Driving control circuit, driving control device and surgical robot

Abstract

The invention provides a drive control circuit, a drive control device and a surgical robot, an emergency stop instruction is generated through an emergency stop switch circuit according to the emergency stop operation of a user, and a first emergency stop control signal is generated through an emergency stop detection circuit according to the emergency stop instruction; the signal processing circuit generates a corresponding enabling control signal according to the first sudden stop control signal and outputs the enabling control signal to the enabling end of the driving circuit, so that the driving circuit is controlled to drive the load to be in a corresponding working state, and the purpose of sudden stop of the load is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a drive control circuit, a drive control device, and a surgical robot. Background Art

[0002] At present, medical surgical robots are favored by surgeons and patients due to advantages such as wide field of vision and high precision, and their application has become a trend in the development of future surgeries. However, since surgical robots are intelligent medical devices integrating multiple modern high-tech means, their safety performance and risk response capabilities are closely related to the life safety of patients, which is a crucial function of medical surgical robots.

[0003] The power box of a medical surgical robot is the power unit that directly controls the surgical instruments, and the doctor controls the rotation of the surgical instruments by remotely operating the power box of the surgical robot. However, when an emergency occurs during the operation, a safe and reliable emergency stop method is required to control the emergency braking of the surgical instruments, reduce the injury to the patient, and timely avoid the emergencies during the operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a drive control circuit, a drive control device, and a surgical robot, aiming to provide a safe and reliable emergency stop method to control the emergency braking of the surgical instruments.

[0005] The first aspect of the embodiment of the present invention provides a drive control circuit for controlling a load to work in a corresponding state. The drive control circuit includes:

[0006] An emergency stop switch circuit for generating an emergency stop instruction according to the user's emergency stop operation;

[0007] An emergency stop detection circuit connected to the emergency stop switch circuit for generating a first emergency stop control signal according to the emergency stop instruction;

[0008] A signal processing circuit connected to the emergency stop detection circuit for receiving the first emergency stop control signal and generating a corresponding enable control signal according to the first emergency stop control signal;

[0009] A drive circuit, the enable end of the drive circuit is used to receive the enable control signal output by the signal processing circuit, and the drive circuit drives the load to be in a corresponding working state according to the voltage of its enable end.

[0010] In one embodiment, the drive control circuit further includes:

[0011] The main control circuit is used to generate a corresponding second emergency stop control signal according to the emergency stop control instruction and output it to the signal processing circuit; the signal processing circuit is further used to generate a corresponding enable control signal according to the second emergency stop control signal.

[0012] In one embodiment, the emergency stop switch circuit includes:

[0013] A plurality of emergency stop switch units, the output ends of the plurality of emergency stop switch units are connected to the emergency stop detection circuit, and the emergency stop detection circuit is further used to output the first emergency stop control signal to the signal processing circuit when any one of the emergency stop switch units triggers an emergency stop action.

[0014] In one embodiment, the main control circuit is further used to receive the first emergency stop control signal output by the emergency stop detection circuit, and generate the second emergency stop control signal according to the first emergency stop control signal and output it to the signal processing circuit.

[0015] In one embodiment, the main control circuit is further used to generate a load control signal according to the control instruction and output it to the drive circuit; the drive circuit generates a corresponding load drive signal according to the load control signal to drive the load to be in a corresponding working state.

[0016] In one embodiment, the load is a motor, and the drive control circuit further includes:

[0017] A power circuit, connected between the motor and the drive circuit, is used to conduct or turn off according to the load drive signal to control the current flowing through the motor.

[0018] In one embodiment, the power circuit includes a first switch tube, a second switch tube, a third switch tube, a fourth switch tube, and a current limiting resistor;

[0019] The first end of the first switch tube and the first end of the third switch tube are commonly connected to the power supply terminal, the second end of the first switch tube and the first end of the second switch tube are commonly connected to the negative electrode of the motor, the second end of the third switch tube and the first end of the fourth switch tube are commonly connected to the positive electrode of the motor, the second end of the second switch tube and the second end of the fourth switch tube are commonly connected to the ground, and the control ends of the first switch tube, the second switch tube, the third switch tube, and the fourth switch tube are connected to the drive circuit.

