WO2020135675A1 - 一种高频电刀控制系统及其控制方法 - Google Patents

一种高频电刀控制系统及其控制方法 Download PDF

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Publication number
WO2020135675A1
WO2020135675A1 PCT/CN2019/129021 CN2019129021W WO2020135675A1 WO 2020135675 A1 WO2020135675 A1 WO 2020135675A1 CN 2019129021 W CN2019129021 W CN 2019129021W WO 2020135675 A1 WO2020135675 A1 WO 2020135675A1
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Prior art keywords
electric knife
foot pedal
control system
master
hardware
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PCT/CN2019/129021
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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 EP19904078.3A priority Critical patent/EP3903708A4/en
Priority to US17/418,208 priority patent/US20220061905A1/en
Publication of WO2020135675A1 publication Critical patent/WO2020135675A1/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
    • G05B19/048—Monitoring; Safety
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/1206—Generators therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1402—Probes for open 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
    • A61B34/30—Surgical robots
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—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
    • G05B19/10—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using selector switches
    • 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
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    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00225—Systems for controlling multiple different instruments, e.g. microsurgical systems
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    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00601—Cutting
    • A—HUMAN NECESSITIES
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    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00607—Coagulation and cutting with the same instrument
    • A—HUMAN NECESSITIES
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    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00642—Sensing and controlling the application of energy with feedback, i.e. closed loop control
    • A—HUMAN NECESSITIES
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00898—Alarms or notifications created in response to an abnormal condition
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    • A61B2018/0091—Handpieces of the surgical instrument or device
    • A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
    • A—HUMAN NECESSITIES
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    • A61B2018/0091—Handpieces of the surgical instrument or device
    • A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
    • A61B2018/00958—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device for switching between different working modes of the main function
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2231—Master slave

Definitions

  • the invention relates to a high-frequency electric knife control system and a control method thereof, and relates to the technical field of medical devices.
  • High-frequency electrocautery (also known as high-frequency electrosurgical tools) is an electrosurgical instrument that replaces traditional mechanical scalpels for tissue cutting. Compared with mechanical scalpels, high-frequency electrocautery has both cutting and coagulation functions, which can greatly improve the efficiency of surgery and reduce the risk of surgery. Moreover, high-frequency electrocautery is easier to enter different surgical sites, and can be used in a wide range of operations. Therefore, the robot-assisted minimally invasive surgery equipment is usually also equipped with a high-frequency electrosurgical tool, so that the doctor can complete the operation efficiently. As shown in FIG. 1, the electrocautery control module of the traditional high-frequency electrocautery surgical device includes a foot pedal, a high-frequency electrocautery generator, and several surgical tools.
  • a high-frequency electrocautery generator can be connected to multiple surgical tools at the same time, and a foot pedal is required for each surgical tool.
  • two foot pedals are required to be connected to the high-frequency electrosurgical generator respectively.
  • the doctor steps on the foot pedal 1 the high-frequency electric energy is generated on the corresponding surgical tool 1, and the foot pedal 2 is pressed. Then, high-frequency electrical energy is generated on the surgical tool 2.
  • doctors will inevitably make mistakes and step on the wrong foot pedal.
  • the prior art mentions that triggering the electrocautery through wireless communication is only a derivative form of the conventional high-frequency electrocautery surgical device control method shown in FIG. 1, and the design of the wireless communication mechanism needs to be cautious and must meet the relevant requirements. Regulatory requirements and reliability requirements.
  • a high-frequency electrocautery control method that is different from the traditional control method is shown in Figure 2 (the most commercialized Da Vinci surgical machine in the world at present): The chief surgeon sits at the doctor Next to the main console, the main controller is used to operate the robotic surgical tools on the slave slave side of the robot for surgical operations.
  • the surgeon depresses the corresponding foot pedal. After the control system detects the signal that the foot pedal is closed (in the figure, the right foot pedal is used as the electric knife function to control the foot pedal), it will be based on the current position.
  • the serial number and type of the robotic surgical tool being operated sends a corresponding control signal to the high-frequency electrosurgical generator located at the slave control end of the robot to activate the electrocutting or electrocoagulation function of the robotic surgical tool currently being operated.
  • the intervention of the master-slave control system is more in the robot-assisted minimally invasive surgery equipment, and the foot pedal of the doctor's main console is no longer direct.
  • the high-frequency electric knife generator Connected to the high-frequency electric knife generator to control the high-frequency electric knife generator to generate corresponding high-frequency energy output, but firstly collected by the control system, after corresponding software judgment and processing, and then output signals to drive the high-frequency electric knife generator Output high frequency energy to the currently controlled robotic surgical tool.
  • the three robotic surgical tools shown in FIG. 2 no longer need three sets of foot pedals to control their electrocutting and electrocoagulation functions respectively. The surgeon can use the same foot pedal to control different robotic surgical tools.
  • an object of the present invention is to provide a high-frequency electrocautery control system and a control method that can prevent erroneous electrocautery output caused by software failure.
  • the present invention adopts the following technical solutions:
  • the present invention provides a high-frequency electric knife control system, which includes an electric knife activation foot pedal, a master-slave control system, and a high-frequency electric knife activation hardware arbitration module;
  • the electric knife activation foot pedals respectively Connect the master-slave control system and the high-frequency electric knife to activate the hardware arbitration module, that is, both the master-slave control system and the high-frequency electric knife to activate the hardware arbitration module can detect the state of the electric knife to activate the foot pedal;
  • the high The frequency electric knife activation hardware arbitration module includes a logic OR circuit, a number of logic AND circuits, and a number of switching elements.
  • the logic OR circuit is used to perform a logical OR operation on the contact signal of the electric knife activation foot pedal.
  • a hardware control signal output by the circuit is sent to the master-slave control system for feedback, and another hardware control signal output by the logic or circuit performs a logical AND operation with several software control signals from the master-slave control system, respectively The result of the logical AND operation is used to control the switching of the switching element connected to the high-frequency electric knife generator.
