WO2020135679A1 - 用于机器人辅助手术设备的防误关机开关控制装置及方法 - Google Patents

用于机器人辅助手术设备的防误关机开关控制装置及方法 Download PDF

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Publication number
WO2020135679A1
WO2020135679A1 PCT/CN2019/129036 CN2019129036W WO2020135679A1 WO 2020135679 A1 WO2020135679 A1 WO 2020135679A1 CN 2019129036 W CN2019129036 W CN 2019129036W WO 2020135679 A1 WO2020135679 A1 WO 2020135679A1
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WIPO (PCT)
Prior art keywords
shutdown
switch
relay
control
power
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PCT/CN2019/129036
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English (en)
French (fr)
Inventor
徐凯
唐奥林
Original Assignee
北京术锐技术有限公司
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Filing date
Publication date
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 CA3118935A priority Critical patent/CA3118935A1/en
Priority to JP2021533728A priority patent/JP7444887B2/ja
Priority to KR1020217023734A priority patent/KR102581231B1/ko
Priority to EP19903448.9A priority patent/EP3905524B1/en
Priority to US17/418,211 priority patent/US11803392B2/en
Publication of WO2020135679A1 publication Critical patent/WO2020135679A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/4401—Bootstrapping
    • G06F9/442—Shutdown
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/26—Power supply means, e.g. regulation thereof
    • G06F1/263—Arrangements for using multiple switchable power supplies, e.g. battery and AC
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/4401—Bootstrapping
    • 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
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • 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
    • H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
    • H03K17/28—Modifications for introducing a time delay before switching
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
    • H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K2217/00—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00
    • H03K2217/94—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00 characterised by the way in which the control signal is generated
    • H03K2217/96—Touch switches
    • H03K2217/96058—Fail-safe touch switches, where switching takes place only after repeated touch

Definitions

  • the invention relates to a device and a method for controlling an accidental shutdown switch for robot-assisted surgical equipment, and relates to the technical field of medical instruments.
  • Robot-assisted surgery is a hot trend emerging in the surgical field.
  • Surgical equipment integrated with advanced robot technology can greatly improve the doctor's surgical operation ability and efficiency, and reduce the doctor's work intensity and pressure, so it is widely popular.
  • robot-assisted surgical equipment is ultimately an electrical device with a risk of failure (must meet the detection requirements for single failure in the medical device industry standard, that is, a component in the device can be detected when it fails, and the failure cannot cause Risk to users or patients).
  • the shutdown button does not directly control the hardware shutdown circuit, but is connected to The corresponding control chip.
  • the chip collects the button status.
  • the software will start the shutdown process and display the shutdown information on the display unit.
  • the control module notifies the other functional modules of the system to start shutdown.
  • the final control module outputs a signal to control the operation of the hardware shutdown circuit, cut off the power supply of the system, and complete the shutdown.
  • control chip detects that the shutdown button is released and pressed again within 10s, the shutdown process will be forcibly interrupted.
  • This method can prevent the shutdown button from being accidentally touched or the button accidentally failing to cause the system to shut down by mistake, but it cannot prevent the corresponding software failure from causing the shutdown by mistake (additional additional redundant hardware is required to realize error correction).
  • robot-assisted surgical equipment in order to prevent possible erroneous shutdown actions in the pure hardware control switching mode, robot-assisted surgical equipment generally adopts pure software control mode to achieve shutdown. This method can prevent unexpected shutdown by mistake, but it cannot prevent the software part that controls the shutdown process from failing and causing a shutdown by mistake. If you need to prevent false shutdown signals caused by partial software failure, you need to add additional chips to achieve redundant control, which greatly increases R&D costs and material costs.
  • the object of the present invention is to provide a device and method for preventing an accidental shutdown switch for a robot-assisted surgical equipment, which can prevent an accidental shutdown caused by a wrong touch of a shutdown button or a button failure, and can also prevent software Failure caused by a faulty shutdown.
  • the present invention adopts the following technical solutions:
  • the present invention provides a device for preventing accidental shutdown of a robot-assisted surgical device.
  • the control device includes:
  • Switch button the switch button is used to trigger the switch operation
  • a switch-on/off control module the switch-on/off control module is used to detect the shutdown action of the switch-on button and obtain the shutdown intention through manual interaction;
  • the switching machine hardware circuit is used to detect the start-up action and send a signal to start power supply, the switching machine hardware circuit simultaneously detects the shutdown action of the switch-on button and the shutdown control signal sent by the switch-on control module and sends The signal disconnects the power supply.
  • control device further includes a system power module, the system power module is used to connect a power supply to supply power to each power module of the robot-assisted surgical equipment, and the system power module includes a power switch Control circuit.
  • the switch button uses a switch button that is also responsible for triggering the switch function; or, the switch button includes two switch buttons, which are used for starting and shutting down respectively.
  • the hardware circuit of the switch includes a switch button detection circuit, a startup action circuit and a shutdown action circuit; the input terminal of the switch button detection circuit is connected to the switch button, and In order to detect the state of the switch button and output the corresponding control signal, the start button action will trigger the switch button detection circuit to output the start control signal, and output the start control signal to the start action circuit, the switch off button
  • the action triggers the switch button detection circuit to output a hardware shutdown signal, and outputs the hardware shutdown signal to the shutdown action circuit;
  • the startup action circuit controls the system power module after receiving the startup control signal
  • the power supply switch control circuit is turned on to start power supply to achieve power-on; when the shutdown action circuit receives the hardware shutdown signal and simultaneously receives the software shutdown signal sent by the switch machine control module, the power supply switch control circuit is controlled to disconnect the power supply Achieve shutdown.
  • the switch-on control module includes a controller, an input circuit and an output circuit; the input circuit receives a shutdown button signal from the switch-on button detection circuit; the controller passes When it is learned by human interaction that the operator has a shutdown intention, the controller outputs the software shutdown signal to the shutdown action circuit through the output circuit.
