CN106175936B - A kind of operating robot fully operational status fault detection method - Google Patents
A kind of operating robot fully operational status fault detection method Download PDFInfo
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- CN106175936B CN106175936B CN201610798121.4A CN201610798121A CN106175936B CN 106175936 B CN106175936 B CN 106175936B CN 201610798121 A CN201610798121 A CN 201610798121A CN 106175936 B CN106175936 B CN 106175936B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0266—Operational features for monitoring or limiting apparatus function
- A61B2560/0276—Determining malfunction
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Abstract
The present invention relates to a kind of operating robot fully operational status fault detection method, setting includes a main control computer, a main embedded computer and several surgical robot systems from embedded computer；Main control computer is controlled by LAN router to main embedded computer and from embedded computer, and main embedded computer is in communication with each other by LAN router and the first communication bus with from embedded computer respectively.Main control computer of the present invention, main embedded computer and mutually carry out fault detect from embedded computer, the safety and reliability of surgical robot system operation can be improved under the premise of not increasing any attached detecting element, and effectively reduces the communications burden of system.The present invention can be widely applied in minimally-invasive surgery robot system.
Description
Technical field
The present invention relates to a kind of operating robot fault detection methods, are run completely especially with regard to a kind of operating robot
Status fault detection method.
Background technology
In recent years, Minimally Invasive Surgery has become a kind of important surgery hand since its wound area is small, restores the features such as fast
Art method, surgical robot system by it, clearly feed back, flexible the features such as manipulating has been widely used for by stereoscopic vision
Minimally Invasive Surgery field, wherein da Vinci (Leonardo da Vinci) operating robots of Intuitive Surgical companies are in minimally invasive hand
Art field achieves immense success.Surgical robot system generally includes an inspection operation arm and multiple surgical procedure arms, outside
Section doctor is instructed by operation input equipment and interface input control, which passes through the multiple control meters that can be in communication with each other
After the calculation process of calculation machine node, it is sent to inspection operation arm and surgical procedure arm is realized to their driving to put minimally invasive hand to good use
Art.Above-mentioned multiple control computer nodes constitute a kind of Distributed Computer System.
Due to putting the Minimally Invasive Surgery in human body to good use to surgical robot system safety there are rigors, need to each control
Computer node processed carries out fault detect in real time, and counter-measure the safest is taken according to failure.Existing operating robot
System uses whether additional detection signal is broken down with real-time inspection and control computer node, will greatly increase system in this way
Communications burden.Majority system takes redundance unit with taking over fault equipment at any time at present, and the method causes system resource
Waste；Further, existing surgical robot system does not propose the system solution party based on human-body safety pointedly
Case.
Invention content
In view of the above-mentioned problems, the object of the present invention is to provide a kind of operating robot fully operational status fault detect sides
Method can improve the safety and reliability of surgical robot system operation under the premise of not increasing attached detecting element.
To achieve the above object, the present invention takes following technical scheme：A kind of operating robot fully operational status failure
Detection method, it is characterised in that including the following contents：1) main control computer with set the period by LAN router respectively to
Main embedded computer and it is several broadcast expected pose signal from embedded computer, and by set the period receive it is main it is embedded in terms of
The non-operation instruction signal that calculation machine is sent, and simultaneously the attained pose respectively sent from embedded computer letter is received to set the period
Number；If main embedded computer does not receive main control computer and passes through local network from embedded computer within the setting period
The expected pose signal sent by device, and main embedded computer does not receive main control computer by LAN router and returns
Do-nothing operation answer signal, then it is assumed that main control computer breaks down under fully operational status；2) main embedded computer with
The expected pose signal that period reception main control computer is sent is set, and is referred to main control computer transmission do-nothing operation with setting the period
It enables signal and obtains the do-nothing operation answer signal of main control computer return；And it is monitored simultaneously respectively from insertion by the first communication bus
Control signal in the motor position that formula computer is sent；If main control computer is not received by LAN router within the setting period
The non-operation instruction signal that main embedded computer is sent, then it is assumed that event occurs under fully operational status in main embedded computer
Barrier；3) the expected pose letter that main control computer is sent respectively is received by LAN router from embedded computer to set the period
Number and by LAN router to main control computer send attained pose signal；Simultaneously to set the period through the first communication bus
It sends motor position to operation tool driving module/imaging tool driving module and controls signal；If main control computer is in the setting period
The a certain attained pose signal sent from embedded computer by LAN router is not received inside, and if in the setting period
Interior main embedded computer does not listen to the motor position control signal sent from embedded computer by the first communication bus, then recognizes
It breaks down under fully operational status from embedded computer thus.
