Motor control network and method for surgical robot

Abstract

The invention discloses a motor control network and method for a surgical robot. The surgical robot comprises N mechanical arms, the motor control network comprises a master controller, a first-stage CAN bus, second-stage CAN buses corresponding to the mechanical arms respectively, a plurality of stations located on each mechanical arm, and motors correspondingly connected with the stations. The stations on each mechanical arm comprise one relay station. The number of the stations on each of the first-stage CAN bus and the second-stage CAN buses is greatly reduced, the probability of data frame conflicting is reduced, and the transmission delay time of part of communication data is shortened; in addition, the communication traffic on each CAN bus is greatly reduced; when ports of the stations on a certain mechanical arm break down, the other mechanical arms of the surgical robot cannot be influenced, high stability is achieved, and the overall performance is good.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a motor control network and method for surgical robots. Background technique [0002] CAN bus is a serial communication protocol with high communication rate and the highest communication bit rate can reach 1Mbits. The physical layer uses twisted pair as the communication medium, so it has strong anti-interference ability. The connection mode of the CAN bus standard in the prior art usually adopts a single-stage CAN bus structure, such as figure 1 As shown, on a CAN twisted-pair shielded wire, the main controller is connected to one end of the CAN twisted-pair shielded wire, and the other end of the CAN twisted-pair shielded wire is connected to multiple CAN station devices. The same CAN twisted-pair shielded wire The site devices can communicate with each other quickly. [0003] Based on the connection mode of the single-stage CAN bus structure, if there are many station...

AI Technical Summary

Problems solved by technology

[0003] Based on the connection mode of the single-stage CAN bus structure, if there are many stations on a CAN bus, the communication burden of the CAN bus may be heavy. Due to the conflict detection mechanism of CAN communication, some stations may be disconnected. Data will always collide, resulting in data loss

That is to say, if a single-level CAN bus is used and one node in the bus is abnormal and constantly wants to occupy the bus control right, all nodes in the entire bus will not be able to obtain the bus control right normally, causing the entire system to be paralyzed, and The larger the number of nodes, the greater the chance of this exception occurring

However, general surgical robots have multiple robotic arms, and each arm has multiple degrees of freedom, resulting in dozens of motors and drivers in the system as a whole. If a single-stage CAN bus is used, it may cause too many bus control conflicts. Ultimately leading to poor overall system performance

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