  • the system power supply module further includes an AC/DC voltage conversion module, and the AC/DC voltage conversion module is used to convert the external AC network voltage into the DC voltage required by each module of the system
  • the output end of the AC/DC voltage conversion module is used to provide the required voltage for the switch hardware circuit, and the output end is connected to the power supply switch control circuit.
  • the output of the AC/DC conversion module is connected in series with one end of a normally open contact of a relay or one end of a normally open contact of a delay relay, and the other end is connected to each system function module .
  • the hardware circuit of the switch includes at least first to fifth relays, delay relays, bleeder diodes and current limiting resistors; the control coil and the first bleeder of the first relay After the diode is connected in parallel, one end is connected to the operating voltage, and the other end is connected to one end of the normally closed contact of the second relay; the other end of the normally closed contact of the second relay is connected in parallel to the constant of the first relay One end of the open contact and the normally closed contact of the third relay, the other end of the normally open contact of the first relay and the normally closed contact of the third relay are connected in parallel to one end of the switch button, so The other end of the switch button will be connected to the reference ground; the control coil of the third relay, the second bleeder diode, the control coil of the delay relay and the third bleeder diode are connected in parallel and one end is connected to the operating voltage, and the other One end is connected to one end of the normally closed contact of the second relay, the other
  • the other end of the switch button will be connected to the reference ground; the control coil of the fifth relay is connected to the first Five discharge diodes are connected in parallel after one end is connected to the working voltage, the other end is connected to one end of the switch button, the other end of the switch button is connected to the reference ground; one end of the current limiting resistor is connected to the working voltage, the other end It is connected to the normally open contact of the third relay, the other end of the normally open contact is connected to the anode of the indicator light in the switch button, and the cathode of the indicator light is connected to the reference ground.
  • the switch control module includes a control chip, a control coil of the fourth relay is connected in parallel with a bleeder diode, one end is connected to the output end of the control chip, and the other end is connected To the reference ground, one end of the normally open contact of the fourth relay is connected to the operating voltage, the other end of the normally open contact of the fourth relay is connected to the input end of the control chip, and one normally open contact of the fifth relay One end of the point is connected to the working voltage, and the other end is connected to the input end of the control chip, and the control chip is also connected to the human-machine interaction module through the communication interface to achieve communication.
  • the present invention also provides a control method of a device for preventing accidental shutdown of a robot-assisted surgical equipment, including:
  • Step S1 preparation for booting:
  • the system power module is connected to the external network voltage and begins to supply power to the switch's hardware circuit;
  • Step S2 power on:
  • the switch button is used to trigger the start-up action, each module of the system obtains the corresponding working voltage, and the system completes the start-up action;
  • Step S3 shutdown and anti-error shutdown:
  • the system After the power-on operation is completed, the system enters the power-on state, and each module is powered on to start working.
  • the power-on control module detects the power-off action of the power-on button and obtains the power-on intention through manual interaction.
  • the hardware circuit of the switch detects the shutdown action of the switch key and the shutdown control signal sent by the switch control module to control the system power module to turn off the power and the system enters the shutdown state; if the switch hardware circuit does not simultaneously detect the shutdown of the switch key
  • the action and the shutdown control signal issued by the power-on and turn-off control module consider the operation to be a wrong shutdown operation.
  • the robot-assisted surgery control system of the switch control device provided by the present invention is provided with a switch machine hardware circuit and switch machine
  • the hardware circuit is used to detect the power-on action to control the power supply module of the system to start supplying power.
  • the hardware circuit of the switch detects both the power-off action and the shutdown control signal sent by the switch control module to control the system power module to turn off the power supply. With little increase in cost, it can reduce the probability of unexpected shutdown due to system hardware and software failure or human misoperation, and further improve the reliability of equipment operation.
  • Figure 1 shows the traditional medical device equipment using pure hardware switch machine circuit control system to power on/off
  • Figure 2 shows that the Da Vinci surgical robot system uses software to control the switch circuit to control the system power on/off;
  • FIG. 3 is a control logic block diagram of a robot-assisted surgical equipment switching machine using the switch control device of the present invention
  • FIG. 4 is a schematic diagram of the principle of the robot-assisted surgical equipment switch of the switch control device of the present invention.
  • FIG. 5 is an implementation manner of an anti-false shutdown switch control device proposed by the present invention.
  • FIG. 7 is a shutdown control process of the device for preventing accidental shutdown switch according to the present invention.
  • the switch control device for preventing accidental shutdown of robot-assisted surgical equipment includes a switch key, a switch hardware circuit, a system power module, a switch control module, and a human-machine interaction module.
  • the switch button is used to control the switch operation of the switch hardware circuit. It should be noted that the switch button can directly trigger the startup action of the circuit between switches, but cannot directly trigger the shutdown action of the switch control hardware circuit;
  • the system power module is used to connect an external power supply to provide the required working voltage for each power module of the robot-assisted surgical equipment;
  • the hardware circuit of the switch is used to control the system power module to start or disconnect the power supply;
  • the on-off control module is used to detect the on-off button state, output the shutdown control signal, and inform the operator through the human-computer interaction module.
  • the switch-on control module can detect the corresponding button signal and can prompt the user of the corresponding information in the human-computer interaction module.
  • the shutdown control signal of the switch machine control module is output to the switch machine hardware circuit. When both the shutdown control signal and the switch key hardware signal coexist, the shutdown action of the switch hardware circuit can be triggered.
  • the switch button can use a switch button, which is also responsible for triggering the switch function; or, the switch case can also use two switch buttons, one is responsible for triggering the boot action, The other is responsible for the shutdown action, which is not limited here, and can be set according to actual needs.
  • the on-off hardware circuit includes an on-off button detection circuit, a power-on action circuit, and a power-off action circuit.
  • the input terminal of the switch button detection circuit is connected to the switch button, which is used to detect the state of the switch button and output the corresponding control signal.
  • the start-up button action will trigger the switch button detection circuit to output the start-up control signal, and output the start-up control signal to the start-up action circuit.