Further, when main control computer breaks down, alarm mechanism and emergency stop machine are taken to surgical robot system
System, and to main control computer execute Restoration Mechanism after, main control computer continues through LAN router to respectively from embedded meter
Calculation machine sends expected pose signal, if the Restoration Mechanism to main control computer is failed, hand is executed with main embedded computer
Mechanism, and by LAN router control from embedded computer, and then operation tool/imaging tool is controlled into action
Make.
Further, when main embedded computer breaks down, alarm mechanism and urgency are taken to surgical robot system
After shutting down system, and manual mechanism is executed by main control computer, and then by from Embedded computer system operation tool/imaging
Tool is acted.
Further, when it is a certain break down from embedded computer when, alarm mechanism is taken to surgical robot system
After emergency stop mechanism, by main control computer execute manual mechanism, with main embedded computer replace break down it is a certain from
Embedded computer, main control computer by main embedded computer and it is other from Embedded computer system operation tool/at
As tool is acted.
Further, when Restoration Mechanism refers to that main control computer breaks down, main embedded computer waits for master control to calculate
Machine restarts recovery normally, and after main control computer restores normal, operator carries out state inquiry in the operation interface of main control computer
It asks that operation, main control computer send status enquiry to main embedded computer by LAN router and instruct, it is embedding to receive master
After entering the state response instruction that formula computer is sent, state of the adjustment surgical robot system to before breaking down.
Further, alarm mechanism specifically includes：1) when main control computer breaks down, main embedded computer passes through
Second communication bus makes corresponding main control computer indicator light update to wrong dispaly state；2) when main embedded computer
When breaking down, operation interface is switched to manual operation interface by main control computer automatically, and prompt master is embedded on the surface
Computer breaks down, while main control computer updates corresponding main embedded computer indicator light to wrong dispaly state；
3) when it is a certain break down from embedded computer when, main control computer automatically by operation interface be switched to manual operation interface,
Prompt on the surface it is a certain break down from embedded computer, main embedded computer is made by the second communication bus at this time
Being updated to wrong dispaly state slave embedded computer indicator light corresponding to obtaining.
Further, emergency stop mechanism refers to receiving main control computer or main embedded computer from embedded computer
Stopped by corresponding operation tool driving module/imaging tool driving module control operation tool and imaging tool after keeping order
Movement, and keep current pose；Or emergency stop mechanism refers to for a certain embedded from the master of embedded computer of failure
Computer receives drives module/imaging tool to drive module control after the holding order of main control computer by corresponding operation tool
Operation tool processed and imaging tool stop motion, and keep current pose.