  • the master-slave control system also receives the output signal of the switching element as a recovery signal, which is used to determine whether the switching element normally completes the action switching.
  • the high-frequency electrocautery activation hardware arbitration module further includes several standby switches, and the master-slave control system also outputs several emergency control signals for cutting off the switch element and the high-frequency electrocautery generator. To ensure that the wrong output signal is cut off.
  • the electric knife activation foot pedal includes a left hand tool electrocutting activation foot pedal, a left hand tool electrocoagulation activation foot pedal, a right hand tool electrocutting activation foot pedal, and a right hand tool electrocoagulation activation foot pedal, each The foot pedals include two independent contacts, one of the two contact points in all the foot pedals is connected to the master-slave control system, and all the foot pedals The other of the two contacts is connected to the input end of the logic or circuit, one of the hardware control signals of the logic or circuit is fed back to the master-slave control system, and the other hardware control signal is Each software control signal output by the control module in the master-slave control system performs logical AND operation respectively.
  • the present invention also provides a control method of the high-frequency electric knife control system, including the following:
  • the master-slave control system confirms whether the electric knife activates the foot pedal by detecting the foot pedal function signal or the hardware control signal output by the high-frequency electric knife activation hardware arbitration module. If the foot pedal function signal and the high-frequency electric knife are If the hardware control signal output by the activation hardware arbitration module is not detected, it is considered that the foot pedal without electric knife activation is pressed at this time; until the master-slave control system detects a certain foot pedal function signal or high frequency electric knife activation The hardware control signal output by the hardware arbitration module, and determine whether both are detected.
  • the master-slave control system outputs the corresponding software control signal according to the detected foot pedal function signal and the current surgical tool to be controlled;
  • the logic and circuit of the high-frequency electrocautery to activate the hardware arbitration module logically and operate the hardware control signal and the software control signal to drive the corresponding switching elements to close and conduct, and activate the corresponding electrocutting or electrocoagulation function of the high-frequency electrocautery generator;
  • the master-slave control system confirms whether the corresponding output of the high-frequency electric knife activated hardware arbitration module is normal through the recovery signal. If an abnormality is detected, the corresponding error output is disconnected through the emergency control signal;
  • the master-slave control system will continue to output software control signals, and confirm whether the corresponding output of the high-frequency electric knife activated hardware arbitration module is normal through the recovery signal until the electric knife activates the foot pedal.
  • the master-slave control system closes the software control signal, and confirms whether the corresponding output of the high-frequency electric knife activation hardware arbitration module is normally closed through the recovery signal, and then continues the loop detection and waits for the next electric knife activation pedal to be depressed.
  • the master-slave control system detects that a certain output of the high-frequency electrocautery activation hardware arbitration module should not be in the activated state and is actually activated instead, the user can choose to enter the fault-tolerant control mode.
  • control flow of the fault-tolerant control mode is: detecting whether the foot pedal is pressed by detecting the foot pedal function signal or the hardware control signal output by the high-frequency electric knife to activate the hardware arbitration module, if the foot pedal function signal and high If the hardware control signal fed back by the frequency electric knife activation hardware arbitration module is not detected, it is considered that the foot pedal without electric knife activation is pressed at this time, and the master-slave control system continues to cyclically detect whether the foot pedal is depressed; When the knife-activated foot pedal is pressed, the master-slave control system will continue to determine whether both are detected.
  • the master-slave control system determines that the trigger is valid, and outputs the corresponding software control signal according to the detected foot pedal function signal and the current surgical tool; the master-slave control system determines the current required activation output Whether it is a faulty output, if it is not the output that detected the fault, the high-frequency electrocautery activates the corresponding logical "AND" circuit on the hardware arbitration module to drive the corresponding switching element to switch, if it is detected that the fault is the output, Close the standby switch, the high-frequency electrocautery activates the corresponding logical "AND” circuit on the hardware arbitration module to drive the corresponding switching element to switch, until the electrocautery activation foot pedal is released, the fault-tolerant control ends, and if the fault still exists at this time, then Enter fault-tolerant control mode again.
  • the present invention adopts the above technical solutions, it has the following advantages: 1.
  • the present invention also introduces an independent hardware logic loop to ensure the control of the final output
  • the correctness of the signal improves the reliability of the system, avoids the accidental output of the electrocautery caused by the faulty control software, and further improves the safety and reliability of robot-assisted surgery.
  • the control method proposed by the present invention can realize a certain degree of fault-tolerant control while detecting a fault alarm, which can ensure that the electric knife function can still be used in the case of a fault to cope with a particularly emergency situation.
  • Figure 1 is a schematic diagram of the control flow of the traditional high-frequency electrosurgical surgical equipment
  • Figure 2(a) is a high-frequency electrocautery integration method in existing robot-assisted minimally invasive surgery equipment
  • Figure 2(b) is a schematic diagram of the control process of the existing robot-assisted minimally invasive surgery equipment
  • FIG. 3 is a control logic block diagram of the high-frequency electric knife control system of the present invention.
  • FIG. 4 is an implementation manner of a high-frequency electric knife activation hardware arbitration module according to an embodiment of the present invention.
  • FIG. 5 is a schematic flow chart of the method for controlling a high-frequency electric knife of the present invention.
  • FIG. 6 is a schematic diagram of the fault-tolerant control process of the high-frequency electric knife of the present invention.
  • the high-frequency electric knife control system includes an electric knife activation foot pedal 11, a master-slave control system 12, a high-frequency electric knife activation hardware arbitration module 13, a high-frequency electric knife generator 14, and Corresponding surgical tool.
  • the electric knife activates the foot pedal 11 (in FIG. 3, the right foot pedal is still used as the electric knife to activate the foot pedal, and the left foot pedal controls other functions).
  • the module 13, namely the master-slave control system 12 and the high-frequency electrocautery activation hardware arbitration module 13 can detect the on-off state of the electrocautery activation foot pedal 11.
