Instrument driving method based on time sequence planning
Through the instrument driving method based on timing planning, the timing chart of medical instruments is designed and optimized, and the problem of the existing motion controllers directly opening the mold before sufficient verification is solved, and the precise driving control and stable operation of medical instruments are realized, reducing the Hardware maintenance costs.
Patent Information
- Application Number
- CN202411438772.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-15
- Publication Date
- 2025-02-18
AI Technical Summary
Existing motion controllers directly open the module before sufficient verification, resulting in high hardware maintenance costs.
The instrument driving method based on timing planning is adopted, and the timing chart of medical instruments is designed through a timing editor, the timing planner is imported, the 3D mechanical model and the driving board are connected, and the optimization is repeatedly until the instrument is running normally.
The timing design process is simplified through a graphical interface, combined with timing planning and 3D mechanical simulation technology, the precise driving control of medical instrument modules is realized, ensuring the accuracy and stability of instrument operation, and reducing hardware maintenance costs.
Smart Images
Figure CN119480057A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of medical instruments, and in particular to an instrument driving method based on timing planning. Background Art
[0002] Traditional motion control systems are responsible for delivering control instructions to system components. They are usually composed of hardware, firmware and software. The hardware part includes microprocessors, memory, interface circuits, etc.; firmware refers to software solidified in components such as microprocessors; and the software part includes models such as real-time operating systems and motion control instruction compilers.
[0003] Traditional motion controllers compile a complete set of software including instrument movements and error handling mechanisms. After circuit or mechanical changes, the motion control code needs to be modified and recompiled as a whole. This process is repeated until the test results reach the optimal state. The motion process cannot be displayed intuitively, and the mold is opened directly before sufficient verification, resulting in high hardware maintenance costs. Summary of the invention
[0004] The purpose of the present invention is to provide an instrument driving method based on timing planning, aiming to solve the problem that the existing motion controller directly opens the mold before sufficient verification, resulting in high hardware maintenance costs.
[0005] To achieve the above object, the present invention provides an instrument driving method based on timing planning, comprising the following steps:
[0006] Design timing diagrams for medical instruments using the timing editor;
[0007] Import the timing diagram into the timing planner, connect the 3D mechanical model, and observe whether the driving process of the 3D mechanical model by the timing diagram meets the requirements;
[0008] Connecting the timing planner to a driving board of a medical instrument to observe whether the movement of the medical instrument meets the requirements;
[0009] Repeat the steps of designing the timing diagram, importing the timing planner, connecting the 3D mechanical model, and connecting the driver board of the medical instrument until the medical instrument operates normally and obtains the results.
[0010] The timing editor defines the timing logic and action sequence of each module of the medical instrument through intuitive operations of dragging and connecting, including but not limited to motor control, sensor feedback and delayed execution.
[0011] The timing planner may obtain the corresponding timing file according to the corresponding machine model, or the timing file may be manually downloaded after being saved by the timing editor.
[0012] The timing planner parses the timing file, plans the timing logic and action parameters, encapsulates the action instructions and issues the instructions.
[0013] The specific method of repeatedly executing the steps of designing a timing diagram, importing a timing planner, connecting a 3D mechanical model, and connecting a driver board of the medical instrument until the medical instrument operates normally and obtains a result is as follows:
[0014] Importing the timing diagram into a timing planner for simulation verification to obtain simulation results;
[0015] Iteratively optimize the timing diagram based on the simulation results to obtain an optimized timing file;
[0016] The optimized timing file is connected to the real machine for debugging through the timing planner until the medical instrument runs normally and the results are obtained.