Further, manual mechanism refers to manually adjusting area by the joint parameter of operating robot to directly control master control meter
Calculation machine, main embedded computer drive module/imaging tool to drive module from embedded computer, and then by operation tool
The action of operation tool/imaging tool is controlled, detailed process is：When main control computer breaks down, main embedded computer
It is switched to manual operation interface, area is manually adjusted by joint parameter and is directly controlled respectively from embedded computer, and then passes through hand
Art tool drives module/imaging tool driving module control operation tool and/imaging tool are acted；When main embedding assembly
When machine breaks down, main control computer be switched to manual operation interface, by joint parameter manually adjust area directly control respectively from
Embedded computer, so by operation tool drive module/imaging tool drive module control operation tool/imaging tool into
Action is made；When it is a certain break down from embedded computer when, main control computer is switched to manual operation interface, main embedded meter
Calculation machine taking over fault it is a certain from embedded computer, main control computer by joint parameter manually adjusts area, and to directly control master embedding
Enter formula computer and remaining slave embedded computer not broken down, and then module/imaging tool is driven by operation tool
Driving module control operation tool/imaging tool is acted.
Further, host computer is by being used as a certain main embedding assembly used from embedded computer of taking over fault
Machine or the slave Embedded computer system operation tool of normal work drive module, and then control operation tool and acted,
In, host computer includes main control computer or embedded computer；It is broken down with main control computer, controls operation tool into action
The slave embedded computer made is working properly, and main embedded computer carries out illustrating to control hand for use as main control computer
Art tool is acted, and operator operates joint parameter and manually adjusts the operation tool to be controlled in mapping selection area in area drive
The pose of dynamic model group, main embedded computer reads surgical arm joint parameter to set the period, and the expected pose of generation is sent out
It is sent to from embedded computer, receives expected pose signal from embedded computer and module opponent is driven by operation tool
The operation actuator pose of art tool tip carries out closed-loop control, and particular order is：A1) if operation tool end carries operation
The surgical arm of actuator is in unfolded state, then the operation actuator of operation tool driving module drive surgical tools end is kept
Current position, posture and recovery drives surgical arm Hui Zhi to original state, subsequently into step a2)；A2) if hand
The operation actuator that art tool tip carries is not in initial position and surgical arm is in straight state, then operation tool driving module drives
The operative incision of the operation actuator for tool tip of having an operation directly from a patient is exited to initial position, subsequently into step
a3)；A3) operator unloads operation tool from operation tool driving module, completes point of operation tool and operating robot
From.
Further, when the operative incision of operation tool from a patient exits, operation tool and operating robot are completed
When being kept completely separate, host computer is used as a certain main embedding assembly used from embedded computer of taking over fault by control
The slave Embedded computer system imaging tool of machine or normal work drives module, and then controls imaging tool and acted,
In, host computer includes main control computer or main embedding assembly：By a certain control imaging tool acted in terms of embedded
Calculation machine breaks down, and main embedded computer carries out illustrating to control for use as the slave embedded computer to break down is taken over
The tool of being formed as is acted, and operator operates joint parameter and manually adjusts the imaging work to be controlled in the mapping selection area in area
Tool driving module, main control computer are embedding to set period reading surgical arm joint parameter and the expected pose of generation is sent to master
Enter formula computer, main embedded computer receives expected pose signal and drives module to imaging tool end by imaging tool
Imaging illumination module pose carry out closed-loop control, particular order is：B1) if imaging tool end carries imaging illumination module
Surgical arm be in unfolded state, then the imaging illumination module of imaging tool driving module driving imaging tool end keeps current
Position, posture, and then drive surgical arm Hui Zhi, subsequently into step b2)；B2) if the imaging that imaging tool end carries
Illumination module is not in initial position and surgical arm is in straight state, then imaging tool driving module driving imaging tool end at
As the operative incision of illumination module directly from a patient is exited to initial position, subsequently into step b3)；B3) operator will
Imaging tool is unloaded from imaging tool driving module, completes the separation of imaging tool and operating robot.