[0020] In one embodiment, the main control circuit is further used to generate a load emergency stop control signal according to the first emergency stop control signal and output it to the drive circuit; the drive circuit controls the second switch tube and the fourth switch tube to conduct according to the load emergency stop control signal, and controls the first switch tube and the third switch tube to turn off.

[0021] In the second aspect of the embodiments of the present application, a drive control device is further provided, including the drive control circuit described in any of the above embodiments.

[0022] In the third aspect of the embodiments of the present application, a surgical robot is further provided, including a motor; and the drive control circuit described in any of the above embodiments.

[0023] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: The emergency stop switch circuit generates an emergency stop instruction according to the user's emergency stop operation, and the emergency stop detection circuit generates a first emergency stop control signal according to the emergency stop instruction. The signal processing circuit generates a corresponding enable control signal according to the first emergency stop control signal and outputs it to the enable terminal of the drive circuit, so as to control the drive circuit to drive the load to be in the corresponding working state, achieving the purpose of emergency stop of the load. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic structural diagram of a drive control circuit provided by an embodiment of the present invention;

[0026] Figure 2 It is a schematic structural diagram of a drive control circuit provided by an embodiment of the present invention;

[0027] Figure 3 It is a schematic structural diagram of a drive control circuit provided by an embodiment of the present invention;

[0028] Figure 4 It is a schematic structural diagram of a drive control circuit provided by an embodiment of the present invention;

[0029] Figure 5 It is a schematic structural diagram of a drive control circuit provided by an embodiment of the present invention;

[0030] Figure 6 It is a schematic structural diagram of a drive control circuit provided by an embodiment of the present invention;

[0031] Figure 7 It is a schematic structural diagram of a drive control circuit provided by an embodiment of the present invention;

[0032] Figure 8 It is a schematic diagram of the current flow direction of a power circuit provided by an embodiment of the present invention;

[0033] Figure 9 It is a schematic diagram of the current flow direction of the power circuit provided by the embodiment of the present invention. Specific embodiments

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0037] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0038] The embodiment of the present invention provides a drive control circuit, which is used to control the load 500 to work in a corresponding state. Refer to Figure 1As described above, the drive control circuit in this embodiment includes an emergency stop switch circuit 100, an emergency stop detection circuit 200, a signal processing circuit 300, and a drive circuit 400. Among them, the emergency stop switch circuit 100 is used to generate an emergency stop command according to the user's emergency stop operation; the emergency stop detection circuit 200 is connected to the emergency stop switch circuit 100, and the emergency stop detection circuit 200 is used to generate a first emergency stop control signal according to the emergency stop command; the signal processing circuit 300 is connected to the emergency stop detection circuit 200, and the signal processing circuit 300 is used to receive the first emergency stop control signal and generate a corresponding enable control signal according to the first emergency stop control signal; the enable terminal of the drive circuit 400 is used to receive the enable control signal output by the signal processing circuit 300, and the drive circuit 400 drives the load 500 to be in a corresponding working state according to the voltage at its enable terminal.

[0039] In this embodiment, by outputting an emergency stop command through the emergency stop switch circuit 100 and directly sending a corresponding enable control signal to the enable terminal of the drive circuit 400 via the emergency stop detection circuit 200 and the signal processing circuit 300, the drive circuit 400 can be directly enabled to stop emergently by a hardware switch after an emergency occurs, and the drive circuit 400 can be controlled to stop outputting.

[0040] In some embodiments, when the load 500 is a motor, the drive circuit 400 can control the motor to be in a short-circuited state after receiving a non-enabled enable control signal at its enable terminal. Since the motor is short-circuited, when the motor has a speed, a back electromotive force will form a current in the motor circuit, causing the motor to output a braking force. At this time, the motor acts as a damping device, causing the actuator components at the rear stage of the motor to quickly decelerate and stop.

[0041] In one embodiment, as shown in Figure 2 the drive control circuit in this embodiment further includes a main control circuit 600. The main control circuit 600 can be used to generate a corresponding second emergency stop control signal according to the emergency stop control command and output it to the signal processing circuit 300; the signal processing circuit 300 is further used to generate a corresponding enable control signal according to the second emergency stop control signal.