  • the power-on action circuit controls the power supply switch control circuit in the power supply module of the system to be turned on, and starts to supply power to each functional module of the system, thereby realizing power-on.
  • the shutdown key action triggers the corresponding hardware shutdown signal.
  • the hardware shutdown signal is transmitted to the shutdown action circuit.
  • the signal does not immediately trigger the shutdown action circuit.
  • the power supply switch control circuit in the power supply module of the control system disconnects the power supply.
  • the shutdown action circuit receives
  • the power supply switch control circuit in the power supply module of the control system is triggered to cut off the power supply to achieve shutdown.
  • the switch-on button detection circuit to send a corresponding level signal to the switch-on control module for the switch-on control module to determine the user's shutdown intention through the manual interaction module.
  • the on-off control module includes a controller, an input circuit and an output circuit.
  • the input circuit receives the shutdown button signal from the switch button detection circuit and inputs it to the controller.
  • the controller outputs the shutdown control signal to the shutdown action circuit through the output circuit, and cooperates with the hardware shutdown control signal to achieve shutdown.
  • the controller It can also communicate with other functional modules and human-computer interaction modules of the system through the communication interface.
  • the system power supply module includes an AC/DC voltage conversion module and a power supply switch control circuit.
  • the AC/DC voltage conversion module is used to convert the external AC network voltage into the DC voltage required by each module of the system, AC/DC
  • the DC voltage conversion module directly provides the voltage required for the operation of the switch machine hardware circuit, and on the other hand, it outputs to the power supply switch control circuit, which is controlled by the switch machine hardware circuit and supplies power to the other module functions of the system.
  • the switch button of this embodiment uses a switch button S1 and a signal indicator LED1;
  • the hardware circuit of the switch in this embodiment includes four common relays K1, K2, K3, K4 and a delay relay KT, and further includes a bleeder diode connected in parallel with each relay and a current limiting resistor R1.
  • the control coil of relay K1 is connected in parallel with a bleeder diode, and then one end is connected to the operating voltage VCC1, the other end is connected to a normally closed contact of K2, and the other end of the normally closed contact of K2 is connected to one of K1
  • the normally open contact is connected to a normally closed contact of K3.
  • the normally open contact of K1 is connected in parallel with the normally closed contact of K3.
  • the other end is connected to one end of the switch button S1 and the other end of the switch button S1.
  • the power-on signal can be detected (in the off state, S1 is pressed), and the power-on action can be realized (relay K1 pulls in, so that K3 and KT can pull in to realize power on).
  • the control coil of relay K3, the control coil of relay KT and the corresponding bleeder diode are connected in parallel, and then one end is connected to the operating voltage VCC1, and the other end is connected to a normally closed contact of relay K2, which is normally closed contact of relay K2
  • the other end of the is connected to a normally open contact of the relay K1 and a normally open contact of the relay K3, the normally open contact of the relay K1 is connected in parallel with the normally open contact of the relay K3, and the other end thereof is connected to the reference ground.
  • the control coil of the relay K2 is connected in parallel with a bleeder diode, and then one end is connected to the operating voltage VCC1, and the other end is connected to a normally open contact of the relay K4.
  • the other end of the normally open contact of the relay K4 is connected to the relay K1 A normally closed contact is connected, the other end of the normally closed contact of the relay K1 is connected to a normally open contact of the relay K2 and the relay K3, the normally open contacts of the relay K2 and the relay K3 are connected in parallel, and the other end is connected to One end of the on-off button S1 and the other end of the on-off button S1 will be connected to the reference ground.
  • the shutdown action can be realized (relay K2 pulls in, so that the relay K3 and the delay relay KT can be disconnected to achieve shutdown and power off, and it can be seen that it is impossible to directly shut down by pressing S1).
  • the control coil of the relay K5 is connected in parallel with a bleeder diode, and then one end is connected to the operating voltage VCC1, the other end is connected to one end of the switch button S1, and the other end of the switch button S1 is connected to the reference ground.
  • VCC1 operating voltage
  • the switch button S1 is pressed (S1 is pressed, the relay K5 is attracted), so that it can be fed back to the control chip in the switch control module for it to judge the user's intention to shut down.
  • One end of the resistor R1 is connected to the operating voltage VCC1, and the other end is connected to a normally open contact of the relay K3.
  • the other end of the normally open contact is connected to the anode of the indicator LED1 in the switch button, and the cathode of the LED1 is connected to the reference ground.
  • the system power supply module of this embodiment includes one or several AC/DC conversion modules, and its output VCC1 will directly provide the working voltage for the switch hardware circuit, and the other voltage output will first connect the normally open contact of the relay K3 or the delay relay The normally open contact of KT is then connected to each system function module to power it.
  • the switch control module of this embodiment includes a control chip.
  • the control coil of relay K4 is connected in parallel with the bleeder diode, and then one end is connected to the output of the control chip, and the other end is connected to the reference ground.
  • Relay K4 is driven by the control chip and outputs a software shutdown signal.
  • One end of the normally open contact of the relay K4 is connected to the operating voltage VCC2, and the other end is connected to the input of the driver chip, which can be used by the driver chip to detect whether the relay K4 has a sticking failure.
  • One end of a normally open contact of the relay K5 is connected to the operating voltage VCC2, and the other end is connected to the drive chip input for the drive chip to detect whether the switch button S1 is pressed.
  • the control chip communicates with the man-machine interaction module and other functional modules of the system through the communication interface.
  • the use process of the switch device for preventing accidental shutdown of a robot-assisted surgical device according to the present invention is as follows:
  • the switch is triggered by the same button S1.
  • the system power module Before the robot-assisted surgical equipment is turned on, the system power module is connected to the external network voltage and starts to provide VCC1 power for the switch hardware circuit.
  • the relay K3 of the system power module is disconnected because it is not engaged.
  • the relay K1 will pull in, and all the contacts of the relay K1 will act, which in turn makes the relay K3 electrically pull in.
