patents

操作使能控制系统及具有该系统的机器人辅助手术设备 Download PDF

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WO2020135665A1
WO2020135665A1 PCT/CN2019/128986 CN2019128986W WO2020135665A1 WO 2020135665 A1 WO2020135665 A1 WO 2020135665A1 CN 2019128986 W CN2019128986 W CN 2019128986W WO 2020135665 A1 WO2020135665 A1 WO 2020135665A1
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Prior art keywords
circuit
surgical
logical
console
robot
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PCT/CN2019/128986
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English (en)
French (fr)
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徐凯
唐奥林
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北京术锐技术有限公司
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Priority to CA3118932A priority Critical patent/CA3118932C/en
Priority to KR1020217023753A priority patent/KR102541237B1/ko
Priority to EP19902519.8A priority patent/EP3903716A4/en
Priority to JP2021533727A priority patent/JP7202767B2/ja
Priority to US17/417,824 priority patent/US20220054207A1/en
Publication of WO2020135665A1 publication Critical patent/WO2020135665A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K19/00—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits
    • H03K19/20—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits characterised by logic function, e.g. AND, OR, NOR, NOT circuits
    • 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
    • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
    • 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
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • 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
    • A61B2017/00212—Electrical control of surgical instruments using remote controls
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Definitions

  • the present invention relates to an operation enable control system and a robot-assisted surgical equipment having the system, and relates to the technical field of medical instruments.
  • the most widely used Da Vinci surgical robot in the world uses a detection sensor installed on the 3D eyepiece bracket to detect whether the doctor is operating the device. If the doctor's head leaves the 3D eyepiece bracket (the sensor cannot detect it), the system (via software) prohibits the doctor from controlling the remote automated surgical equipment. Similar devices in China have adopted similar designs to prevent accidents.
  • the doctor console of the laparoscopic surgery robot system designed by Suzhou Kondo Robot Co., Ltd. uses a kinect sensor, a photoelectric sensor, and a capacitive sensor installed on the operating handle. Ensure the safety of the device in use.
  • the kinect sensor is used to monitor whether the operator's face is shifted in real time, whether the operator's line of sight is away from the display, the photoelectric sensor to detect whether the operator's foot is away from the foot pedal device, and the capacitive sensor on the operating handle to monitor Whether the operator's hand leaves the gripper, a triple mechanism prevents misoperation.
  • Existing robot-assisted surgery systems use sensors to detect whether the user has an operation intention, thereby preventing unintentional misoperation. However, this method cannot prevent other single failures (such as software failure) caused by malfunctions. The operator can only shoot the emergency stop switch to try to prevent the unexpected movement of the automated surgical equipment, but this step requires more response time, and during this time, the hazard may have occurred.
  • traditional robot-assisted surgical equipment usually includes two parts, a console and an automated surgical equipment (the two can also be installed together to become one device).
  • the surgeon controls various automated surgical equipment to complete the corresponding work through the operator on the console.
  • the multi-sensor combination on the console is used to detect whether the operator is ready for remote operation (usually two or more sensors are used to meet the single failure detection requirements in the medical device standard, that is, when a component fails It can be detected, and the failure cannot lead to a risk of harm to the user or the patient).
  • the control system sends the corresponding software control command to the automated drive system to make it into the electric drive motion enable state, thus responding to the corresponding input by the operator on the console at any time Manipulator instructions. It can be seen from this that in the workflow, the master-slave teleoperation control system is at a very critical core position. Once it fails, the entire automated surgical equipment is at risk of losing control.
  • the object of the present invention is to provide an operation enabling control system and a robot-assisted surgical equipment with the operating system, and two independent control loops through software control and hardware signals to activate the motion-enabled state of the corresponding automation equipment .
  • the present invention adopts the following technical solutions:
  • the present invention provides an operation enable control system, which includes a control device, a switching element, and a logical AND circuit;
  • the control device includes an input terminal and an output terminal.
  • the input terminal of the control device is used to connect to a robot-assisted surgery system to obtain operation instructions;
  • One end of the switch element is used to connect an external power supply system, and the other end of the switch element is used to connect an automated drive system of a robot-assisted surgery system;
  • the logical "AND” circuit includes a first input terminal and a second input terminal.