  • the output of the high-frequency electric knife activation hardware arbitration module 13 is connected to the high-frequency electric knife generator 14 to activate the corresponding high-frequency electric energy output of the high-frequency electric knife generator 14.
  • the high-frequency electrocautery generator 14 is then connected to each robotic surgical tool, and electric energy can be delivered to each surgical tool, thereby realizing the function of electrocutting or electrocoagulation.
  • the high-frequency electrocautery activation hardware arbitration module 13 can communicate with the master-slave control system 12 in two directions.
  • the electrocautery control output signal of the master-slave control system 12 is no longer directly connected to the high-frequency electrocautery generator 14, but to the high-frequency electrocautery generator 14.
  • the electric knife activates the hardware arbitration module 13, and the corresponding electric knife control output can be activated only after the high-frequency electric knife activates the hardware arbitration module 13 to comprehensively judge each signal.
  • the high-frequency electrocautery activates the hardware arbitration module 13 and also feeds back the result of the logic judgment to the master-slave control system 12. If an abnormality occurs, the master-slave control system 12 can trigger a corresponding alarm reminding mechanism.
  • the high-frequency electrocautery activation hardware arbitration module 13 includes a logic OR circuit 131, a number of logic AND circuits 132, and a number of switching elements.
  • the logic OR circuit 131 is used to activate the contact signal of the electrocautery to activate the foot pedal 11 Perform logical OR operation, one hardware control signal output by the logical OR circuit 131 is used to send to the master-slave control system 12 for feedback, and another hardware control signal output by the logical OR circuit 131 is used for several
  • the software control signal of the circuit performs logical AND operation, and the result of each logical AND operation will be used to control the corresponding switching element to be closed or opened.
  • the output of each switching element is connected to the corresponding input control interface of the high-frequency electric knife generator 14 respectively.
  • the high-frequency electrocautery activation hardware arbitration module 13 also includes a number of standby switches.
  • the control module of the master-slave control system 12 is used to obtain foot pedal contact signals for detecting the status of each pedal.
  • the control module outputs several software control signals according to the surgical tools that need to be controlled.
  • the control module also receives the signals output by the switching elements As a recovery signal, it is used to judge whether the switching element has completed the action switching normally.
  • the control module can also output emergency control signals EM_OFF1 ⁇ EM_OFF5 to cut off the standby switch to ensure that the wrong output signal is cut off.
  • this embodiment uses four foot pedals (left hand tool electrocut activation foot pedal, left hand tool electrocoagulation activation foot pedal, right hand tool electrocut activation foot pedal Board and right-hand tool electrocoagulation to activate the foot pedal), and divide the four foot pedals into two groups, which are used to activate the electric cutting or electrocoagulation function of the tools controlled by the left and right hands, respectively.
  • Each foot pedal contains two independent contacts S1 and S2. When the foot pedal is depressed, both contacts S1 and S2 are closed.
  • One of the two contacts in all foot pedals is connected to the control module in the master-slave control system for the control module to detect the status of each foot pedal; the other of the two contacts in all foot pedals All points are connected to the input terminal of the logic OR circuit 131 of the high-frequency electric knife activation hardware arbitration module 13.
  • Four-way contact signals perform logical OR operation, one of the logic control circuit 131 hardware control signals is fed back to the control module of the master-slave control system, and the other hardware control signal is controlled by each software output from the control module in the master-slave control system 12
  • the signals are logically ANDed separately (in this embodiment, five outputs are used as an example, because at present, most electric knife generators support up to two unipolar tools and one bipolar tool at the same time, and a total of five control inputs are required. For example, you can choose according to actual needs).
  • the output signals of the logic and operations of each channel are used to control the corresponding switching elements (in this embodiment, relays are used as examples) K1 to K5 to close or open.
  • Each switching element (K1 to K5) is connected to the corresponding input control interface of the high-frequency electric knife generator 14 respectively. Therefore, the final activation of the electrocutting or electrocoagulation function is no longer solely determined by the software control signal of the master-slave control system 12, but must satisfy both the software output signal and the hardware signal (the output signal of the logical OR circuit).
  • the corresponding electrocautery function can be triggered, so even if the software fails, by disconnecting the hardware signal, it can ensure that the electrocautery function will not be triggered by mistake.
  • a recovery signal is designed in the output part of the switching element.
  • the recovery signal is fed back to the control module of the master-slave control system 12, and the control module can detect Whether the switching element normally completes the action switching. If the switching element fails, the control module can cut off the spare switches SE1 to SE5 connected between the switching element and the corresponding input control interface of the high-frequency electric knife generator through the emergency control signals EM_OFF1 to EM_OFF5 to ensure that the wrong output signal is cut off .
  • the method of using the high-frequency electric knife control system of the present invention is as follows:
  • control module of the master-slave control system 12 After the control module of the master-slave control system 12 completes initialization and starts to work normally, it first checks whether each output of the hardware arbitration module 13 activated by the high-frequency electric knife is in a disconnected state through the recovery signal.
  • the master-slave control system 12 will turn off the corresponding standby switches (SE1 to SE5) through the emergency control signal to cut off the erroneous output, and at the same time, the alarm prompts the user that the electric knife function is faulty.
  • the user can choose to stop the operation and remove the fault first. Users can also choose to enter the fault-tolerant control mode to cope with the need to use the electric knife function in emergency situations.
  • the control module of the master-slave control system 12 detects whether the foot pedal is pressed by detecting the foot pedal function signal or the hardware control signal output by the high-frequency electric knife to activate the hardware arbitration module 13 if the foot pedal is pressed. Neither the function signal nor the hardware control signal fed back by the high-frequency electric knife activation hardware arbitration module 13 is detected, and it is considered that no foot pedal is pressed at this time. Until when the foot pedal is pressed at a certain moment, the control module of the master-slave control system 12 detects the function signal of a certain foot pedal or the hardware control signal fed back by the high-frequency electric knife activation hardware arbitration module 13, and the control module Will continue to determine whether both have been detected.