[0042] In this embodiment, the main control circuit 600 can receive the emergency stop control command issued by the upper computer and send a second emergency stop control signal to the signal processing circuit 300 based on this emergency stop control command. At this time, the signal processing circuit 300 outputs a corresponding non-enabled enable control signal to the drive circuit 400 based on this second emergency stop control signal, thereby realizing the purpose of enabling the drive circuit 400 to stop emergently through the user's remote operation command, and also realizing the purpose of controlling the drive circuit 400 to stop outputting.

[0043] In one embodiment, the signal processing circuit 300 can be an OR gate logic circuit. Its multiple input terminals can be respectively connected to the main control circuit 600 and the emergency stop detection circuit 200. When an emergency stop control signal is issued by any one of the main control circuit 600 and the emergency stop detection circuit 200, the signal processing circuit 300 can output an enable control signal for controlling the drive circuit 400 to stop working to the enable terminal of the drive circuit 400, achieving the purpose of being able to control the load 500 to stop working both remotely and proximally.

[0044] In one embodiment, referring to Figure 3 As shown, the emergency stop switch circuit 100 includes multiple emergency stop switch units 110. The output terminals of the multiple emergency stop switch units 110 are connected to the emergency stop detection circuit 200. The emergency stop detection circuit 200 is further configured to output a first emergency stop control signal to the signal processing circuit 300 when any one of the emergency stop switch units 110 triggers an emergency stop operation.

[0045] In this embodiment, multiple emergency stop switch units 110 can all perform emergency stop operations. When any one of the emergency stop switch units 110 performs an emergency stop operation, it will output an emergency stop instruction to the emergency stop detection circuit 200. At this time, the emergency stop detection circuit 200 outputs a first emergency stop control signal.

[0046] In some embodiments, the emergency stop switch unit 110 can be a mechanical switch or an electronic switch. It can be a push-button type key switch or a knife-switch type mechanical changeover switch. When the emergency stop switch unit 110 performs an emergency stop operation, the emergency stop switch unit 110 outputs a high-level emergency stop instruction to the emergency stop detection circuit 200. The emergency stop detection circuit 200 is triggered, and thus outputs a first emergency stop control signal to the signal processing circuit 300. After the signal processing circuit 300 performs signal conversion or logic processing on the first emergency stop control signal, it outputs a corresponding enable control signal to the enable terminal of the drive circuit 400, thereby controlling the drive circuit 400 to drive the load 500 to make an emergency stop.

[0047] In one embodiment, the emergency stop detection circuit 200 can be an OR gate logic circuit. The output terminals of the multiple emergency stop switch units 110 are respectively connected to multiple input terminals of the OR gate logic circuit. When any one of the emergency stop switch units 110 outputs a high-level emergency stop instruction, the OR gate logic circuit is triggered to output a high-level first emergency stop control signal.

[0048] In one embodiment, the main control circuit 600 is further configured to receive the first emergency stop control signal output by the emergency stop detection circuit 200 and generate a second emergency stop control signal according to the first emergency stop control signal and output it to the signal processing circuit 300.

[0049] In this embodiment, referring to Figure 4As shown, the emergency stop detection circuit 200 can also output the first emergency stop control signal to the main control circuit 600. The main control circuit 600 outputs the second emergency stop control signal to the signal processing circuit 300 based on the first emergency stop control signal, which can avoid the problem that the emergency stop operation is cancelled due to accidental touch of the emergency stop switch circuit 100 while the load 500 is still in a non-safe state.

[0050] In some embodiments, when the main control circuit 600 detects that the first emergency stop control signal lasts for a preset time, it outputs the second emergency stop control signal to the signal processing circuit 300. At this time, only when the host computer issues an instruction to cancel the emergency stop operation to the main control circuit 600, will the main control circuit 600 stop outputting the second emergency stop control signal to the signal processing circuit 300. When the host computer issues an instruction to cancel the emergency stop operation to the main control circuit 600, even if the emergency stop switch circuit 100 executes the operation to cancel the emergency stop, the signal processing circuit 300 will still send the corresponding enable control signal to the enable terminal of the drive circuit 400 based on the second emergency stop control signal, so that the load 500 remains in the emergency stop state.