  • the first input terminal of the logical “AND” circuit is used to obtain the sensor state of the robot-assisted surgical system.
  • the two input terminals are connected to the output terminal of the control device, the output terminal of the logical “AND” circuit is connected to the control terminal of the switching element, and the logical "AND” circuit connects the first input terminal and the second input terminal.
  • the received signal performs a logical AND operation, and the output of the operation result controls the switching element on and off.
  • a feedback circuit for detecting whether a power supply voltage exists in the switching element is also provided between the switching element and the control device.
  • the feedback circuit uses a level detection circuit.
  • the present invention also provides a robot-assisted surgical device including a console and an automated surgical device; the console includes a multi-sensor combination, and the multi-sensor combination is used to detect whether an operator is ready for operation
  • the automated surgical equipment includes a surgical equipment power supply unit, a surgical control unit, an operation enable control system and an automated drive system.
  • the operation enable control system includes a control device, a switching element and a logical AND circuit, the surgical power supply
  • the operation enable control system is provided between the unit and the automated drive system; the input end of the control device is connected to the surgical control unit, one end of the switching element is connected to the surgical equipment power supply unit, and the switching element The other end of the is used to connect the automated drive system, the first input of the logical "AND” circuit is used to obtain multi-sensor status, and the second input of the logical "AND” circuit is connected to the output of the control device Terminal, the output terminal of the logical AND circuit is connected to the control terminal of the switching element.
  • the first input of the logical AND circuit is connected to each sensor in the multi-sensor combination.
  • the console further includes another logic "AND” circuit, an input terminal of the other logic “AND” circuit is connected to each sensor in the multi-sensor combination, and the other logic "AND” circuit The output of is connected to the first input of the logical AND circuit.
  • a feedback circuit for detecting whether a power supply voltage exists in the switching element is also provided between the switching element and the control device.
  • the console also includes a power supply unit for the console, a switch, a button, an operator, a console control unit, a display, a microphone, and a speaker;
  • the automated surgical device also includes a switch, a button, a display, a microphone, a speaker, and corresponding Surgical tools;
  • the console power supply unit is connected to an external power supply network, the input end of the console control unit is connected to each sensor, switch, button, operator and microphone in the multi-sensor combination, the console control unit The output end of the is connected to the corresponding display and speaker to assist the operator to interact with the console;
  • the surgical control unit and the console control unit, control device and automated drive system are all bidirectionally connected to achieve interactive communication, wherein, the The surgical control unit controls the corresponding electric drive movement through the automated drive system to drive the surgical tool at the end.
  • the input terminal of the surgical control unit is connected to the corresponding switch, button and microphone, and the output terminal of the surgical control unit is connected to the corresponding A display and a speaker assist the operator
  • the operation enable control system of the present invention is used to take over the management of the drive power supply of automated surgical equipment.
  • the drive power supply is changed from the original direct power supply to the controlled power supply, so that the system has not entered the enabled state (ie, the operator has not yet begun to start Control), to ensure that the drive power supply of the entire automated drive system is completely disconnected, and to ensure the reliability of the drive power supply disconnection through feedback detection;
  • the present invention adopts the robot-assisted surgery equipment of the operation enable control system to cut off the power supply of the automated surgical equipment more reliably and quickly, so that the unexpected malfunction can be stopped faster. , To further improve the reliability of system operation, reduce the probability of system failures that may lead to unexpected actions, and reduce the risk of injury caused by accidental operation of automated surgical equipment;
  • the present invention can be widely used in robot-assisted surgery systems.
  • Figure 1 is a schematic diagram of the workflow of a traditional robot-assisted surgery system
  • FIG. 2 is a schematic diagram of a workflow of a robot-assisted surgery system using an operation enable control system according to the present invention
  • FIG. 3 is a schematic structural view of a robot-assisted surgery system using an operation enable control system according to the present invention
  • FIG. 4 is another implementation manner of the robot-assisted surgery system adopting the operation enable control system of the present invention.
  • this embodiment provides an operation enable control system for managing the drive power supply of an automated surgical device.
  • the operation enable control system of this embodiment can change the drive power supply from the original direct power supply to For controlled power supply
  • the operation enable control system provided in this embodiment includes a logical AND circuit, a control device, and a switching element.