  • the board function signal and the serial number type of the currently controlled robotic surgical tool output the corresponding software control signal.
  • Different foot pedals represent different functions.
  • the foot pedal function signal refers to the signal sent when the foot pedal is pressed.
  • the high-frequency electrocautery activates the corresponding logical AND circuit 132 on the hardware arbitration module 13 to output an effective high level to drive the corresponding switching element to close and conduct, thereby activating the high-frequency power
  • the knife generator 14 has a corresponding electrocutting or electrocoagulation function.
  • the control module confirms whether the corresponding output of the hardware arbitration module activated by the high-frequency electrocautery is indeed in the activated state through the recovery signal. If an abnormality is detected (the output in the activated state is not activated, or the output in the activated state should be activated instead), the control disconnects the corresponding error output through the emergency control signal and issues an alarm to the user.
  • the control module Before the foot pedal is released (either the function signal of the foot pedal or the hardware control signal fed back by the high-frequency electrocautery activation hardware arbitration module 13 disappears), the control module will continue to output the software control signal, and Confirm whether the corresponding output of the high-frequency electrocautery activated hardware arbitration module 13 is normal through the recovery signal. Until the foot pedal is released, the control module closes the software control signal, and confirms whether the corresponding output of the high-frequency electric knife-activated hardware arbitration module 13 is normally closed through the recovery signal, and then continues the loop detection and waits for the next foot pedal to be depressed.
  • the master-slave control system 12 detects that a certain output of the high-frequency electrocautery activation hardware arbitration module 13 should not be in the activated state and is actually activated, the master-slave control system 12 will be interrupted by the emergency control signal. Turn on the corresponding standby switches (SE1 to SE5) to cut off the erroneous output. The user can choose to enter the fault-tolerant control mode to cope with the situation where the electric knife function is still needed in an emergency.
  • the fault-tolerant control mode is the same as the normal control flow, and the fault-tolerant control starts:
  • the control module of the master-slave control system 12 detects a function signal of a certain foot pedal or a hardware control signal returned by the high-frequency electric knife activation hardware arbitration module 13