[0051] In one embodiment, the main control circuit 600 is further configured to generate a load 500 control signal according to a control instruction and output it to the drive circuit 400; the drive circuit 400 generates a corresponding load 500 drive signal according to the load 500 control signal to drive the load 500 to be in a corresponding working state.

[0052] In this embodiment, referring to Figure 5 As shown, the main control circuit 600 can also be connected to the drive circuit 400. The main control circuit 600 sends the load 500 control signal to the controlled terminal of the drive circuit 400 based on the control instruction issued by the host computer. The drive circuit 400 generates a corresponding load 500 drive signal according to the load 500 control signal to drive the load 500 to be in a corresponding working state.

[0053] In one embodiment, referring to Figure 6 As shown, the load 500 is a motor, and the drive control circuit further includes a power circuit 700. The power circuit 700 is connected between the motor and the drive circuit 400. The power circuit 700 is configured to conduct or turn off according to the load 500 drive signal to control the current flowing through the motor.

[0054] In this embodiment, when the load 500 is a motor, the motor has a forward rotation mode and a reverse rotation mode. The forward rotation mode and the reverse rotation mode of the motor can be controlled by the direction of the current flowing through the motor. The drive circuit 400 controls the on-off states of multiple switching tubes in the power circuit 700, so that the multiple switching tubes form different current paths to achieve the purpose of switching the direction of the current flowing through the motor.

[0055] In one embodiment, when the drive circuit 400 receives an enable control signal that disables it at its enable terminal, it can cause the load 500 to stop working in a timely manner by turning on and off multiple switching transistors in the drive power circuit 700, reducing the coasting time of the load 500 when it stops working.

[0056] In one embodiment, referring to Figure 7 As shown, the power circuit 700 includes a first switching transistor Q1, a second switching transistor Q2, a third switching transistor Q3, a fourth switching transistor Q4, and a current-limiting resistor; a first end of the first switching transistor Q1 and a first end of the third switching transistor Q3 are commonly connected to a power supply terminal, a second end of the first switching transistor Q1 and a first end of the second switching transistor Q2 are commonly connected to a negative electrode of the motor, a second end of the third switching transistor Q3 and a first end of the fourth switching transistor Q4 are commonly connected to a positive electrode of the motor, a second end of the second switching transistor Q2 and a second end of the fourth switching transistor Q4 are commonly connected to ground, and control terminals of the first switching transistor Q1, the second switching transistor Q2, the third switching transistor Q3, and the fourth switching transistor Q4 are connected to the drive circuit 400.

[0057] In this embodiment, the first switching transistor Q1, the second switching transistor Q2, the third switching transistor Q3, and the fourth switching transistor Q4 form an H-bridge circuit. The first switching transistor Q1 and the third switching transistor Q3 form an upper bridge arm, and the second switching transistor Q2 and the fourth switching transistor Q4 form a lower bridge arm. By controlling the on / off states of the first switching transistor Q1, the second switching transistor Q2, the third switching transistor Q3, and the fourth switching transistor Q4, various operating conditions of the motor can be achieved. For example, the drive circuit 400 can include four drive modes: a sleep mode, a braking mode, a forward mode, and a reverse mode. The main control circuit 600 can control the drive circuit 400 to switch between different drive modes by sending different load control signals to the controlled terminal PH of the drive circuit 400, and in the case of an emergency brake, the signal processing circuit 300 sends a corresponding enable control signal to the enable terminal EN of the drive circuit 400. The drive circuit 400 drives the on / off states of the first switching transistor Q1, the second switching transistor Q2, the third switching transistor Q3, and the fourth switching transistor Q4 in different drive modes to control the state of the motor.

[0058] Taking the combination of the on / off states of the first switching transistor Q1, the second switching transistor Q2, the third switching transistor Q3, and the fourth switching transistor Q4 as an example, the working principle of the drive circuit 400 in the four drive modes is described.