The invention adopts the above technical scheme, which has the following advantages：1, the present invention is at surgical robot system
When fully operational status, by main control computer in surgical robot system, main embedded computer and from embedded meter
The method that calculation machine mutually detects failure, can improve surgical robot system under the premise of not increasing any attached detecting element
The safety and reliability of operation, and effectively reduce the communications burden of system.2, main embedded computer of the invention is for remembering
The operating status of surgical robot system is recorded, meanwhile, main embedded computer can make as the slave embedded computer of redundancy
With, when it is a certain break down from embedded computer after, the slave embedding assembly of the main alternative failure of embedded computer
Machine.3, when main control computer, main embedded computer in surgical robot system or when breaking down from embedded computer, this
Invention can complete fault recovery by alarm mechanism, emergency stop mechanism, Restoration Mechanism and manual mechanism these four security mechanisms, with
Auxiliary is exited positioned at operating robot part in patient body, can further improve the safety of surgical robot system.This hair
It is bright to can be widely applied in minimally-invasive surgery robot system.
Specific implementation mode
Detailed description is carried out to the present invention below by way of specific embodiment.It should be appreciated, however, that the offer of embodiment is only
For a better understanding of the present invention, they should not be interpreted as limitation of the present invention, the meaning that the "/" in the present embodiment indicates
For "or".
Operating robot fully operational status fault detection method provided by the invention, including the following contents：
1, setting includes a main control computer, a main embedded computer and several surgical engines from embedded computer
Device people's system；Main control computer is controlled by LAN router to main embedded computer and from embedded computer,
Main embedded computer carries out control and phase by LAN router and the first communication bus with from embedded computer respectively
Mutual communication.
The operating robot fully operational status of the present invention refers to that main control computer is continued by LAN router to master
Embedded computer and respectively from embedded computer send expected pose signal, it is any from embedded computer pass through first communication
Bus sends motor position control signal to operation tool driving module/imaging tool driving module and then controls operation tool/imaging
Tool is acted, any to continue to send attained pose letter to main control computer by LAN router from embedded computer
Number, wherein the preferred CAN bus of the first communication bus.
2, main control computer is to set the period by LAN router respectively to main embedded computer and several from embedding
Enter formula computer broadcast expected pose signal, and the non-operation instruction letter that main embedded computer is sent is received to set the period
Number, and simultaneously the attained pose signal respectively sent from embedded computer is received to set the period；
3, main embedded computer receives the expected pose signal that main control computer is sent to set the period, and to set week
Phase sends non-operation instruction signal to main control computer and obtains the do-nothing operation answer signal that main control computer returns；And lead to simultaneously
It crosses the first communication bus and monitors the motor position control signal respectively sent from embedded computer；
4, the expectation that main control computer is sent respectively is received by LAN router from embedded computer to set the period
Pose signal and by LAN router to main control computer send attained pose signal；It is logical through first to set the period simultaneously
Believe that bus sends motor position and control signal to operation tool driving module/imaging tool driving module；
If 5, main embedded computer, from embedded computer do not receive main control computer within the setting period and pass through office
The expected pose signal that domain network router is sent, and main embedded computer does not receive master control by LAN router and calculates
The do-nothing operation answer signal that machine returns, then it is assumed that main control computer breaks down under fully operational status；
If 6, main control computer does not receive main embedded computer by LAN router within the setting period and sends out
The non-operation instruction signal sent, then it is assumed that main embedded computer breaks down under fully operational status；
If 7, main control computer does not receive within the setting period a certain passes through LAN router from embedded computer
The attained pose signal of transmission, and if setting the period in main embedded computer not by the first communication bus listen to from
Control signal in the motor position that embedded computer is sent, then it is assumed that this occurs event from embedded computer under fully operational status
Barrier.
Further, when main control computer breaks down, alarm mechanism and emergency stop machine are taken to surgical robot system
System, and to main control computer execute Restoration Mechanism after, main control computer continues through LAN router to respectively from embedded meter
Calculation machine sends expected pose signal, if the Restoration Mechanism to main control computer is failed, hand is executed with main embedded computer
Mechanism, and by LAN router control from embedded computer, and then operation tool/imaging tool is controlled into action
Make.