  • the logical "AND” circuit includes a first input terminal and a second input terminal, and the first input terminal of the logical "AND” circuit can be connected to all sensors in the multi-sensor combination on the console of the robot-assisted surgery system through an electrical connector, Used to collect the operating status of all sensors in a multi-sensor combination.
  • the control device includes an input terminal and an output terminal. The input terminal of the control device is connected to the master-slave remote operation control system of the robot-assisted surgery system, receives command information from the master-slave remote operation control system, and the second input terminal of the logical "AND” circuit is connected The output end of the control device is used to receive the control signal sent by the control device. The output terminal of the logical "AND” circuit is connected to the control terminal of the switching element.
  • the logical "AND” circuit performs a logical "AND” operation on the signals received by the first input terminal and the second input terminal, and the result of the operation is output to control the switching element.
  • One end of the switching element (the front-end connection shown in FIG. 2) is connected to the external power supply system, and the other end of the switching element (the back-end connection shown in FIG. 2) is connected to the power supply module of the automated drive system.
  • the switching element is connected to In the drive power supply circuit of the automated surgical equipment, it plays the role of turning on and off the drive power supply.
  • a feedback circuit may also be provided between the switching element and the control device to detect whether there is a power supply voltage at the rear end of the switching element, wherein the feedback circuit is a level detection circuit, for example, it may be through an optocoupler or a voltage comparator The detection feedback is performed in the prior art, so it will not be repeated here.
  • the operation enable control system of this embodiment is provided with a control device that is independent of the master-slave remote operation control system.
  • the control device can detect the state of the drive power supply through the feedback signal, thereby ensuring the reliability of the operation of the switching element:
  • the control device sends a signal to notify the master-slave remote operating system that the operation enable control system is faulty, and the automatic drive system Power has been received, there is a potential risk, and it can no longer continue to work; in the same way, when the master-slave remote operating system informs the control device that it should provide drive power, but the control device detects that the drive power is not supplied, it can also issue a corresponding warning.
  • the control device can be used to quickly disconnect the drive power supply to
  • the present invention also provides a robot-assisted surgery device having the operation enable control system of Embodiment 1, including a console and an automated surgery device.
  • the console includes a power supply unit for the console, multi-sensor combinations, switches, buttons, operators, console control unit, display, microphone, and speakers.
  • Automated surgical equipment includes surgical equipment power supply unit, surgical control unit, switches, buttons, display, microphone, speaker, other surgical equipment (such as high-frequency electric knife, etc.), operation enable control system, automated drive system and corresponding surgical tools.
  • the power supply unit of the operation console is connected to an external power supply, and converts the alternating current into the working voltage required by each device of the console, which is used to supply power to each power-consuming device of the console.
  • the multi-sensor combination is used to detect whether the operator is ready for operation (such as detecting whether the human hand or foot is at a specified position, whether the human eye is facing the screen, etc., which can be set according to the actual situation, and will not be repeated here).
  • the input end of the console control unit is connected to each sensor, switch, button, operator, and microphone in the multi-sensor combination, and the output end of the console control unit is connected to the display and the speaker, and the operator interacts with the operation console through the above-mentioned devices.
  • the surgical control unit and the console control unit, the control device of the operation enable control system, the automatic drive system and other surgical equipment are all bidirectionally connected to realize interactive communication.
  • the surgical control unit controls the corresponding electric drive movement through the automatic drive system to drive the terminal Surgical tool movement.
  • the input terminal of the surgical control unit is respectively connected with a switch, a button and a microphone, and the output terminal of the surgical control unit is connected with a display and a speaker to assist the operator to interact with the automated driving system through the above device.
  • the surgical power supply unit is connected to an external power supply network to convert AC power to the operating voltage required by each part of the automated surgical equipment to supply power to the electrical components of the automated surgical equipment, and an operation enable control system is provided between the surgical power supply unit and the automated drive system
  • the first input of the logical AND circuit of the operation enable control system is connected in parallel with the multi-sensor combination.
  • the operation enable control system can change the surgical power supply unit from the original direct power supply to the controlled power supply.
  • the surgical control unit controls the switching element by operating a control device that enables the control system.
  • the surgical control unit detects that all sensors are triggered, thereby notifying the automated drive system to enter the movement through the software control loop. Yes, ready to start electric drive operation.