[0059] Figure 8 Indicates the current flow schematic diagram when the motor is in the forward rotation mode. Referring to Figure 8 in the current flow schematic Figure 1, at this time, the first switch tube Q1 and the fourth switch tube Q4 are in the conducting state, the motor drive current flows from the first switch tube Q1 through the motor to the fourth switch tube Q4, the second switch tube Q2 and the third switch tube Q3 are in the off state, and at this time the drive circuit 400 is in the forward mode. Refer to Figure 8 for the current flow schematic diagram in Figure 2 , at this time, the second switch tube Q2 and the third switch tube Q3 are conducting, the first switch tube Q1 and the fourth switch tube Q4 are turned off, a negative voltage is connected to the power supply terminal, and the current flows from the second switch tube Q2 through the motor to the third switch tube Q3. At this time, the drive circuit 400 is in the forward mode. Refer to Figure 8 for the current flow schematic diagram in Figure 3 , the first switch tube Q1 and the third switch tube Q3 are turned off, the second switch tube Q2 and the fourth switch tube Q4 are conducting, the motor is short-circuited, and at this time the motor is in the coasting state of forward rotation, and the drive circuit 400 is in the braking mode.

[0060] Figure 9 Figure shows the schematic diagram of the current flow when the motor rotates in the reverse direction. At this time, refer to the drive circuit 400 Figure 9 for the current flow schematic diagram in Figure 1 , at this time, the second switch tube Q2 and the third switch tube Q3 are in the conducting state, the motor drive current flows from the third switch tube Q3 through the motor to the second switch tube Q2, the first switch tube Q1 and the fourth switch tube Q4 are in the off state, and at this time the drive circuit 400 is in the reverse mode. Refer to Figure 9 for the current flow schematic diagram in Figure 2 , at this time, the first switch tube Q1 and the fourth switch tube Q4 are conducting, the second switch tube Q2 and the third switch tube Q3 are turned off, a negative voltage is connected to the power supply terminal, and the current flows from the fourth switch tube Q4 through the motor to the first switch tube Q1. At this time, the drive circuit 400 is in the reverse mode. Refer to Figure 9 for the current flow schematic diagram in Figure 3 , the first switch tube Q1 and the third switch tube Q3 are turned off, the second switch tube Q2 and the fourth switch tube Q4 are conducting, the motor is short-circuited, and at this time the motor is in the coasting state of reverse rotation, and the drive circuit 400 is in the braking mode.

[0061] In one embodiment, the main control circuit 600 is further configured to generate a load 500 emergency stop control signal according to the first emergency stop control signal and output it to the drive circuit 400; the drive circuit 400 controls the second switch tube Q2 and the fourth switch tube Q4 to conduct according to the load 500 emergency stop control signal, and controls the first switch tube Q1 and the third switch tube Q3 to turn off.

[0062] During normal surgery, the emergency stop switch circuit 100 is not triggered and remains in a normal state. When the load 500 is a motor, the rotation of the surgical instrument is controlled by the combined action of the motor and the gear reducer in the power box. At this time, the main control circuit 600 receives instructions from the host computer and controls the level of the enable terminal of the drive circuit 400 to achieve the switching states of multiple switching tubes in the power circuit 700, thereby realizing different operating states of the motor. When an abnormal situation suddenly occurs during the surgery, the emergency stop switch circuit 100 is triggered. At this time, the main control circuit 600 and the drive circuit 400 will simultaneously receive an emergency stop instruction, and the hardware directly pulls down the voltage of the enable terminal of the drive circuit 400. At this time, the drive circuit 400 directly enters the braking mode, controlling the first switching tube Q1 and the third switching tube Q3 to disconnect, and the second switching tube Q2 and the fourth switching tube Q4 to close. If the motor in the power box is rotating forward at this time, the motor drive current flows from the second switching tube Q2 through the motor to the fourth switching tube Q4. If the power box motor is rotating in the reverse direction at this time, the motor drive current flows from the fourth switching tube Q4 through the motor to the second switching tube Q2.