Further, when main embedded computer breaks down, alarm mechanism and urgency are taken to surgical robot system
After shutting down system, and manual mechanism is executed by main control computer, and then by from Embedded computer system operation tool/imaging
Tool is acted.
Further, when it is a certain break down from embedded computer when, alarm mechanism is taken to surgical robot system
After emergency stop mechanism, by main control computer execute manual mechanism, with main embedded computer replace break down it is a certain from
Embedded computer, main control computer by main embedded computer and it is other from Embedded computer system operation tool/at
As tool is acted.
Further, when Restoration Mechanism of the invention refers to that main control computer breaks down, main embedded computer waits for
It is normal that main control computer restarts recovery, after main control computer restores normal, operator main control computer operation interface into
Row status enquiry operates, and main control computer sends status enquiry to main embedded computer by LAN router and instructs, and connects
After receiving the state response instruction that main embedded computer is sent, state of the adjustment surgical robot system to before breaking down.
Further, alarm mechanism of the invention is to cause operator note that specifically including：
1) when main control computer breaks down, main embedded computer makes corresponding master by the second communication bus
Indication lamp for computer update is controlled to wrong dispaly state, the second communication bus is preferably twin wire universal serial bus, i.e. I2C buses；
2) when main embedded computer breaks down, operation interface is switched to manual operation circle by main control computer automatically
Face prompts main embedded computer to break down on the surface, while main control computer is by corresponding main embedded computer
Indicator light is updated to wrong dispaly state；
3) when it is a certain break down from embedded computer when, operation interface is switched to manual behaviour by main control computer automatically
Make interface, prompt on the surface it is a certain break down from embedded computer, main embedded computer is logical by second at this time
Letter bus makes corresponding from the update of embedded computer indicator light to wrong dispaly state.
Further, emergency stop mechanism of the invention refers to passing through after receiving the holding order of host computer from embedded computer
Corresponding operation tool driving module/imaging tool driving module control operation tool and imaging tool stop motion, and keep working as
Preceding pose, wherein host computer can be main control computer or main embedded computer.
Further, manual mechanism of the invention refers to manually adjusting area by the joint parameter of operating robot directly to control
Main control computer processed, main embedded computer or from embedded computer, and then pass through operation tool and drive module/imaging tool
Module is driven to control the action of operation tool/imaging tool, detailed process is：
1) when main control computer breaks down, main embedded computer is switched to manual operation interface, is joined by joint
Number manually adjusts area and directly controls respectively from embedded computer, and then drives module/imaging tool to drive mould by operation tool
Group control operation tool and/imaging tool are acted；
2) when main embedded computer breaks down, main control computer is switched to manual operation interface, is joined by joint
Number manually adjusts area and directly controls respectively from embedded computer, and then drives module/imaging tool to drive mould by operation tool
Group control operation tool/imaging tool is acted；
3) when it is a certain break down from embedded computer when, main control computer be switched to manual operation interface, main insertion
Formula computer taking over fault it is a certain from embedded computer, main control computer manually adjusts area by joint parameter and directly controls
Main embedded computer and remaining slave embedded computer not broken down, and then module/imaging is driven by operation tool
Tool drives module control operation tool/imaging tool is acted.
Further, host computer (main control computer or embedded computer) (is used as and is taken over by main embedded computer
Failure it is a certain from embedded computer use) or normal work it is each from Embedded computer system operation tool drive mould
Group, and then control operation tool and acted.