  • the surgical control unit informs the control device of the operation enable control system to output an effective control signal to the logical AND circuit.
  • the control signal and the hardware output signals of all sensors in the multi-sensor combination will be collected by the operation enable control system, and a pure hardware logical AND operation is performed.
  • the output signal of the logical AND operation is directly used to control the operation enable
  • the switching components in the control system are turned on and off.
  • the drive power of the automatic drive system will be supplied, which can ensure that the operator will not take any unexpected actions when the operator is not ready to operate.
  • the power supply of the automatic drive system will be immediately disconnected, thereby moving all the electric drives. Stop quickly.
  • the automatic surgical equipment is quickly stopped by disconnecting any sensor, which is obviously faster than taking the emergency stop switch, which can reduce or even prevent harm.
  • this embodiment also provides a robot-assisted surgical device having the above operation enable control system, including a console and an automated surgical device.
  • the structure of the console and the automatic surgical equipment is basically the same as that of Embodiment 2, except that the operating platform of this embodiment may also include a logical "AND" circuit, and the input terminals of the logical "AND” circuit on the operating platform are connected in parallel.
  • the combination of sensors, the output of which is connected to the logical "AND" circuit of the operation enable control system in the automated surgical equipment.
  • the logical "AND" circuit of the console first performs a logical AND operation on the hardware output signal of the multi-sensor combination, and the operation result will be transmitted