  • the control module will Continue to determine whether both are detected. If the two are not detected at the same time, it is determined that the foot pedal contact is faulty, and the control module will alert the user to the alarm; and if both are detected, the control module determines that the trigger is valid, which will be based on the detected
  • the corresponding foot pedal function signal and the serial number type of the robotic surgical tool currently controlled will output the corresponding software control signal.
  • the control module also judges whether the output currently required to be activated is a faulty output. If it is not the output that detected the fault, it is the same as the normal control flow, due to software control. Both the signal and the hardware control signal are present.
  • the high-frequency electrocautery activates the corresponding logical AND circuit on the hardware arbitration module 13 to output an effective high level to drive the corresponding switching element to close and conduct, thereby activating the corresponding power of the high-frequency electrocautery generator. Cut the electrocoagulation function. However, the output that needs to be activated at this time is the faulty output.
  • the present invention can not only effectively prevent the control software from malfunctioning and directly lead to the wrong output of the electric knife, but also can achieve a certain degree of fault tolerance Control improves the robustness of the system. In the event of a certain failure, the user can still continue to use the electric knife function to cope with some particularly emergency situations.

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Abstract

一种高频电刀控制系统及其控制方法，控制系统包括电刀激活脚踏板(11)、主从控制系统(12)和高频电刀激活硬件仲裁模块(13)；电刀激活脚踏板(11)分别连接主从控制系统(12)和高频电刀激活硬件仲裁模块(13)；高频电刀激活硬件仲裁模块(13)包括一个逻辑或电路(131)、若干逻辑与电路(132)和开关元件，逻辑或电路(131)用于对电刀激活脚踏板(11)的触点信号进行逻辑或运算，逻辑或电路(131)输出的一路硬件控制信号发送到主从控制系统(12)进行反馈，逻辑或电路(131)输出的另一路硬件控制信号分别与主从控制系统(12)发出的若干路软件控制信号进行逻辑与运算，逻辑与运算的结果用于控制与高频电刀发生器(14)连接的开关元件动作切换。

Description

一种高频电刀控制系统及其控制方法 技术领域
本发明是关于一种高频电刀控制系统及其控制方法，涉及医疗器械技术领域。
背景技术
高频电刀(又称为高频电外科手术工具)是一种取代传统机械手术刀进行组织切割的电外科器械。相比于机械式手术刀，高频电刀同时具备切割和凝血的功能，从而可以大大提高手术效率，降低手术风险。而且高频电刀更容易进入不同的手术部位，可应用手术范围广泛。因此，在机器人辅助微创手术设备中，通常也都配备有高频电刀工具，以便医生高效完成手术。如图1所示，传统高频电刀手术设备的电刀控制模块包含脚踏板、高频电刀发生器以及若干手术工具。一个高频电刀发生器可同时连接到多个手术工具，对应每个手术工具则需使用一个脚踏板来控制。如图1所示的两个手术工具，则需要两个脚踏板分别连接到高频电刀发生器，医生踩下脚踏板1，则在对应手术工具1上产生高频电能，踩下脚踏板2则在手术工具2上产生高频电能。但是当连接更多的手术工具时，难免医生会忙中出错，踩错脚踏板。现有技术中提到通过无线通信的方式来触发电刀，则只是图1所示传统高频电刀手术设备控制方式的一种衍生形式，并且无线通信机制的设计需小心谨慎，须满足相关法规要求以及可靠性要求。
在机器人辅助微创手术设备中，一种不同于传统控制方式的高频电刀控制方式如图2中所示(目前世界范围商业化最为成功的达芬奇手术机器)：主刀医生坐在医生主控台旁，手持主控制器操纵机器人从控端的机器人手术工具进行手术操作。在需要激活高能电刀功能时，主刀医生踩下相应脚踏板，控制系统检测到脚踏板闭合的信号后(图例中以右脚踏板作为电刀功能控制脚踏板)会根据当前所操纵的机器人手术工具序号以及类型，向位于机器人从控端的高频电刀发生器发送相应的控制信号，激活当前所操作的那支机器人手术工具的电切或者电凝功能。对比图1和图2可知，相比于传统高频电刀设备的控制流程，机器人辅助微创手术设备里多了主从控制系统的干预，医生主控台的脚踏板并不再是直接连接到高频电刀发生器，控制高频电刀发生器产生相应的高频能量输出，而是先被控制系统采集，经过相应的软件判断和处理，再输出信号驱动高频电刀发生器输出高频能量至当前所控制的机器人手术工具。通过这种方式，图2中示的三个 机器人手术工具不再需要三套脚踏板来分别控制其电切电凝功能，主刀医生可通过同一个脚踏板来控制不同的机器人手术工具在不同时刻实现电切以及电凝动作。相比于传统的高频电刀手术设备控制方式，该方法不仅节省了硬件成本，对于医生来说，也不再需要记住脚踏板和手术工具的对应关系，控制显得更加简洁直观。