It is broken down with main control computer, main embedded computer carries out illustrating to control for use as main control computer
Operation tool is acted, and operator operates joint parameter and manually adjusts the operation tool to be controlled in the mapping selection area in area
The pose of module, main embedded computer is driven to read surgical arm joint parameter to set the period, and by the expected pose of generation
It is sent to from embedded computer, receives expected pose signal from embedded computer and module pair is driven by operation tool
The operation actuator pose of operation tool end carries out closed-loop control, and then realizes the operation to operating robot with by surgical engine
The Partial security that operation tool is located in patient body in device people is withdrawn into initial position, and particular order is：
1) if the surgical arm of operation tool end carrying operation actuator is in unfolded state, operation tool drives mould
The operation actuator of group drive surgical tools end keeps current position, posture and restores to original state (such as to perform the operation and hold
When row device is surgical clamp, it should be restored to closed position), and then surgical arm Hui Zhi is driven, subsequently into step 2)；
2) if the operation actuator that operation tool end carries is not in initial position and surgical arm is in straight state, hand
The operative incision of the operation actuator of art tool drives module drive surgical tools end directly from a patient is exited to initial
Position, subsequently into step 3)；
3) operator unloads operation tool from operation tool driving module, completes operation tool and operating robot
Separation.
Further, when the operative incision of operation tool from a patient exits, operation tool and operating robot are completed
When being kept completely separate, host computer (main control computer or main embedded computer) by main embedded computer (be used as take over therefore
Barrier it is a certain from embedded computer use) or normal work it is each from Embedded computer system imaging tool drive module,
And then it controls imaging tool and is acted.
It is broken down with the slave embedded computer that a certain control imaging tool is acted, main embedded computer conduct
It takes over the slave embedded computer to break down to carry out illustrating that controlling imaging tool is acted for use, operator, which operates, closes
Section parameter manually adjusts the imaging tool to be controlled in the mapping selection area in area and drives module, and main control computer is to set the period
It reads surgical arm joint parameter and the expected pose of generation is sent to main embedded computer, main embedded computer receives
Expected pose signal drives module to carry out closed-loop control to the imaging illumination module pose of imaging tool end by imaging tool,
And then realize that the operation to operating robot is recalled with the Partial security for being located at imaging tool in operating robot in patient body
To initial position, particular order is：
1) if the surgical arm of imaging tool end carrying imaging illumination module is in unfolded state, imaging tool driving
The imaging illumination module of module driving imaging tool end keeps current position, posture, and then drives surgical arm Hui Zhi, then
It enters step 2)；
If 2) the imaging illumination module that imaging tool end carries is not in initial position and surgical arm is in straight state,
The operative incision of the imaging illumination module of imaging tool driving module driving imaging tool end directly from a patient exit to
Initial position, subsequently into step 3)；
3) operator unloads imaging tool from imaging tool driving module, completes imaging tool and operating robot
Separation.
The various embodiments described above are merely to illustrate the present invention, and each implementation steps of wherein method may be changed,
Every equivalents carried out based on the technical solution of the present invention and improvement, should not exclude in protection scope of the present invention
Except.
Claims (8)
1. a kind of operating robot fully operational status fault detection method, it is characterised in that including the following contents：
Setting includes a main control computer, a main embedded computer and several operating robot systems from embedded computer
System；Main control computer is controlled by LAN router to main embedded computer and from embedded computer, main insertion
Formula computer respectively by LAN router and the first communication bus with controlled and be in communication with each other from embedded computer；
1) main control computer is to set the period by LAN router respectively to main embedded computer and several from embedded
Computer broadcast expected pose signal, and the non-operation instruction signal that main embedded computer is sent is received to set the period, and
Simultaneously the attained pose signal respectively sent from embedded computer is received to set the period；If main embedded computer, from embedding
Enter formula computer and do not receive the expected pose signal that main control computer is sent by LAN router within the setting period, and is main
Embedded computer does not receive the do-nothing operation answer signal of main control computer return by LAN router, then it is assumed that master control
Computer breaks down under fully operational status；
2) main embedded computer with set the period receive main control computer send expected pose signal, and with set the period to
Main control computer sends non-operation instruction signal and obtains the do-nothing operation answer signal of main control computer return；And pass through simultaneously
One communication bus is monitored respectively controls signal from the motor position that embedded computer is sent；If main control computer is being set in the period not
The non-operation instruction signal that main embedded computer is sent is received by LAN router, then it is assumed that main embedded computer
It breaks down under fully operational status；
3) expected pose that main control computer is sent respectively is received by LAN router from embedded computer to set the period
Signal and by LAN router to main control computer send attained pose signal；It is total through the first communication to set the period simultaneously
Line sends motor position and controls signal to operation tool driving module/imaging tool driving module；If main control computer is in setting week
The a certain attained pose signal sent from embedded computer by LAN router is not received in phase, and if in setting week
Main embedded computer does not listen to the motor position control signal sent from embedded computer by the first communication bus in phase, then
Think that this breaks down from embedded computer under fully operational status.