  • the logical "AND" circuit and operation of the automated surgical equipment enable the output signal of the control device in the control system to perform a logical AND operation, and the result of the operation will be used to control the switching element.
  • the advantage of this implementation is that it simplifies the connection cable between the operating table and the automated surgical equipment. The signals of all sensors no longer need to be connected to the automated surgical equipment, but only the output signal of the logical "AND” is transmitted to the automated surgical equipment It is sufficient to operate the logic AND circuit of the control system.

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Abstract

一种操作使能控制系统及具有操作使能控制系统的机器人辅助手术设备，操作使能控制系统包括控制装置、开关元件和逻辑"与"电路；控制装置包括输入端和输出端，控制装置的输入端用于连接机器人辅助手术系统；开关元件的一端用于连接外部供电系统，开关元件的另一端用于连接机器人辅助手术系统自动化驱动系统；逻辑"与"电路包括第一输入端和第二输入端，逻辑"与"电路的第一输入端用于获取机器人辅助手术系统的传感器状态，逻辑"与"电路的第二输入端连接控制装置的输出端，逻辑"与"电路的输出端连接开关元件的控制端，逻辑"与"电路将第一输入端和第二输入端接收的信号进行逻辑"与"运算，运算的结果输出控制开关元件的导通和断开。

Description

操作使能控制系统及具有该系统的机器人辅助手术设备 技术领域
本发明是关于一种操作使能控制系统及具有该系统的机器人辅助手术设备，涉及医疗器械技术领域。
背景技术
随着自动化技术的不断发展，越来越多的手术已经不再需要医生站到手术台旁去执行，而是主刀医生坐在一个控制台上，通过远程操作的方式，控制手术台旁的自动化设备来完成相应的工作。这种远程遥操作手术的方式不仅可以降低医生的工作强度和压力，同时通过先进技术(例如机器人技术，人工智能技术)的辅助，大大提高了其工作能力及工作效率。但是这种先进的手术方式给医生们带来福祉的同时，也给他们带来了风险。一个显著的风险就是可能由于操作者的疏忽大意或者软件的故障而导致远端的自动化手术设备发生不期望的动作，对病人或手术辅助人员造成伤害。
目前世界上应用最广的达芬奇手术机器人采用在3D目镜托架上安装检测传感器，来检测医生是否在操作设备。如果医生头部离开3D目镜托架(传感器无法检测到)，则系统会(通过软件来)禁止医生控制远端的自动化手术设备。国内同类设备也采用类似的设计来防止意外，比如苏州康多机器人有限公司设计的腹腔镜手术机器人系统的医生控制台就采用了kinect传感器、对射光电传感器以及操作手柄上安装的电容式传感器来确保设备在使用中的安全性。kinect传感器用于实时监测操作者的脸部是否有偏移，监测操作者的视线范围是否离开显示器，对射光电传感器检测操作者脚部是否离开脚踏板装置，操作手柄上的电容式传感器监测操作者的手是否离开夹持器，三重机制来防止误操作的发生。现有机器人辅助手术系统中均采用传感器来检测用户是否有操作意图，从而防止无意识的误操作发生。但是此方法却无法防止其他的单次故障(比如软件失效)而导致的误动作。操作者只能去拍下急停开关来尝试阻止自动化手术设备的非预期运动，但是这个步骤需要更多的响应时间，而在这段时间内，危害可能已经产生。
如图1所示，传统机器人辅助手术设备通常包含控制台和自动化手术设备两个部分(两者也可安装在一起，成为一个设备)。主刀医生通过控制台上的操作器来控制各种 自动化手术设备完成相应的工作。控制台上的多传感器组合用于检测操作者是否已准备好遥控操作(通常采用两个或者更多的传感器，以满足医疗器械标准中对于单次失效检测的要求，即某一个部件发生失效时可以被检测到，且该失效不能导致对用户或者病人的危害风险)。当所有的传感器均检测到操作者已就位时，则控制系统向自动化驱动系统发送相应的软件控制命令，使其进入电驱运动使能状态，从而随时响应控制台上由操作者输入的相应操作器指令。由此可以看出，在工作流程中，主从遥操作控制系统处于一个非常关键的核心位置，一旦其发生故障，则整个自动化手术设备均存在失控的风险。