[0017] The present invention provides an instrument driving method based on timing planning, which designs a timing diagram of a medical instrument through a timing editor; imports the timing diagram into a timing planner, connects a 3D mechanical model, and observes whether the driving process of the 3D mechanical model by the timing diagram meets the requirements; connects the timing planner to a driving board of the medical instrument, and observes whether the movement of the medical instrument meets the requirements; repeatedly executes the steps of designing a timing diagram, importing a timing planner, connecting a 3D mechanical model, and connecting the driving board of the medical instrument until the medical instrument runs normally and obtains results. The method simplifies the timing design process through a graphical interface, combines timing planning with 3D mechanical simulation technology, realizes precise drive control of medical instrument modules, and ensures the accuracy and stability of instrument operation through real-time feedback adjustment. The graphical interface designer allows designers to define the timing logic and action sequence of medical instrument modules in an intuitive and efficient manner without complex programming, which greatly improves design efficiency and accuracy. The timing planner is seamlessly integrated with the 3D mechanical simulator to ensure accuracy through simulation verification. The designed timing diagram can accurately drive the mechanical model, so as to discover and solve problems in the research and development stage, avoiding mistakes and losses in actual applications. The equipment used in this method includes a graphical interface designer, a timing planner, a 3D mechanical simulator, and a medical instrument driver board interface. Standard communication protocols and interfaces are used to achieve efficient data transmission and instruction execution, support real-time feedback mechanisms, and feed back the actual operating status of the mechanical module to designers. It supports iterative optimization to ensure that the final medical instrument can meet the requirements of high precision and stability. This method is used for the research and development and production of various medical equipment that require precise timing control, including but not limited to surgical robots, diagnostic equipment, therapeutic instruments, etc., providing strong support for the advancement of medical technology. Compared with traditional programming and debugging methods, this method has significant advantages such as high design efficiency, strong accuracy, good stability, and low maintenance cost. It can significantly improve the research and development efficiency and product quality of medical equipment, and solve the problem that the existing motion controller directly opens the mold before sufficient verification, resulting in high hardware maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0019] Figure 1 It is a flowchart of the timing planning process.
[0020] Figure 2 This is the graphical interface diagram of the timing editor.
[0021] Figure 3 This is the interface diagram of the timing group editing.
[0022] Figure 4 This is the timing action editing interface diagram.
[0023] Figure 5 This is a flow chart of the timing planner.
[0024] Figure 6 This is a connection diagram of the medical instrument driver board.
[0025] Figure 7 The present invention provides a flow chart of an instrument driving method based on timing planning.
[0026] Figure 8 It is a flowchart of a specific method of repeatedly executing the steps of designing a timing diagram, importing a timing planner, connecting a 3D mechanical model, and connecting a driver board of a medical instrument until the medical instrument operates normally and obtains results. DETAILED DESCRIPTION
[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.
[0028] See also Figures 1 to 8 The present invention provides an instrument driving method based on timing planning, comprising the following steps:
[0029] S1 designs the timing diagram of medical instruments through the timing editor;
[0030] In an embodiment of the present invention, a user-friendly graphical interface designer is designed to allow designers to define the timing logic and action sequence of each module of the medical instrument through intuitive operations such as dragging and connecting. A rich graphical component library is provided, including but not limited to motor control, sensor feedback, delayed execution, etc., to meet the control requirements of different medical instruments. It supports saving the designed timing diagram as a standard format file, which is convenient for subsequent import into the timing planner for further processing.
[0031] Create timing groups in the timing editor interface, add action units to each group according to actual needs, and use dragging to define the start and end time of the action in the timing diagram.
[0032] S2 imports the timing diagram into the timing planner, connects the 3D mechanical model, and observes whether the driving process of the 3D mechanical model by the timing diagram meets the requirements;
[0033] In the embodiment of the present invention, a timing diagram file is received from a timing editor, and its timing logic and action parameters are parsed. The timing diagram is connected to the 3D mechanical simulator interface to convert the timing diagram into control instructions to drive the 3D mechanical model to perform simulation operation. The simulation results are displayed in real time, including the motion trajectory, speed, acceleration and other parameters of the mechanical module, so that designers can evaluate whether the timing diagram design meets actual needs. An adjustment and optimization interface is provided to allow designers to iteratively modify the timing diagram based on the simulation result feedback, such as Figure 5 shown.
[0034] The timing planner can pull the corresponding timing file according to the corresponding model, or manually download the timing file and import it into the timing planner after saving it in the timing editor; the timing planner parses the timing file, plans the timing logic and action parameters, encapsulates the action instructions, and issues the instructions.
[0035] S3 connects the timing planner to a driving board of a medical instrument to observe whether the movement of the medical instrument meets the requirements;
[0036] In an embodiment of the present invention, the timing planner is connected to the medical instrument driver board through a standard communication protocol (such as a serial port, CAN bus, etc.). The verified timing diagram is converted into an actual control signal and sent to the medical instrument driver board to drive the actual mechanical module to move according to the predetermined timing. Real-time status feedback from the driver board, including motor current, position information, etc., is received to monitor and diagnose the operating status of the instrument, such as Figure 6 shown.
[0037] The 3D mechanical model executes actions according to the issued instructions, and uses the Unity3D physics engine to simulate various physical characteristics, such as collision, collision response, collision damage, fluid mechanics, etc., to verify whether it can proceed according to the designed timing and whether there is a physical collision. If the verification passes, connect to the real machine for further verification.
[0038] The main control board of the medical instrument receives the planner's instructions and drives the instrument to verify whether the instrument's actions meet the timing plan and whether the instrument's detection process and results are correct.