但是，上述方式在带来优势的同时，也引入了相应的风险，如果相关的控制软件发生了故障，则可能导致高频电刀发生器往错误的机器人手术工具上输出高频电能，又或是在医生没有踩下脚踏板时控制高频电刀发生器向手术工具上输出高频电能，其后果可能是非常严重的。如前所述，由于机器人辅助微创手术设备中通常存在多个电刀手术工具，为了简化操作，提高手术效率，机器人辅助微创手术设备中引入了软件逻辑处理来实现对高频电刀的智能控制。但是由于高频电能输出控制完全基于软件的逻辑判断，该方法引入了新的风险：若相关软件运行出现错误则可能导致错误的高频电能输出，严重可造成病人身亡。
发明内容
针对上述问题，本发明的目的是提供一种能够防止软件故障导致错误的电刀输出的高频电刀控制系统及其控制方法。
为实现上述目的，本发明采取以下技术方案：
第一方面，本发明提供一种高频电刀控制系统，该控制系统包括电刀激活脚踏板、主从控制系统和高频电刀激活硬件仲裁模块；所述电刀激活脚踏板分别连接所述主从控制系统和高频电刀激活硬件仲裁模块，即所述主从控制系统和高频电刀激活硬件仲裁模块均能够检测所述电刀激活脚踏板的状态；所述高频电刀激活硬件仲裁模块包括一逻辑或电路、若干逻辑与电路和若干开关元件，所述逻辑或电路用于对所述电刀激活脚踏板的触点信号进行逻辑或运算，所述逻辑或电路输出的一路硬件控制信号发送到所述主从控制系统进行反馈，所述逻辑或电路输出的另一路硬件控制信号分别与所述主从控制系统发出的若干路软件控制信号进行逻辑与运算，逻辑与运算的结果用于控制与高频电刀发生器连接的所述开关元件动作切换。
进一步地，所述主从控制系统还接收所述开关元件输出端信号作为回采信号，用于判断所述开关元件是否正常完成动作切换。
进一步地，所述高频电刀激活硬件仲裁模块还包括若干备用开关，所述主从控制系 统还输出若干路紧急控制信号用于切断设置在所述开关元件与高频电刀发生器之间的备用开关，确保错误输出信号被切断。
进一步地，所述电刀激活脚踏板包括左手工具电切激活脚踏板、左手工具电凝激活脚踏板、右手工具电切激活脚踏板以及右手工具电凝激活脚踏板，每个所述脚踏板均包括两个独立触点，所有所述脚踏板中两个所述触点的其中一个所述触点均连接所述主从控制系统中，所有所述脚踏板中两个所述触点的另一个所述触点均连接所述逻辑或电路的输入端，所述逻辑或电路的其中一路硬件控制信号反馈至所述主从控制系统，另一路硬件控制信号与所述主从控制系统中控制模块输出的各路软件控制信号分别进行逻辑与运算。
第二方面，本发明还提供所述高频电刀控制系统的控制方法，包括以下内容：
S1、主从控制系统完成初始化后通过回采信号检查高频电刀激活硬件仲裁模块的各路输出是否处于断开状态，如果是进入S2；
S2、主从控制系统通过检测脚踏板功能信号或高频电刀激活硬件仲裁模块输出的硬件控制信号确认是否有电刀激活脚踏板按下，若脚踏板功能信号和高频电刀激活硬件仲裁模块输出的硬件控制信号均未被检测到，则认为此时无电刀激活脚踏板被按下；直到主从控制系统检测到了某个脚踏板功能信号或高频电刀激活硬件仲裁模块输出的硬件控制信号，并判断是否两者均被检测到，若两者没有同时被检测到，则认为电刀激活脚踏板触点出现故障；若两者均被检测到，则认定此次触发有效，主从控制系统根据检测到的脚踏板功能信号以及当前所要控制的手术工具，输出相应的软件控制信号；
S3、高频电刀激活硬件仲裁模块的逻辑与电路将硬件控制信号与软件控制信号进行逻辑与运算驱动相应开关元件闭合导通，激活高频电刀发生器相应的电切或电凝功能；同时主从控制系统通过回采信号确认高频电刀激活硬件仲裁模块的相应输出是否正常，若检测到异常，则通过紧急控制信号断开相应的错误输出；
S4、在电刀激活脚踏板被释放之前，主从控制系统将持续输出软件控制信号，并通过回采信号确认高频电刀激活硬件仲裁模块的相应输出是否正常，直到电刀激活脚踏板被释放，主从控制系统关闭软件控制信号，并通过回采信号确认高频电刀激活硬件仲裁模块的相应输出是否正常关闭，而后继续循环检测并等待下次电刀激活脚踏板被踩下。
进一步地，若主从控制系统检测到高频电刀激活硬件仲裁模块的某一路输出不应该处于激活状态而实际反而被激活时，用户可选择进入容错控制模式。
进一步地，容错控制模式的控制流程为：通过检测脚踏板功能信号或高频电刀激活硬件仲裁模块输出的硬件控制信号来检测是否有脚踏板按下，若脚踏板功能信号和高频电刀激活硬件仲裁模块反馈的硬件控制信号均未被检测到，则认为此时无电刀激活脚踏板被按下，主从控制系统继续循环检测脚踏板是否被踏下；当电刀激活脚踏板被按下时，主从控制系统将继续判断是否两者均被检测到，若两者没有同时被检测到，则认定电刀激活脚踏板触点出现故障；而若两者均被检测到，则主从控制系统认定此次触发有效，根据所检测到的脚踏板功能信号以及当前手术工具，输出相应的软件控制信号；主从控制系统判断当前所需激活的输出是否为存在故障的输出，若不是检测到故障的那路输出，高频电刀激活硬件仲裁模块上对应的逻辑“与”电路驱动相应开关元件动作切换，若是检测到是故障的那路输出，闭合备用开关，高频电刀激活硬件仲裁模块上对应的逻辑“与”电路驱动相应开关元件动作切换，直到电刀激活脚踏板被松开，容错控制结束，此时若故障依然存在，则再次进入容错控制模式。
本发明由于采取以上技术方案，其具有以下优点：1、本发明除了引入软件逻辑处理来实现对高频电刀的智能控制之外，还引入了一条独立的硬件逻辑回路来确保最终输出的控制信号的正确性，提高了系统的可靠性，避免因控制软件故障而导致错误的电刀输出造成人员伤亡，进一步提高了机器人辅助手术的安全可靠性。2、本发明所提出的控制方法在检测到故障报警的同时，还能实现一定程度的容错控制，可保证在故障的情况下仍能使用电刀功能，以应对特别紧急的情况。
附图说明
图1为传统高频电刀手术设备的控制流程示意图；
图2(a)为现有的机器人辅助微创手术设备中的一种高频电刀集成方式；
图2(b)为现有机器人辅助微创手术设备控制流程示意图；
图3为本发明高频电刀控制系统的控制逻辑框图；
图4为本发明实施例的高频电刀激活硬件仲裁模块的实现方式；
图5为本发明高频电刀控制方法流程示意图；
图6为本发明高频电刀容错控制流程示意图。
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。