  • Each normally open contact of relay K3 is closed, so that each module of the system obtains the corresponding working voltage, and the system completes the start-up action.
  • the indicator light LED1 embedded in the switch button closes the normally open contact of the relay K3 and lights up.
  • the relay K2 will not be able to pull in because the normally open contact of the relay K4 and the normally closed contact of the relay K1 are opened.
  • the relay K5 will be electrically attracted, so that its contact can feedback the switch S1 is pressed.
  • the relay K1 coil When the button S1 is released, the relay K1 coil will be de-energized, while the relay K3 coil will be de-energized due to the opening of the K1 normally-closed contact because its own normally-open contact has been closed.
  • the relay K5 will also lose power because the button S1 is off, and it can be fed back that the button has been released at this time.
  • the system After the power-on operation is completed, the system enters the power-on state, and each module is powered on and starts working. At this time, if the switch button S1 is pressed again (whether intentionally or unintentionally, or the hardware failure causes the switch S1 to close), only the relay K5 will be electrically closed, and the relay K1 will be closed due to the normally closed contact of the relay K3. The action is disconnected and no electricity can be obtained. Relay K2 will not be able to get power because the normally open contact of relay K4 is not closed, so the system will continue to work normally.
  • the on-off control module will detect that the shutdown button is pressed (the normally open contact of relay K5 changes from open to closed, so the control chip can detect the change of the corresponding level signal). After detecting that the button is pressed, the switch control module will control the human-machine interaction module to display the shutdown prompt message through the communication interface, prompting the user how to operate to trigger the shutdown process, such as "the shutdown button has been pressed. Release the button after 5s, then press the shutdown button again and keep pressing for more than 3s" (the combination of actions to trigger shutdown is not limited to this one, other combinations of actions are possible). The switch control module (by reading the status of the normally open contact of the relay K5) continuously collects the status of the switch button to determine whether the specified shutdown trigger action is realized.