发明内容
针对上述问题，本发明的目的是提供一种操作使能控制系统及具有该操作系统的机器人辅助手术设备，通过软件控制和硬件信号两条独立的控制回路激活相应的自动化设备的运动使能状态。
为实现上述目的，本发明采取以下技术方案：
第一方面，本发明提供一种操作使能控制系统，该系统包括控制装置、开关元件和逻辑“与”电路；
所述控制装置包括输入端和输出端，所述控制装置的输入端用于连接机器人辅助手术系统，获取操作指令；
所述开关元件的一端用于连接外部供电系统，所述开关元件的另一端用于连接机器人辅助手术系统自动化驱动系统；
所述逻辑“与”电路包括第一输入端和第二输入端，所述逻辑“与”电路的第一输入端用于获取机器人辅助手术系统的传感器状态，所述逻辑“与”电路的第二输入端连接所述控制装置的输出端，所述逻辑“与”电路的输出端连接所述开关元件的控制端，所述逻辑“与”电路将所述第一输入端和第二输入端接收的信号进行逻辑“与”运算，运算的结果输出控制所述开关元件的导通和断开。
进一步地，所述开关元件与所述控制装置之间还设置有用于检测所述开关元件是否存在供电电压的反馈电路。
进一步地，所述反馈电路采用电平检测电路。
第二方面，本发明还提供一种机器人辅助手术设备，该手术设备包括控制台和自动 化手术设备；所述控制台包括多传感器组合，所述多传感器组合用于检测操作者是否做好操作准备；所述自动化手术设备包括手术设备供电单元、手术控制单元、操作使能控制系统和自动化驱动系统，所述操作使能控制系统包括控制装置、开关元件和逻辑“与”电路，所述手术供电单元与所述自动化驱动系统之间设置所述操作使能控制系统；所述控制装置的输入端连接所述手术控制单元，所述开关元件的一端连接所述手术设备供电单元，所述开关元件的另一端用于连接所述自动化驱动系统，所述逻辑“与”电路的第一输入端用于获取多传感器状态，所述逻辑“与”电路的第二输入端连接所述控制装置的输出端，所述逻辑“与”电路的输出端连接所述开关元件的控制端。
进一步地，所述逻辑“与”电路的第一输入端连接所述多传感器组合中的每一传感器。
进一步地，所述控制台还包括另一逻辑“与”电路，所述另一逻辑“与”电路的输入端连接所述多传感器组合中的每一传感器，所述另一逻辑“与”电路的输出端连接所述逻辑“与”电路的第一输入端。
进一步地，所述开关元件与所述控制装置之间还设置有用于检测所述开关元件是否存在供电电压的反馈电路。
进一步地，所述控制台还包括操作台供电单元、开关、按钮、操作器、控制台控制单元、显示器、麦克风、扬声器；所述自动化手术设备还包括开关、按钮、显示器、麦克风、扬声器和相应手术工具；所述操作台供电单元连接外部供电网，所述控制台控制单元的输入端分别连接所述多传感器组合中的各个传感器、开关、按钮、操作器和麦克风，所述控制台控制单元的输出端连接相应显示器和扬声器，辅助操作者与所述操作台进行交互；所述手术控制单元与所述控制台控制单元、控制装置和自动化驱动系统均双向连接实现交互通信，其中，所述手术控制单元通过所述自动化驱动系统控制相应电驱运动，从而带动末端的手术工具运动，所述手术控制单元的输入端分别连接相应开关、按钮和麦克风，所述手术控制单元的输出端连接相应显示器和扬声器，辅助操作者与所述自动化驱动系统进行交互。
本发明由于采取以上技术方案，其具有以下优点：
1、本发明的操作使能控制系统用于接管自动化手术设备的驱动供电管理，驱动供电由原来的直接供电改成受控供电，这样在系统尚未进入使能状态时(即操作者尚未准备开始控制时)，可确保整个自动化驱动系统的驱动供电是完全断开的，并可通过反馈检 测来保证驱动供电断开的可靠性；
2、相比于传统机器人辅助手术系统，本发明采用操作使能控制系统的机器人辅助手术设备能够更加可靠快速地切断自动化手术设备的动力供电，从而可使非预期的误动作较快地停下来，进一步提高系统运行的可靠性，降低系统故障可能导致意外动作的概率，降低自动化手术设备误动作伤人的风险；
综上，本发明可以广泛应用于机器人辅助手术系统中。
附图说明
图1为传统机器人辅助手术系统的工作流程示意图；
图2为本发明采用操作使能控制系统的机器人辅助手术系统工作流程示意图；
图3为本发明采用操作使能控制系统的机器人辅助手术系统结构示意图；
图4为本发明采用操作使能控制系统的机器人辅助手术系统的另一种实现方式。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1：
如图2所示，本实施例提供一种用于对自动化手术设备的驱动供电进行管理的操作使能控制系统，本实施例的操作使能控制系统可以将驱动供电由原来的直接供电改成受控供电，本实施例提供的操作使能控制系统包括逻辑“与”电路、控制装置和开关元件。
