A method for detecting faults in a fully operating state of a surgical robot

Abstract

The invention relates to a method for detecting a fault in a full operational state of a surgical robot. The method is characterized in that a surgical robot system comprising a main control computer, a main embedded computer and a plurality of slave embedded computers is arranged; the main control computer is used for controlling the main embedded computer and the slave embedded computers through a local area network; the main embedded computer and the slave embedded computers communicate with each other through the local area network and first communication buses. The main control computer, the main embedded computer and the slave embedded computers perform fault detection mutually, so that on the premise of adding no auxiliary detecting element, the operational safety and reliability of the surgical robot system can be improved, and the communication burden of the surgical robot system can be reduced effectively. The method can be widely applied to minimally invasive surgical robot systems.

Description

technical field [0001] The invention relates to a fault detection method of a surgical robot, in particular to a fault detection method of a surgical robot in a fully running state. Background technique [0002] In recent years, minimally invasive surgery has become an important surgical method due to its characteristics of small trauma area and fast recovery. Surgical robot systems have been widely used in the field of minimally invasive surgery due to their clear stereoscopic visual feedback and flexible control. Among them, Intuitive Surgical's da Vinci (Da Vinci) surgical robot has achieved great success in the field of minimally invasive surgery. Surgical robot systems usually include a visual manipulation arm and multiple surgical manipulation arms. Surgeons input control commands through operating input devices and interfaces. After the control commands are processed by multiple control computer nodes that can communicate with each other, they are sent to the visual m...