  • the switch control module Determine that the shutdown trigger action is invalid this time, and continue to wait for the next shutdown trigger action. If all the aforementioned shutdown triggering actions are realized, the switch-on control module determines that the shutdown trigger is successful. K4 pulls in, once the switch button is pressed, the relay K2 gets electric pull in, thereby disconnecting the relay K3, cutting off the power supply of the system power module to the system modules (the power supply of the switch hardware circuit VCC1 is not affected , In order to ensure the power supply required for booting). The power button LED1 turns off, and the system enters the shutdown state.

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Abstract

一种用于机器人辅助手术设备的防误关机开关控制装置及方法，该控制装置包括：开关机按键，开关机按键用于触发开关机动作；系统电源模块，系统电源模块用于连接供电电源为机器人辅助手术设备的各用电模块供电；开关机控制模块，开关机控制模块用于检测开关机按键的关机动作并通过人工交互获取关机意图；开关机硬件电路，开关机硬件电路用于检测开机动作控制系统电源模块开始供电，开关机硬件电路同时检测到关机动作以及开关机控制模块发出的关机控制信号两路信号时控制系统电源模块断开供电。该控制装置在几乎不增加成本的前提下，可降低因系统软硬件故障或人为误操作而可能导致意外关机的概率，进一步提高设备运行的可靠性。

Description

用于机器人辅助手术设备的防误关机开关控制装置及方法 技术领域
本发明是关于一种用于机器人辅助手术设备的防误关机开关控制装置及方法，涉及医疗器械技术领域。
背景技术
机器人辅助手术是当前手术领域新兴的一个热门方向。集成了先进机器人技术的手术设备可以大大地提高医生的手术操作能力以及手术效率，降低医生的工作强度和压力，因而广受欢迎。但是机器人辅助手术设备归根结底还是一种电气设备，存在失效风险(须满足医疗器械行业标准中对于单次失效的检测要求，即设备中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)。若在机器人辅助手术过程中，关机按钮不小心被误触或是其他因素导致出现错误的关机信号，而将正在工作中的机器人辅助手术设备直接关机了，手术将不得不被迫中断，耽误治疗，严重时可能导致病人出现生命危险。
如图1所示，目前很多普通医疗设备均采用纯硬件关机电路的方式实现关机功能，即关机按钮一旦按下会立即出发相应关机电路中的继电器动作，从而启动不可逆的关机流程。这种方法显然不适合机器人辅助手术设备，尤其是执行关键手术操作的设备。
如图2所示，目前世界上应用最广的达芬奇手术机器人(直观外科手术公司)则采用纯软件控制的方式来实现关机，即关机按钮并不直接控制硬件关机电路，而是连接到相应的控制芯片。芯片采集按钮状态，当检测到关机按钮被按下后，软件将启动关机流程，同时在人机界面上显示关机信息。若10s内关机按钮没有动作，则控制模块通知系统其它功能模块开始关机，待相应关机任务完成后，最终控制模块输出信号控制硬件关机电路动作，切断系统供电，完成关机。而若控制芯片在10s内检测到关机按钮释放并被再次按下，则关机流程将被强行中断。这种方法可以防止关机按钮被误触或者按钮意外失效而导致系统误关机，但是它却无法防止相应软件故障而导致的误关机(需要再增加额外的冗余硬件来实现纠错)。
综上，为了防范纯硬件控制开关机方式中可能产生的误关机动作，机器人辅助手术设备普遍采用纯软件控制方式来实现关机。此种方式能防止非预期的误关机操作，但是却无法防止控制关机流程的软件部分发生失效而导致误关机。若需防范因软件部分失效而导致的错误关机信号，则需增加额外的芯片实现冗余控制，这极大增加了研发成本和物料成本。
发明内容
针对上述问题，本发明的目的是提供一种用于机器人辅助手术设备的防误关机开关控制装置及方法，能够防止因关机按钮被误触或按钮失效而导致的误关机，同时也可防范软件失效而导致产生的误关机。
为实现上述目的，本发明采取以下技术方案：
第一方面，本发明提供一种用于机器人辅助手术设备的防误关机开关控制装置，该控制装置包括：
开关机按键，所述开关机按键用于触发开关机动作；
开关机控制模块，所述开关机控制模块用于检测所述开关机按键的关机动作并通过人工交互获取关机意图；
开关机硬件电路，所述开关机硬件电路用于检测开机动作并发送信号开始供电，所述开关机硬件电路同时检测所述开关机按键的关机动作以及开关机控制模块发出的关机控制信号并发送信号断开供电。
上述防误关机开关控制装置，优选地，该控制装置还包括系统电源模块，所述系统电源模块用于连接供电电源为机器人辅助手术设备的各用电模块供电，所述系统电源模块包括供电开关控制电路。
上述防误关机开关控制装置，优选地，所述开关机按键采用一个同时负责触发开关机功能的开关按钮；或者，所述开关机按键包括两个开关机按钮，分别用于开机及关机。
上述防误关机开关控制装置，优选地，所述开关机硬件电路包括开关机按钮检测电路、开机动作电路和关机动作电路；所述开关机按钮检测电路的输入端连接所述开关机按键，用于检测所述开关机按键的状态并输出相应的控制信号，开机按键动作会触发所 述开关机按钮检测电路输出开机控制信号，并将所述开机控制信号输出到所述开机动作电路，关机按键动作会触发所述开关机按钮检测电路输出硬件关机信号，并将所述硬件关机信号输出到所述关机动作电路；所述开机动作电路接收到所述开机控制信号后控制所述系统电源模块中的供电开关控制电路导通开始供电实现开机；所述关机动作电路接收到所述硬件关机信号且同时接收到所述开关机控制模块发送的软件关机信号时控制所述供电开关控制电路断开供电实现关机。
上述防误关机开关控制装置，优选地，所述开关机控制模块包括控制器、输入电路以及输出电路；所述输入电路接收来自所述开关机按钮检测电路的关机按钮信号；所述控制器通过人工交互得知操作者具有关机意图时，所述控制器通过所述输出电路输出所述软件关机信号至所述关机动作电路。
上述防误关机开关控制装置，优选地，所述系统电源模块还包括AC/DC电压转换模块，所述AC/DC电压转换模块用于将外部交流网电压转换成系统各个模块所需的直流电压，所述AC/DC电压转换模块的输出端用于为所述开关机硬件电路提供工作所需电压，另一方面输出端连接所述供电开关控制电路。