2. a kind of operating robot fully operational status fault detection method as described in claim 1, which is characterized in that work as master
When control computer breaks down, alarm mechanism and emergency stop mechanism are taken to surgical robot system, and execute to main control computer
After Restoration Mechanism, main control computer continue through LAN router to respectively from embedded computer send expected pose signal,
If the Restoration Mechanism to main control computer is failed, manual mechanism is executed with main embedded computer, and pass through local network
By device control from embedded computer, and then controls operation tool/imaging tool and acted.
3. a kind of operating robot fully operational status fault detection method as described in claim 1, which is characterized in that work as master
When embedded computer breaks down, after taking alarm mechanism and emergency stop mechanism to surgical robot system, and pass through master control meter
Calculation machine executes manual mechanism, and then by being acted from Embedded computer system operation tool/imaging tool.
4. a kind of operating robot fully operational status fault detection method as described in claim 1, which is characterized in that when certain
One from embedded computer when breaking down, and after taking alarm mechanism and emergency stop mechanism to surgical robot system, passes through master control
Computer executes manual mechanism, replaces breaking down with main embedded computer a certain from embedded computer, master control calculates
Machine is by main embedded computer and other is acted from Embedded computer system operation tool/imaging tool.
5. a kind of operating robot fully operational status fault detection method as claimed in claim 2, which is characterized in that restore
When mechanism refers to that main control computer breaks down, main embedded computer waits for main control computer to restart recovery normally, waits for master control
After computer restores normal, operator carries out status enquiry operation in the operation interface of main control computer, and main control computer passes through
LAN router sends status enquiry instruction to main embedded computer, receives the state that main embedded computer is sent and answers
After answering instruction, state of the adjustment surgical robot system to before breaking down.
6. a kind of operating robot fully operational status fault detection method as described in Claims 2 or 3 or 4, feature exist
In alarm mechanism specifically includes：
1) when main control computer breaks down, main embedded computer makes corresponding master control meter by the second communication bus
Calculation machine indicator light is updated to wrong dispaly state；
2) when main embedded computer breaks down, operation interface is switched to manual operation interface by main control computer automatically,
Main embedded computer is prompted to break down on the surface, while main control computer indicates corresponding main embedded computer
Lamp is updated to wrong dispaly state；
3) when it is a certain break down from embedded computer when, main control computer automatically by operation interface be switched to manual operation circle
Face, prompt on the surface it is a certain break down from embedded computer, main embedded computer is total by the second communication at this time
Line makes corresponding from the update of embedded computer indicator light to wrong dispaly state.
7. a kind of operating robot fully operational status fault detection method as described in Claims 2 or 3 or 4, feature exist
In emergency stop mechanism refers to passing through after the holding order that embedded computer receives main control computer or main embedded computer
Corresponding operation tool driving module/imaging tool driving module control operation tool and imaging tool stop motion, and keep working as
Preceding pose；
Or emergency stop mechanism refers to receive master control from the main embedded computer of embedded computer for a certain of failure
Drive module/imaging tool that module is driven to control operation tool and imaging by corresponding operation tool after the holding order of computer
Tool stop motion, and keep current pose.