逻辑“与”电路包括第一输入端和第二输入端，逻辑“与”电路的第一输入端可以通过电气连接器与机器人辅助手术系统的控制台上的多传感器组合中的所有传感器连接，用于采集多传感器组合中所有传感器的操作状态。控制装置包括输入端和输出端， 控制装置的输入端连接机器人辅助手术系统的主从遥操作控制系统，接收来自主从遥操作控制系统的指令信息，逻辑“与”电路的第二输入端连接控制装置的输出端，用于接收控制装置发送的控制信号。逻辑“与”电路的输出端连接开关元件的控制端，逻辑“与”电路将第一输入端和第二输入端所接收的信号进行逻辑“与”运算，运算的结果输出控制开关元件的导通和断开。开关元件的一端(如图2所示的前端连接端)连接外部供电系统，开关元件的另一端(如图2所示的后端连接端)连接自动化驱动系统的动力供电模块，开关元件连接到自动化手术设备的驱动供电回路中，从而起到通断驱动供电的作用。
优选地，开关元件与控制装置之间还可以设置有反馈电路，用以检测开关元件后端连接端是否存在供电电压，其中，反馈电路为电平检测电路，例如可以通过光耦或者电压比较器进行检测反馈，此为现有技术，故不再赘述。
综上，本实施例的操作使能控制系统设置有独立于主从遥操作控制系统的控制装置，该控制装置一方面可以通过反馈信号检测驱动供电的状态，从而确保开关元件动作的可靠性：当主从遥操作控制系统通知该控制装置当前应该断开驱动供电，而控制装置却检测到驱动供电仍然存在，则控制装置发送信号通知主从遥操作系统操作使能控制系统存在故障，自动化驱动系统已受电，存在潜在风险，不能再继续工作；同理当主从遥操作系统通知该控制装置当前应该提供驱动供电，而控制装置却检测到驱动供电没有供应，则也可以发出相应警示，此外当机器人辅助手术系统其它的系统检测到系统出现故障时，且该故障会导致伤人风险，则可通过该控制装置快速强行断开驱动供电，以保障人员安全。
实施例2：
如图3所示，本发明还提供具有实施例1的操作使能控制系统的机器人辅助手术设备，包括控制台和自动化手术设备。控制台包括操作台供电单元、多传感器组合、开关、按钮、操作器、控制台控制单元、显示器、麦克风、扬声器。
自动化手术设备包括手术设备供电单元、手术控制单元、开关、按钮、显示器、麦克风、扬声器、其他手术设备(比如高频电刀等)、操作使能控制系统、自动化驱动系统和相应手术工具。
操作台供电单元连接外部供电电源，将交流电转换成控制台各器件所需的工作电压，用于为控制台的各用电器件进行供电。多传感器组合用于检测操作者是否以及准备好操 作(比如检测人手或者脚是否在规定位置，人眼是否朝向屏幕等，可以根据实际进行设置，在此不做赘述)。控制台控制单元的输入端分别连接多传感器组合中的各个传感器、开关、按钮、操作器和麦克风，控制台控制单元的输出端连接显示器和扬声器，操作者通过上述器件与操作台进行交互。
手术控制单元与控制台控制单元、操作使能控制系统的控制装置、自动化驱动系统和其它手术设备均双向连接实现交互通信，其中，手术控制单元通过自动化驱动系统控制相应电驱运动，从而带动末端的手术工具运动。手术控制单元的输入端分别连接开关、按钮和麦克风，手术控制单元的输出端连接显示器和扬声器，辅助操作者通过上述器件与自动化驱动系统进行交互。
手术供电单元连接外部供电网，将交流电转换成自动化手术设备各部分所需的工作电压为自动化手术设备的各用电器件进行供电，且手术供电单元与自动化驱动系统之间设置操作使能控制系统，操作使能控制系统的逻辑“与”电路的第一输入端并联连接多传感器组合，操作使能控制系统可以将手术供电单元由原来的直接供电改成受控供电。手术控制单元通过操作使能控制系统的控制装置从而控制开关元件。
综上，当操作者准备好操作时(即操作者触发多传感器组合中的所有检测传感器)一方面，手术控制单元检测到所有传感器均被触发，从而通过软件控制回路通知自动化驱动系统进入运动使能，准备开始电驱动作。与此同时，手术控制单元通知操作使能控制系统的控制装置，向逻辑“与”电路输出有效控制信号。该控制信号以及多传感器组合中所有传感器的硬件输出信号将被操作使能控制系统采集，并做纯硬件的逻辑“与”操作，逻辑“与”操作的输出信号直接被用于控制操作使能控制系统中的开关元器件的导通和断开。只有当所有传感器均被触发时，自动化驱动系统的驱动供电才会被供应，从而可确保操作者在没有准备操作时，自动化手术设备不会发生任何非预期的动作。而在操作过程中，只要有任何一个传感器没有被触发(如操作者放弃触发多传感器组合中的某一个检测传感器)，则自动化驱动系统的供电会被立即断开，从而使所有的电驱运动快速地停下来。当操作者发现危险状况时，通过断开任一传感器来快速停止自动化手术设备，显然比拍下急停开关要更加迅速，从而可降低甚至防止危害。
实施例3：