上述防误关机开关控制装置，优选地，所述AC/DC转换模块的输出分别串联连接一个继电器的常开触点或是延时继电器的常开触点的一端，另一端连接各个系统功能模块。
上述防误关机开关控制装置，优选地，所述开关机硬件电路至少包含第一～第五继电器、延时继电器、泄流二极管和限流电阻；所述第一继电器的控制线圈与第一泄流二极管并联连接后一端连接到工作电压，另一端连接到所述第二继电器的常闭触点的一端；所述第二继电器的常闭触点的另一端并联连接所述第一继电器的常开触点和第三继电器的常闭触点的一端，所述第一继电器的常开触点和第三继电器的常闭触点的另一端并联后连接到所述开关机按钮的一端，所述开关机按钮的另一端将连接到参考地；所述第三继电器的控制线圈、第二泄流二极管、延时继电器的控制线圈和第三泄流二极管并联连接后一端连接到工作电压，另一端连接到所述第二继电器的常闭触点的一端，所述第二继电器常闭触点的另一端与所述第一继电器的常开触点以及第三继电器的常开触点的一端并联连接，另一端连接到参考地；所述第二继电器的控制线圈与第四泄流二极管并联连接后一端连接到工作电压上，另一端连接到所述第四继电器的常开触点一端，所述第四继电器常开触点的另一端与连接所述第一继电器的常闭触点连接，所述第一继 电器常闭触点的另一端并联连接所述第二继电器常开触点和第三继电器常开触点的一端并联连接，另一端连接到所述开关机按钮的一端，所述开关机按钮的另一端将连接到参考地；所述第五继电器的控制线圈与所述第五泄流二极管并联后一端连接到工作电压，另一端连接到所述开关机按钮的一端，所述开关机按钮的另一端连接到参考地；所述限流电阻一端连接到工作电压，另一端与所述第三继电器的常开触点相连，该常开触点的另一端连接到所述开关机按键中指示灯的阳极，指示灯的阴极连接到参考地。
上述防误关机开关控制装置，优选地，所述开关机控制模块包括控制芯片，所述第四继电器的控制线圈与一泄流二极管并联连接后一端与所述控制芯片输出端连接，另一端连接到参考地，所述第四继电器的常开触点一端连接到工作电压，所述第四继电器的常开触点另一端连接所述控制芯片输入端，所述第五继电器的一个常开触点的一端连接到工作电压，另一端连接所述控制芯片输入端，所述控制芯片还通过通信接口连接人机交互模块实现通信。
第二方面，本发明还提供一种用于机器人辅助手术设备的防误关机开关控制装置的控制方法，包括：
步骤S1，开机准备：
机器人辅助手术设备开机之前，系统电源模块连接外部网电压，开始为开关机硬件电路供电；
步骤S2，开机：
开关机按键用于触发开机动作，系统各个模块获得相应的工作电压，系统完成开机启动动作；
步骤S3，关机以及防误关机：
开机动作完成后，系统进入上电状态，各个模块得电开始工作，此时若开关机按钮再次被按下，开关机控制模块检测开关机按键的关机动作并通过人工交互获取关机意图，如果开关机硬件电路同时检测到开关机按键的关机动作以及开关机控制模块发出的关机控制信号则控制系统电源模块断开供电，系统进入关机状态；如果开关机硬件电路没有同时检测到开关机按键的关机动作以及开关机控制模块发出的关机控制信号则认为此次操作为误关机操作。
本发明由于采取以上技术方案，其具有以下优点：相比于其他采用的软件关机方式 的机器人辅助手术系统，本发明所提出开关控制装置的机器人辅助手术控制系统设置有开关机硬件电路，开关机硬件电路用于检测开机动作控制所述系统电源模块开始供电，开关机硬件电路同时检测关机动作以及开关机控制模块发出的关机控制信号两路信号时控制所述系统电源模块断开供电，因此在几乎不增加成本的情况下，可降低因系统软硬件故障或人为误操作而可能导致意外关机的概率，进一步提高设备运行的可靠性。
附图说明
图1为传统医疗器械设备采用纯硬件开关机电路控制系统上电/断电；
图2为达芬奇手术机器人系统采用软件控制开关机电路的方式控制系统上电/断电；
图3为采用本发明开关控制装置的机器人辅助手术设备开关机控制逻辑框图；
图4是本发明的开关控制装置的机器人辅助手术设备开关机原理示意图；
图5为本发明所提出防误关机开关控制装置的一种实现方式；
图6为本发明所提出防误关机开关控制装置的开机控制流程；
图7为本发明所提出防误关机开关控制装置的关机控制流程。
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，本发明提供的用于机器人辅助手术设备的防误关机开关控制装置，包括开关机按键、开关机硬件电路、系统电源模块、开关机控制模块和人机交互模块。
开关机按键用于控制开关机硬件电路的开关机动作，需要说明的是开关机按键可以直接触发开关机间电路的开机动作，但不能直接触发控制开关机硬件电路的关机动作；
系统电源模块用于连接外部供电电源为机器人辅助手术设备的各用电模块提供所需工作电压；
开关机硬件电路用于控制系统电源模块开始供电或断开供电；
开关机控制模块用于检测开关机按键状态、输出关机控制信号以及通过人机交互模块与对操作者进行信息提示。当开关机按键被按下时，开关机控制模块可以检测到相应的按键信号，并可在人机交互模块提示用户相应的信息。开关机控制模块的关机控制信号输出至开关机硬件电路。当且关机控制信号与开关机按键硬件信号同时存在时，开关机硬件电路的关机动作才能被触发。
在一个优选的实施例中，如图4所示，开关机按键可以采用一个开关按钮，其同时负责触发开关机功能；或者，开关机案件也可以采用两个开关按钮，一个负责触发开机动作，另一个负责关机动作，在此不做限制，可以根据实际需要进行设置。
在一个优选的实施例中，开关机硬件电路包括开关机按钮检测电路、开机动作电路和关机动作电路。开关机按钮检测回路的输入端连接到开关机按键，用于检测开关机按键的状态并输出相应的控制信号。开机按键动作会触发开关机按钮检测电路输出开机控制信号，并将开机控制信号输出到开机动作电路。开机动作电路接收到开机控制信号后控制系统电源模块中的供电开关控制电路导通，向系统各个功能模块开始供电，从而实现开机。关机按键动作会触发相应的硬件关机信号，硬件关机信号被传输到关机动作电路，信号并不会立即触发关机动作电路控制系统电源模块中的供电开关控制电路断开供电，当关机动作电路同时接收到来自开关机控制模块发送的关机控制信号时触发控制系统电源模块中的供电开关控制电路断开供电，实现关机。此外，关机按键被按下时也会触发开关机按钮检测电路向开关机控制模块发送相应的电平信号，以供开关机控制模块通过人工交互模块判断用户关机意图。
在一个优选的实施例中，开关机控制模块包括控制器、输入电路以及输出电路。其中，输入电路接收来自开关机按钮检测电路的关机按钮信号，并将其输入至控制器，控制器通过输出电路输出关机控制信号至关机动作电路，配合硬件关机控制信号实现关机，此外，控制器还可通过通信接口与系统其它功能模块以及人机交互模块进行通信。