[0039] S4 repeatedly executes the steps of designing the timing diagram, importing the timing planner, connecting the 3D mechanical model, and connecting the driver board of the medical instrument until the medical instrument operates normally and obtains the results.
[0040] In an embodiment of the present invention, the designer preliminarily designs the timing diagram through the graphical interface designer and imports it into the timing planner for simulation verification. The timing diagram is adjusted according to the simulation results until the design requirements are met. The optimized timing diagram is sent to the medical instrument driver board through the timing planner for actual operation verification. The movement of the mechanical module is observed and recorded in real time. If necessary, the graphical interface designer is returned to perform fine-tuning again until the medical instrument operates accurately and achieves the expected results.
[0041] Specific method:
[0042] S41 imports the timing diagram into a timing planner for simulation verification to obtain a simulation result;
[0043] In the embodiment of the present invention, the purpose is to verify the correct rows of the timing operation and to ensure safety without physical collision.
[0044] The specific steps are as follows:
[0045] Step 1: The timing planner can import the corresponding timing file according to the model;
[0046] Step 2: The planner plans the timing logic and action parameters, encapsulates the action instructions, and sends the instructions to the model imported by Unity3D;
[0047] Step 3: Use Unity3D's physics engine to simulate various physical properties, such as collision, collision response, collision damage, fluid mechanics, etc., to verify whether the designed timing can be followed and whether there is physical collision;
[0048] Step 4: Repeat the above process until the timing requirements are met and no physical collision occurs, and then proceed to real machine debugging.
[0049] S42 iteratively optimizes the timing diagram based on the simulation results to obtain an optimized timing file;
[0050] In an embodiment of the present invention, the timing diagram is adjusted according to the simulation results, and the specific steps are as follows:
[0051] Step 1: Observe the model movement in the Unity3D environment to see if it meets the timing design;
[0052] Step 2: Use Unity3D's physics engine to detect. If a collision occurs, the model will stop and record relevant logs.
[0053] S43 connects the optimized timing file to the real machine for debugging through the timing planner until the medical instrument runs normally and obtains the result.
[0054] In the embodiment of the present invention, the optimized timing file is connected to the real machine for debugging through the timing planner, with the purpose of verifying the correctness of the mechanical operation and the correctness of the instrument test results.
[0055] The specific steps are as follows:
[0056] Step 1: The timing planner can import the corresponding timing file according to the model;
[0057] Step 2: The planner plans the timing logic and action parameters, encapsulates the action instructions, and sends the instructions to the instrument main control board;
[0058] Step 3: Observe whether the mechanical action of the instrument meets the timing design and verify the correctness of the instrument test results;
[0059] Step 4: Repeat the above process until the instrument test results are within the allowable deviation range.
[0060] The above disclosure is only a preferred embodiment of the instrument driving method based on timing planning of the present invention. Of course, it cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment are implemented, and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.
Claims
1. An instrument driving method based on timing planning, characterized in that: The following steps are involved: Design timing diagrams for medical instruments using the timing editor; Import the timing diagram into the timing planner, connect the 3D mechanical model, and observe whether the driving process of the 3D mechanical model by the timing diagram meets the requirements; Connecting the timing planner to a driving board of a medical instrument to observe whether the movement of the medical instrument meets the requirements; Repeat the steps of designing the timing diagram, importing the timing planner, connecting the 3D mechanical model, and connecting the driver board of the medical instrument until the medical instrument operates normally and obtains the results.
2. The instrument driving method based on timing planning as claimed in claim 1, characterized in that: The timing editor defines the timing logic and action sequence of each module of the medical instrument through intuitive operations of dragging and connecting, including but not limited to motor control, sensor feedback and delayed execution.
3. The instrument driving method based on timing planning as claimed in claim 1, characterized in that: The timing planner can obtain the corresponding timing file according to the corresponding model, or manually download the timing file after the timing editor saves it.
4. The instrument driving method based on timing planning as claimed in claim 1, characterized in that: The timing planner parses the timing file, plans the timing logic and action parameters, encapsulates the action instructions and issues the instructions.
5. The instrument driving method based on timing planning as claimed in claim 1, characterized in that: The steps of repeatedly executing the design timing diagram, importing the timing planner, connecting the 3D mechanical model, and connecting the driver board of the medical instrument until the medical instrument operates normally and obtains the result are as follows: Importing the timing diagram into a timing planner for simulation verification to obtain simulation results; Iteratively optimize the timing diagram based on the simulation results to obtain an optimized timing file; The optimized timing file is connected to the real machine for debugging through the timing planner until the medical instrument runs normally and the results are obtained.