如图3所示，本发明提供的高频电刀控制系统的包括电刀激活脚踏板11、主从控制系统12、高频电刀激活硬件仲裁模块13、高频电刀发生器14以及相应手术工具。
电刀激活脚踏板11(图3中仍以右脚脚踏板作为电刀激活脚踏板，左脚脚踏板控制其他功能)同时连接主从控制系统12和高频电刀激活硬件仲裁模块13，即主从控制系统12和高频电刀激活硬件仲裁模块13都能够检测到电刀激活脚踏板11的通断状态。
高频电刀激活硬件仲裁模块13的输出与高频电刀发生器14相连接，可激活高频电刀发生器14相应的高频电能输出。高频电刀发生器14再与各个机器人手术工具相连接，可将电能送达至各手术工具，从而实现电切或电凝功能。
高频电刀激活硬件仲裁模块13与主从控制系统12可以进行双向通讯，主从控制系统12的电刀控制输出信号不再直接与高频电刀发生器14相连，而是连接到高频电刀激活硬件仲裁模块13，经高频电刀激活硬件仲裁模块13综合判断各路信号后才能激活相应的电刀控制输出。高频电刀激活硬件仲裁模块13同时也会将逻辑判断的结果反馈主从控制系统12，若出现异常，主从控制系统12可以触发相应的报警提醒机制。
如图4所示，高频电刀激活硬件仲裁模块13包括一个逻辑或电路131、若干逻辑与电路132和若干开关元件，逻辑或电路131用于对电刀激活脚踏板11的触点信号进行逻辑或运算，逻辑或电路131输出的一路硬件控制信号用于发送到主从控制系统12进行反馈，逻辑或电路131输出的另一路硬件控制信号分别用于与主从控制系统12发出的若干路软件控制信号进行逻辑与运算，各路逻辑与运算的结果将用于控制相应的开关元件闭合或者断开。各个开关元件输出分别连接到高频电刀发生器14相应的输入控制接口。另外，高频电刀激活硬件仲裁模块13还包括若干备用开关。主从控制系统12的控制模块用于获取脚踏板触点信号，用于检测各个踏板的状态，控制模块根据需要控制的手术工具输出若干路软件控制信号，控制模块还接收开关元件输出的信号作为回采信号，用于判断开关元件是否正常完成动作切换，控制模块还可以输出紧急控制信号 EM_OFF1～EM_OFF5切断备用开关，确保错误的输出信号被切断。
在一个优选的实施例中，如图4中所示，本实施例采用四个脚踏板(左手工具电切激活脚踏板、左手工具电凝激活脚踏板、右手工具电切激活脚踏板以及右手工具电凝激活脚踏板)，并将四个脚踏板分为两组，分别用于激活左右手所控制工具的电切或电凝功能。每个脚踏板均包含两个独立触点S1、S2，当脚踏板被踩下时，两个触点S1、S2都会被闭合。所有脚踏板中两个触点的其中一个触点均连接主从控制系统中的控制模块，以供控制模块检测各个脚踏板的状态；所有脚踏板中两个触点的另一个触点均连接高频电刀激活硬件仲裁模块13的逻辑或电路131的输入端。四路触点信号进行逻辑或运算，逻辑或电路131的其中一路硬件控制信号反馈至主从控制系统的控制模块，另一路硬件控制信号与主从控制系统12中控制模块输出的各路软件控制信号分别进行逻辑与运算(本实施例以五路输出为例，因为目前大多数电刀发生器最多同时支持连接两个单极工具以及一个双极工具，共需五个控制输入，以此为例，可以根据实际需要进行选择)。各路逻辑与运算的输出信号用于控制相应的开关元件(本实施例以继电器为例)K1～K5闭合或者断开。各个开关元件(K1～K5)分别连接到高频电刀发生器14相应的输入控制接口。因此，最终电切或电凝功能的激活不再单单是由主从控制系统12的软件控制信号所决定，而是必须同时满足软件输出信号和硬件信号(逻辑“或”电路的输出信号)都激活的情况下，才可触发相应的电刀功能，因此即使软件出现故障，通过断开硬件信号也可以确保电刀功能不会被误触发。另外，为了防止相应的开关元件失效而导致产生错误的电刀激活信号，在开关元件的输出部分设计有一个回采信号，回采信号被反馈至主从控制系统12的控制模块，控制模块就可以检测开关元件是否正常完成动作切换。若开关元件出现故障，控制模块将可通过紧急控制信号EM_OFF1～EM_OFF5切断连接在开关元件与高频电刀发生器相应的输入控制接口之间的备用开关SE1～SE5，确保错误的输出信号被切断。
如图5所示，本发明高频电刀控制系统的使用方法，具体过程为：
1、主从控制系统12的控制模块在完成初始化开始正常工作后，首先通过回采信号检查高频电刀激活硬件仲裁模块13的各路输出是否处于断开状态。
若此时检测到有任何一路输出已经激活，主从控制系统12将通过紧急控制信号断开相应的备用开关(SE1～SE5)，以切断错误的输出，同时报警提示用户电刀功能存在故障。用户可以选择停止继续操作，先排除故障。用户也可选择进入容错控制模式，以应付在紧急情况下仍需要使用电刀功能的情况。
2、如果输出均正常，主从控制系统12的控制模块通过检测脚踏板功能信号或高频电刀激活硬件仲裁模块13输出的硬件控制信号检测是否有脚踏板按下，若脚踏板功能信号和高频电刀激活硬件仲裁模块13反馈的硬件控制信号均未被检测到，则认为此时无脚踏板被按下。直到当某一时刻脚踏板被按下，主从控制系统12的控制模块检测到了某个脚踏板的功能信号或高频电刀激活硬件仲裁模块13反馈的硬件控制信号，此时控制模块将继续判断是否两者均被检测到。若两者没有同时被检测到，则认定脚踏板触点出现故障，控制模块向用户提醒报警；若两者均被检测到，则控制模块认定此次触发有效，根据所检测到的脚踏板功能信号以及当前所控制的机器人手术工具序号类型，输出相应的软件控制信号。不同的脚踏板代表不同的功能，脚踏板功能信号指的是脚踏板被按下时所发出的信号。
3、由于软件控制信号及硬件控制信号均存在，高频电刀激活硬件仲裁模块13上对应的逻辑“与”电路132将输出有效高电平驱动相应开关元件闭合导通，从而激活高频电刀发生器14相应的电切或电凝功能。同时控制模块通过回采信号确认高频电刀激活硬件仲裁模块的相应输出是否的确处于激活状态。若检测到异常(该处于激活状态的输出没有被激活，或者不该处于激活状态的输出反而被激活)，则控制通过紧急控制信号断开相应的错误输出，并向用户发出报警提醒。
4、在脚踏板被释放(脚踏板的功能信号或高频电刀激活硬件仲裁模块13反馈的硬件控制信号两者中任意一者消失)之前，控制模块将持续输出软件控制信号，并通过回采信号确认高频电刀激活硬件仲裁模块13的相应输出是否正常。直到脚踏板被释放，控制模块关闭软件控制信号，并通过回采信号确认高频电刀激活硬件仲裁模块13的相应输出是否正常关闭，而后继续循环检测并等待下次脚踏板被踩下。
进一步地，若主从控制系统12的控制模块检测到高频电刀激活硬件仲裁模块13的某一路输出不应该处于激活状态而实际反而被激活时，主从控制系统12将通过紧急控制信号断开相应的备用开关(SE1～SE5)，从而切断错误的输出。用户可选择进入容错控制模式，以应付在紧急情况下仍需要使用电刀功能的情况。
如图6所示，容错控制模式同正常控制流程一样，容错控制开始：