在一个优选的实施例中，系统电源模块包括AC/DC电压转换模块和供电开关控制电路，AC/DC电压转换模块用于将外部交流网电压转换成系统各个模块所需的直流电压，AC/DC电压转换模块一方面直接为开关机硬件电路提供工作所需电压，另一方面 输出至供电开关控制电路，受开关机硬件电路控制，向系统其他各个模块功能供电。
下面通过具体实施例详细说明本发明的用于机器人辅助手术设备的防误关机开关控制装置的具体实现过程：
如图5～7所示，本实施例的开关机按键采用一个开关机按钮S1及信号指示灯LED1；
本实施例的开关机硬件电路包含四个普通继电器K1、K2、K3、K4以及一个延时继电器KT，此外还包括与各继电器并联的泄流二极管以及一个限流电阻R1。其中，继电器K1的控制线圈与一个泄流二极管并联，然后其一端连接到工作电压VCC1上，另一端连接到K2的一个常闭触点，K2的该常闭触点的另一端与K1的一个常开触点以及K3的一个常闭触点连接，K1的该常开触点与K3的该常闭触点并联，其另一端连接到开关机按钮S1的一端，开关机按钮S1的另一端将连接到参考地。通过该条电路回路，可以检测到开机信号(关机状态下，S1被按下)，并实现开机动作(继电器K1吸合，从而可让K3以及KT吸合，实现开机供电)。
继电器K3的控制线圈、继电器KT的控制线圈以及相应的泄流二极管并联，然后其一端连接到工作电压VCC1上，另一端连接到继电器K2的一个常闭触点，继电器K2的该常闭触点的另一端与继电器K1的一个常开触点以及继电器K3的一个常开触点连接，继电器K1的该常开触点与继电器K3的该常开触点并联，其另一端连接到参考地。
继电器K2的控制线圈与一个泄流二极管并联，然后其一端连接到工作电压VCC1上，另一端连接到继电器K4的一个常开触点，继电器K4的该常开触点的另一端与继电器K1的一个常闭触点连接，继电器K1的该常闭触点的另一端与继电器K2和继电器K3的一个常开触点连接，继电器K2、继电器K3的该常开触点并联，其另一端连接到开关机按钮S1的一端，开关机按钮S1的另一端将连接到参考地。通过该条电路回路，可以实现关机动作(继电器K2吸合，从而可让继电器K3以及延时继电器KT断开，实现关机断电，且可以看出，只按下S1是无法直接关机的)。
继电器K5的控制线圈与一个泄流二极管并联，然后其一端连接到工作电压VCC1上，另一端连接到开关机按钮S1的一端，开关机按钮S1的另一端连接到参考地。通过该条电路回路，可以检测开关机按钮S1是否被按下(S1按下，则继电器K5吸合)，从而可反馈给开关机控制模块中的控制芯片，供其判断用户关机意图。
电阻R1一端连接到工作电压VCC1，另一端与继电器K3的一个常开触点相连，该 常开触点的另一端连接到开关机按键中指示灯LED1的阳极，LED1的阴极连接到参考地。当继电器K3吸合时，继电器K3的常开触点闭合，从而指示灯LED1发光，可指示开机状态。
本实施例的系统电源模块包含一个或几个AC/DC转换模块，其输出VCC1将为开关机硬件电路直接提供工作电压，其他电压输出将先串联继电器K3的常开触点或是延时继电器KT的常开触点，然后再连接到各个系统功能模块，为其供电。
本实施例的开关机控制模块包含一个控制芯片。继电器K4的控制线圈与泄流二极管并联，然后其一端与控制芯片输出相连接，另一端连接到参考地。继电器K4受控制芯片驱动，输出软件关机信号。继电器K4的一个常开触点一端连接到工作电压VCC2，另一端连接到驱动芯片输入，可供驱动芯片检测继电器K4是否发生黏连故障。继电器K5的一个常开触点的一端连接到工作电压VCC2，另一端连接到驱动芯片输入，供驱动芯片检测开关机按钮S1是否被按下。此外控制芯片通过通信接口与人机交互模块以及系统其它功能模块实现通信。
基于上述实施例，本发明的用于机器人辅助手术设备的防误关机开关控制装置的使用过程为：
1、开机准备过程：
开关机均由同一按钮S1触发，机器人辅助手术设备在开机之前，系统电源模块连接外部网电压，开始为开关机硬件电路提供VCC1供电，而对于系统其它模块的供电(VCC2、VCC3等)，则由于系统电源模块的继电器K3未吸合而被断开。
2、开机过程：
按下开关机按钮S1，继电器K1将吸合，继电器K1的所有触点动作，进而使得继电器K3得电吸合。继电器K3的各个常开触点闭合，从而系统各个模块获得相应的工作电压，系统完成开机启动动作。开关机按键中内嵌的指示灯LED1将继电器K3常开触点闭合而点亮。继电器K2将由于继电器K4的常开触点以及继电器K1的常闭触点断开而无法吸合。继电器K5将得电吸合，从而其触点可反馈开关S1被按下。松开按钮S1，继电器K1线圈将失电，而继电器K3线圈由于其自身的常开触点已闭合，而不会因K1的常闭触点断开而失电。继电器K5也将因为按钮S1断开而失电，可反馈此时按钮已被松开。
3、关机过程以及防误关机：
开机动作完成后，系统进入上电状态，各个模块得电开始工作。此时若开关机按钮S1再次被按下(无论是有意或是无意，或是硬件失效导致开关S1闭合)，只有继电器K5将得电吸合，继电器K1将由于继电器K3的常闭触点已动作断开而无法得电。继电器K2将由于继电器K4的常开触点未闭合也无法得电，故系统仍将继续正常工作。
开关机控制模块将检测到关机按钮被按下(继电器K5的常开触点由断开变成闭合，故控制芯片可以检测到相应电平信号的变化)。检测到按钮被按下后，开关机控制模块将通过通信接口控制人机交互模块显示关机提示信息，提示用户如何操作以触发关机流程，比如“关机按钮已被按下，若确认关机，请在5s后释放按钮，然后再次按下关机按钮并保持按压3s以上”(触发关机的动作组合不限于此一种，其他的动作组合均可)。开关机控制模块(通过读取继电器K5常开触点的状态)持续采集开关机按钮的状态，来判断规定的关机触发动作是否被实现。如果相应关机触发动作没有被实现，比如关机按钮在第一次按下后5s内就被释放，或者释放后没有再次被按下，又或者再次被按下后保持不够3s，则开关机控制模块判定此次关机触发动作无效，继续等待下次关机触发动作。若前述关机触发动作均被实现，则开关机控制模块判定此次关机触发成功，一方面开关机控制模块控制人机交互模块显示“正在关机”的信息，另一方面开关机控制模块将驱动继电器K4吸合，此时开关机按钮一旦被按下，则继电器K2得电吸合，从而将继电器K3断开，切断系统电源模块向系统各模块的供电(开关机硬件电路的供电VCC1不受影响，以保证开机动作所需电源)。开关机按键LED1熄灭，系统进入关机状态。