8. a kind of operating robot fully operational status fault detection method as described in Claims 2 or 3 or 4, feature exist
Refer to area being manually adjusted by the joint parameter of operating robot to directly control main control computer, master embedded in, manual mechanism
Computer or from embedded computer, so by operation tool drive module/imaging tool drive module control operation tool/
The action of imaging tool, detailed process are：
When main control computer breaks down, main embedded computer is switched to manual operation interface, manual by joint parameter
Adjustment area directly controls respectively from embedded computer, and then drives module/imaging tool to drive module control by operation tool
Operation tool and/imaging tool are acted；
When main embedded computer breaks down, main control computer is switched to manual operation interface, manual by joint parameter
Adjustment area directly controls respectively from embedded computer, and then drives module/imaging tool to drive module control by operation tool
Operation tool/imaging tool is acted；
When it is a certain break down from embedded computer when, main control computer be switched to manual operation interface, main embedding assembly
Machine taking over fault it is a certain from embedded computer, main control computer manually adjusts area by joint parameter and directly controls main insertion
Formula computer and remaining slave embedded computer not broken down, and then drive module/imaging tool to drive by operation tool
Dynamic model group control operation tool/imaging tool is acted.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798121.4A CN106175936B (en) | 2016-08-31 | 2016-08-31 | A kind of operating robot fully operational status fault detection method |
| PCT/CN2017/099848 WO2018041198A1 (en) | 2016-08-31 | 2017-08-31 | Method for detecting running state failure of surgical robot |
| JP2019531522A JP7211948B2 (en) | 2016-08-31 | 2017-08-31 | Surgery support robot system and its failure detection method |
| KR1020197009257A KR102263570B1 (en) | 2016-08-31 | 2017-08-31 | How to detect malfunction of surgical robot operation status |
| EP17845500.2A EP3508157B1 (en) | 2016-08-31 | 2017-08-31 | System for detecting a running state failure of a surgical robot |
| CA3035311A CA3035311C (en) | 2016-08-31 | 2017-08-31 | Method for detecting running state failure of surgical robot |
| US16/288,161 US11357584B2 (en) | 2016-08-31 | 2019-02-28 | Method for detecting faults in operating states of surgical robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798121.4A CN106175936B (en) | 2016-08-31 | 2016-08-31 | A kind of operating robot fully operational status fault detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106175936A CN106175936A (en) | 2016-12-07 |
| CN106175936B true CN106175936B (en) | 2018-09-04 |
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| WO2018041198A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Method for detecting running state failure of surgical robot |
| WO2018165969A1 (en) * | 2017-03-17 | 2018-09-20 | 深圳瀚飞科技开发有限公司 | System and method for detecting environmental monitoring remote communication fault based on single-chip microcomputer |
| CN108809676B (en) * | 2017-05-02 | 2023-07-18 | 北京米文动力科技有限公司 | Fault detection method and robot |
| CN107154981A (en) * | 2017-06-13 | 2017-09-12 | 北京品驰医疗设备有限公司 | A kind of monitoring method of the remote monitoring system based on implantable medical devices |
| KR20210145233A (en) * | 2019-04-02 | 2021-12-01 | 유니버셜 로보츠 에이/에스 | Scalable safety systems for robotic systems |
| CN113907885A (en) * | 2020-07-10 | 2022-01-11 | 北京术锐技术有限公司 | Surgical robot and surgical robot withdrawing method |
| CN112587239B (en) * | 2020-12-30 | 2022-04-26 | 上海微创医疗机器人（集团）股份有限公司 | Medical robot, fault detection method and storage medium |
| CN113057735B (en) * | 2021-03-16 | 2023-06-02 | 上海微创医疗机器人（集团）股份有限公司 | Control method of surgical robot system, readable storage medium, and robot system |
| CN113907808B (en) * | 2021-12-14 | 2022-03-01 | 极限人工智能有限公司 | Split type surgical device and control method thereof |
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