如图4所示，本实施例还提供具有上述操作使能控制系统的机器人辅助手术设备，包括控制台和自动化手术设备。控制台和自动化手术设备的结构与实施例2基本相同，不同之处在于本实施例的操作台还可以包括一逻辑“与”电路，操作台上的逻辑“与” 电路的输入端并联连接多传感器组合，其输出端与自动化手术设备中操作使能控制系统的逻辑“与”电路连接，控制台的逻辑“与”电路先将多传感器组合的硬件输出信号进行逻辑与运算，运算结果将传输至自动化手术设备的逻辑“与”电路与操作使能控制系统中控制装置的输出信号再进行逻辑与运算，其运算结果将用于控制开关元件。这样实施的好处在于简化操作台与自动化手术设备之间的连接线缆，所有传感器的信号不用再连接到自动化手术设备，而只需将其逻辑“与”后的输出信号传输至自动化手术设备中操作使能控制系统的逻辑“与”电路即可。
根据上述说明书的揭示和教导，本发明所属领域的技术人员还可以对上述实施方式进行适当的变更和修改。因此，本发明并不局限于上面揭示和描述的具体实施方式，对本发明的一些修改和变更也应当落入本发明的权利要求的保护范围内。此外，尽管本说明书中使用了一些特定的术语，但这些术语只是为了方便说明，并不对本发明构成任何限制。

Claims (8)

  1. 一种操作使能控制系统，其特征在于，该系统包括控制装置、开关元件和逻辑“与”电路；
    所述控制装置包括输入端和输出端，所述控制装置的输入端用于连接机器人辅助手术系统，获取操作指令；
    所述开关元件的一端用于连接外部供电系统，所述开关元件的另一端用于连接机器人辅助手术系统自动化驱动系统；
    所述逻辑“与”电路包括第一输入端和第二输入端，所述逻辑“与”电路的第一输入端用于获取机器人辅助手术系统的传感器状态，所述逻辑“与”电路的第二输入端连接所述控制装置的输出端，所述逻辑“与”电路的输出端连接所述开关元件的控制端，所述逻辑“与”电路将所述第一输入端和第二输入端接收的信号进行逻辑“与”运算，运算的结果输出控制所述开关元件的导通和断开。
  2. 根据权利要求1所述的操作使能控制系统，其特征在于，所述开关元件与所述控制装置之间还设置有用于检测所述开关元件是否存在供电电压的反馈电路。
  3. 根据权利要求2所述的操作使能控制系统，其特征在于，所述反馈电路采用电平检测电路。
  4. 一种机器人辅助手术设备，其特征在于，该手术设备包括控制台和自动化手术设备；
    所述控制台包括多传感器组合，所述多传感器组合用于检测操作者是否做好操作准备；
    所述自动化手术设备包括手术设备供电单元、手术控制单元、操作使能控制系统和自动化驱动系统，所述操作使能控制系统包括控制装置、开关元件和逻辑“与”电路，所述手术供电单元与所述自动化驱动系统之间设置所述操作使能控制系统；
    所述控制装置的输入端连接所述手术控制单元，所述开关元件的一端连接所述手术设备供电单元，所述开关元件的另一端用于连接所述自动化驱动系统，所述逻辑“与”电路的第一输入端用于获取多传感器状态，所述逻辑“与”电路的第二输入端连接所述控制装置的输出端，所述逻辑“与”电路的输出端连接所述开关元件的控制端。
  5. 根据权利要求4所述的机器人辅助手术设备，其特征在于，所述逻辑“与”电路的第一输入端连接所述多传感器组合中的每一传感器。
  6. 根据权利要求4所述的机器人辅助手术设备，其特征在于，所述控制台还包括另一逻辑“与”电路，所述另一逻辑“与”电路的输入端连接所述多传感器组合中的每一传感器，所述另一逻辑“与”电路的输出端连接所述逻辑“与”电路的第一输入端。
  7. 根据权利要求4～6任一项所述的机器人辅助手术设备，其特征在于，所述开关元件与所述控制装置之间还设置有用于检测所述开关元件是否存在供电电压的反馈电路。
  8. 根据权利要求4～6任一项所述的机器人辅助手术设备，其特征在于，所述控制台还包括操作台供电单元、开关、按钮、操作器、控制台控制单元、显示器、麦克风、扬声器；
    所述自动化手术设备还包括开关、按钮、显示器、麦克风、扬声器和相应手术工具；
    所述操作台供电单元连接外部供电网，所述控制台控制单元的输入端分别连接所述多传感器组合中的各个传感器、开关、按钮、操作器和麦克风，所述控制台控制单元的输出端连接相应显示器和扬声器，辅助操作者与所述操作台进行交互；
    所述手术控制单元与所述控制台控制单元、控制装置和自动化驱动系统均双向连接实现交互通信，其中，所述手术控制单元通过所述自动化驱动系统控制相应电驱运动，从而带动末端的手术工具运动，所述手术控制单元的输入端分别连接相应开关、按钮和麦克风，所述手术控制单元的输出端连接相应显示器和扬声器，辅助操作者与所述自动化驱动系统进行交互。
PCT/CN2019/128986 2018-12-27 2019-12-27 操作使能控制系统及具有该系统的机器人辅助手术设备 WO2020135665A1 (zh)

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