进一步地，若系统中有一些重要的功能模块，其在关机前还需要时间完成一些重要任务(比如需要在关机掉电之前保存一些重要数据)，那么可以通过额外使用一个延时继电器KT来控制相应的断电，以保证关机动作后还有充裕的时间来完成重要的任务。此外也可以使用不间断电源UPS来对重要功能模块供电，由重要功能模块自身完成任务后再关闭UPS，实现延时掉电，以保证完成重要任务完成不被关机所打断。
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 (10)

  1. 一种用于机器人辅助手术设备的防误关机开关控制装置，其特征在于，该控制装置包括：
    开关机按键，所述开关机按键用于触发开关机动作；
    开关机控制模块，所述开关机控制模块用于检测所述开关机按键的关机动作并通过人工交互获取关机意图；
    开关机硬件电路，所述开关机硬件电路用于检测开机动作并发送信号开始供电，所述开关机硬件电路同时检测所述开关机按键的关机动作以及开关机控制模块发出的关机控制信号并发送信号断开供电。
  2. 根据权利要求1所述的用于机器人辅助手术设备的防误关机开关控制装置，其特征在于，该控制装置还包括系统电源模块，所述系统电源模块用于连接供电电源为机器人辅助手术设备的各用电模块供电，所述系统电源模块包括供电开关控制电路。
  3. 根据权利要求1所述的用于机器人辅助手术设备的防误关机开关控制装置，其特征在于，所述开关机按键采用一个同时负责触发开关机功能的开关按钮；或者，所述开关机按键包括两个开关机按钮，分别用于开机及关机。
  4. 根据权利要求1～3中任一项所述的用于机器人辅助手术设备的防误关机开关控制装置，其特征在于，所述开关机硬件电路包括开关机按钮检测电路、开机动作电路和关机动作电路；
    所述开关机按钮检测电路的输入端连接所述开关机按键，用于检测所述开关机按键的状态并输出相应的控制信号，开机按键动作会触发所述开关机按钮检测电路输出开机控制信号，并将所述开机控制信号输出到所述开机动作电路，关机按键动作会触发所述开关机按钮检测电路输出硬件关机信号，并将所述硬件关机信号输出到所述关机动作电路；
    所述开机动作电路接收到所述开机控制信号后控制所述系统电源模块中的供电开关控制电路导通开始供电实现开机；
    所述关机动作电路接收到所述硬件关机信号且同时接收到所述开关机控制模块发送的软件关机信号时控制所述供电开关控制电路断开供电实现关机。
  5. 根据权利要求4所述的用于机器人辅助手术设备的防误关机开关控制装置，其特征在于，所述开关机控制模块包括控制器、输入电路以及输出电路；
    所述输入电路接收来自所述开关机按钮检测电路的关机按钮信号；所述控制器通过人工交互得知操作者具有关机意图时，所述控制器通过所述输出电路输出所述软件关机信号至所述关机动作电路。
  6. 根据权利要求5所述的用于机器人辅助手术设备的防误关机开关控制装置，其特征在于，所述系统电源模块还包括AC/DC电压转换模块，所述AC/DC电压转换模块用于将外部交流网电压转换成系统各个模块所需的直流电压，所述AC/DC电压转换模块的输出端用于为所述开关机硬件电路提供工作所需电压，另一方面输出端连接所述供电开关控制电路。
  7. 根据权利要求6所述的用于机器人辅助手术设备的防误关机开关控制装置，所述AC/DC转换模块的输出分别串联连接一个继电器的常开触点或是延时继电器的常开触点的一端，另一端连接各个系统功能模块。
  8. 根据权利要求6所述的用于机器人辅助手术设备的防误关机开关控制装置，其特征在于，所述开关机硬件电路至少包含第一～第五继电器、延时继电器、泄流二极管和限流电阻；所述第一继电器的控制线圈与第一泄流二极管并联连接后一端连接到工作电压，另一端连接到所述第二继电器的常闭触点的一端；所述第二继电器的常闭触点的另一端并联连接所述第一继电器的常开触点和第三继电器的常闭触点的一端，所述第一继电器的常开触点和第三继电器的常闭触点的另一端并联后连接到所述开关机按钮的一端，所述开关机按钮的另一端将连接到参考地；所述第三继电器的控制线圈、第二泄流二极管、延时继电器的控制线圈和第三泄流二极管并联连接后一端连接到工作电压，另一端连接到所述第二继电器的常闭触点的一端，所述第二继电器常闭触点的另一端与所述第一继电器的常开触点以及第三继电器的常开触点的一端并联连接，另一端连接到参考地；所述第二继电器的控制线圈与第四泄流二极管并联连接后一端连接到工作电压上，另一端连接到所述第四继电器的常开触点一端，所述第四继电器常开触点的另一端与连接所述第一继电器的常闭触点连接，所述第一继电器常闭触点的另一端并联连接所述第二继电器常开触点和第三继电器常开触点的一端并联连接，另一端连接到所述开关机按钮的一端，所述开关机按钮的另一端将连接到参考地；所述第五继电器的控制线圈 与所述第五泄流二极管并联后一端连接到工作电压，另一端连接到所述开关机按钮的一端，所述开关机按钮的另一端连接到参考地；所述限流电阻一端连接到工作电压，另一端与所述第三继电器的常开触点相连，该常开触点的另一端连接到所述开关机按键中指示灯的阳极，指示灯的阴极连接到参考地。
  9. 根据权利要求8所述的用于机器人辅助手术设备的防误关机开关控制装置，其特征在于，所述开关机控制模块包括控制芯片，所述第四继电器的控制线圈与一泄流二极管并联连接后一端与所述控制芯片输出端连接，另一端连接到参考地，所述第四继电器的常开触点一端连接到工作电压，所述第四继电器的常开触点另一端连接所述控制芯片输入端，所述第五继电器的一个常开触点的一端连接到工作电压，另一端连接所述控制芯片输入端，所述控制芯片还通过通信接口连接人机交互模块实现通信。
  10. 一种如权利要求1-9中任一权利要求所述的用于机器人辅助手术设备的防误关机开关控制装置的控制方法，其特种在于，包括以下步骤：
    步骤S1，开机准备：
    机器人辅助手术设备开机之前，系统电源模块连接外部网电压，开始为开关机硬件电路供电；
    步骤S2，开机：
    开关机按键用于触发开机动作，系统各个模块获得相应的工作电压，系统完成开机启动动作；
    步骤S3，关机以及防误关机：
    开机动作完成后，系统进入上电状态，各个模块得电开始工作，此时若开关机按钮再次被按下，开关机控制模块检测开关机按键的关机动作并通过人工交互获取关机意图，如果开关机硬件电路同时检测到开关机按键的关机动作以及开关机控制模块发出的关机控制信号则控制系统电源模块断开供电，系统进入关机状态；如果开关机硬件电路没有同时检测到开关机按键的关机动作以及开关机控制模块发出的关机控制信号则认为此次操作为误关机操作。
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