首先通过检测脚踏板功能信号或高频电刀激活硬件仲裁模块13反馈的硬件控制信号来检测是否有脚踏板按下，若脚踏板功能信号和高频电刀激活硬件仲裁模块13反馈的硬件控制信号均未被检测到，则认为此时无脚踏板被按下，控制模块继续循环检测脚踏板是否被踏下。
当脚踏板被踩下时(即主从控制系统12的控制模块检测到了某个脚踏板的功能信号或高频电刀激活硬件仲裁模块13反馈的硬件控制信号)，此时控制模块将继续判断是否两者均被检测到。若两者没有同时被检测到，则认定脚踏板触点出现故障，控制模块将向用户提醒报警；而若两者均被检测到，则控制模块认定此次触发有效，其将根据所检测到的脚踏板功能信号以及当前所控制的机器人手术工具序号类型，输出相应的软件控制信号。
与正常控制流程所不同的是，在容错控制中控制模块还判断当前所需激活的输出是否为存在故障的输出，若不是检测到故障的那路输出，则跟正常控制流程一样，由于软件控制信号及硬件控制信号均存在，高频电刀激活硬件仲裁模块13上对应的逻辑“与”电路将输出有效高电平驱动相应开关元件闭合导通，从而激活高频电刀发生器相应的电切电凝功能。但此时所需激活的输出正是存在故障的那路输出，则由于此前控制系统已通过紧急控制信号断开了相应的备用开关，在此还需要将备用开关再闭合，以输出相应电刀功能激活信号。此后，容错控制的过程将与正常控制流程一样，直到脚踏板被松开，容错控制结束，而此时若故障依然存在，则系统将自动再次进入容错控制。
综上所述，本发明通过在系统中引入额外的一个高频电刀激活硬件仲裁模块13，不仅可以有效地防止控制软件故障而直接导致错误的电刀输出，而且还可以实现一定程度的容错控制，提高了系统的鲁棒性。在出现一定故障的情况下，用户仍然可以继续使用电刀功能，以应付一些特别紧急的情况。
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 (7)

  1. 一种高频电刀控制系统，其特征在于，该控制系统包括电刀激活脚踏板、主从控制系统和高频电刀激活硬件仲裁模块；
    所述电刀激活脚踏板分别连接所述主从控制系统和高频电刀激活硬件仲裁模块，即所述主从控制系统和高频电刀激活硬件仲裁模块均能够检测所述电刀激活脚踏板的状态；
    所述高频电刀激活硬件仲裁模块包括一逻辑或电路、若干逻辑与电路和若干开关元件，所述逻辑或电路用于对所述电刀激活脚踏板的触点信号进行逻辑或运算，所述逻辑或电路输出的一路硬件控制信号发送到所述主从控制系统进行反馈，所述逻辑或电路输出的另一路硬件控制信号分别与所述主从控制系统发出的若干路软件控制信号进行逻辑与运算，逻辑与运算的结果用于控制与高频电刀发生器连接的所述开关元件动作切换。
  2. 根据权利要求1所述的高频电刀控制系统，其特征在于，所述主从控制系统还接收所述开关元件输出端信号作为回采信号，用于判断所述开关元件是否正常完成动作切换。
  3. 根据权利要求2所述的高频电刀控制系统，其特征在于，所述高频电刀激活硬件仲裁模块还包括若干备用开关，所述主从控制系统还输出若干路紧急控制信号用于切断设置在所述开关元件与高频电刀发生器之间的备用开关，确保错误输出信号被切断。
  4. 根据权利要求2或3所述的高频电刀控制系统，其特征在于，所述电刀激活脚踏板包括左手工具电切激活脚踏板、左手工具电凝激活脚踏板、右手工具电切激活脚踏板以及右手工具电凝激活脚踏板，每个所述脚踏板均包括两个独立触点，所有所述脚踏板中两个所述触点的其中一个所述触点均连接所述主从控制系统中，所有所述脚踏板中两个所述触点的另一个所述触点均连接所述逻辑或电路的输入端，所述逻辑或电路的其中一路硬件控制信号反馈至所述主从控制系统，另一路硬件控制信号与所述主从控制系统中控制模块输出的各路软件控制信号分别进行逻辑与运算。
  5. 基于权利要求2～4任一项所述高频电刀控制系统的控制方法，其特征在于，包括以下内容：
    S1、主从控制系统完成初始化后通过回采信号检查高频电刀激活硬件仲裁模块的各路输出是否处于断开状态，如果是进入S2；
    S2、主从控制系统通过检测脚踏板功能信号或高频电刀激活硬件仲裁模块输出的硬件控制信号确认是否有电刀激活脚踏板按下，若脚踏板功能信号和高频电刀激活硬件仲 裁模块输出的硬件控制信号均未被检测到，则认为此时无电刀激活脚踏板被按下；直到主从控制系统检测到了某个脚踏板功能信号或高频电刀激活硬件仲裁模块输出的硬件控制信号，并判断是否两者均被检测到，若两者没有同时被检测到，则认为电刀激活脚踏板触点出现故障；若两者均被检测到，则认定此次触发有效，主从控制系统根据检测到的脚踏板功能信号以及当前所要控制的手术工具，输出相应的软件控制信号；
    S3、高频电刀激活硬件仲裁模块的逻辑与电路将硬件控制信号与软件控制信号进行逻辑与运算驱动相应开关元件闭合导通，激活高频电刀发生器相应的电切或电凝功能；同时主从控制系统通过回采信号确认高频电刀激活硬件仲裁模块的相应输出是否正常，若检测到异常，则通过紧急控制信号断开相应的错误输出；
    S4、在电刀激活脚踏板被释放之前，主从控制系统将持续输出软件控制信号，并通过回采信号确认高频电刀激活硬件仲裁模块的相应输出是否正常，直到电刀激活脚踏板被释放，主从控制系统关闭软件控制信号，并通过回采信号确认高频电刀激活硬件仲裁模块的相应输出是否正常关闭，而后继续循环检测并等待下次电刀激活脚踏板被踩下；
    所述脚踏板功能信号指的是脚踏板被按下时所发出的信号。
  6. 根据权利要求5所述的控制方法，其特征在于，若主从控制系统检测到高频电刀激活硬件仲裁模块的某一路输出不应该处于激活状态而实际反而被激活时，用户可选择进入容错控制模式。
  7. 根据权利要求6所述的控制方法，其特征在于，容错控制模式的控制流程为：
    通过检测脚踏板功能信号或高频电刀激活硬件仲裁模块输出的硬件控制信号来检测是否有脚踏板按下，若脚踏板功能信号和高频电刀激活硬件仲裁模块反馈的硬件控制信号均未被检测到，则认为此时无电刀激活脚踏板被按下，主从控制系统继续循环检测脚踏板是否被踏下；
    当电刀激活脚踏板被按下时，主从控制系统将继续判断是否所述脚踏板功能信号和所述硬件控制信号均被检测到，若两者没有同时被检测到，则认定电刀激活脚踏板触点出现故障；而若所述脚踏板功能信号和所述硬件控制信号均被检测到，则主从控制系统认定此次触发有效，根据所检测到的脚踏板功能信号以及当前手术工具，输出相应的软件控制信号；
    主从控制系统判断当前所需激活的输出是否为存在故障的输出，若不是检测到故障的那路输出，高频电刀激活硬件仲裁模块上对应的逻辑“与”电路驱动相应开关元件动作切换，若是检测到是故障的那路输出，闭合备用开关，高频电刀激活硬件仲裁模块上对应的逻辑“与”电路驱动相应开关元件动作切换，直到电刀激活脚踏板被松开，容错 控制结束，此时若故障依然存在，则再次进入容错控制模式。
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