[0063] Since the second switching tube Q2 and the fourth switching tube Q4 of the H-bridge lower arm are turned on, the motor is short-circuited at this time and is not controlled by the main control circuit 600, so it will not get out of control, realizing the emergency stop function. At the same time, since the motor is short-circuited, when the motor has speed, the back electromotive force will form a current in the motor circuit, causing the motor to output a braking force. At this time, the motor acts as a damping device, causing the joint to quickly decelerate and stop. After the emergency stop switch circuit 100 is triggered, the motor switches from the driving state to the braking state. As long as the motor is in motion, there will be a braking current, and the braking force is proportional to the rotational speed. The motor braking force and the mechanical resistance act simultaneously, causing the surgical instrument to stop quickly.

[0064] Therefore, through the drive control circuit in the above embodiments, when an emergency stop instruction is triggered through the emergency stop switch circuit 100 during surgery, for example, after the user presses the emergency stop button, the motor can be short-circuited by controlling the conduction of the second switching tube Q2 and the fourth switching tube Q4 in the power circuit 700. The internal winding of the motor acts as a resistor to consume the large current during the emergency braking process, enabling the motor to quickly stop running. This solution forces the motor to stop urgently through an internal emergency stop method, with a shorter emergency stop time and a shorter braking distance, so the safety factor during surgery is higher.

[0065] The embodiment of the present application also provides a drive control device, including the drive control circuit described in any one of the above embodiments.

[0066] The embodiment of the present application also provides a surgical robot, including a motor; and the drive control circuit described in any one of the above embodiments.

[0067] In some embodiments, a surgical robot includes an execution component and a power box. The power box is used to drive the execution component to perform a target action and complete a surgical operation. The power box may include a mechanical component, a power component, and a sensor. The mechanical component includes a housing, an internal transmission structure, and a fixing structure; the power component includes a motor, a gear reducer, a drive control board, etc.; the sensor provides real-time data for the operation of the power box, mainly including the torque information and position information of the motor.

[0068] When a doctor uses the surgical robot to perform surgery on a patient, instructions can be sent to the drive control circuit in the power box by sending instructions to the host computer. The drive control circuit can be integrated on the drive control board. The power component, mechanical component, and sensor in the power box can form a complete control drive unit to control the surgical instrument to achieve the doctor's remote surgery on the patient. When the drive control board in the power box receives different control instructions from the host computer, after the main control circuit 600 on the drive control board recognizes the control instructions from the host computer, corresponding control signals will be generated to make the drive circuit work in the corresponding state. The drive circuit can drive the motor through the drive power circuit to make the motor operate in different working states. Finally, the power box motor and the gear reducer are combined to control the surgical instrument at the end.

[0069] During a normal surgical procedure, the doctor operates the handle to control the surgical instrument at the very end to perform the surgery. At this time, when the doctor operates the handle, the information about the direction and speed of the handle rotation will be sent to the control board through the secure communication protocol, that is, the host computer sends control instructions to the main control circuit 600. The main control circuit 600 on the control board analyzes the control instructions sent by the host computer, makes corresponding processing, and then outputs a load control signal to the drive circuit. The drive circuit 400 enters the corresponding working mode based on the load control signal, such as forward rotation, reverse rotation, braking, sleep, etc.; in addition, the enable terminal of the drive circuit 400 is also controlled by the emergency stop switch circuit 100 (such as the safe torque circuit). The safe torque circuit will turn off the output by directly cutting off the power supply of the drive circuit 400, causing the drive circuit to stop. When the drive circuit 400 enters the corresponding working mode, it will control the current flow direction of the drive circuit 400, thereby changing the operating state of the motor M, such as forward rotation, reverse rotation, acceleration, deceleration, coasting, stop, etc. In addition, the drive circuit 400 also directly receives the control of the safe torque circuit and changes the operating mode of the drive circuit 400 by outputting different load drive signals to achieve an emergency stop of the motor M.

[0070] During the operation, when an emergency occurs, the doctor can press the emergency stop switch (such as the safe torque off switch) in the emergency stop switch circuit 100 to send an emergency stop command to the power box to stop the operation in time and ensure the safety of the patient. When the emergency stop switch is triggered, the emergency stop switch outputs a non-enabled enable control signal to the enable terminal EN of the drive circuit 400 via the emergency stop detection circuit 200 and the signal processing circuit 300, so that the drive circuit 400 changes the working mode of the power circuit 700 to quickly stop the motor M from running, and with the cooperation of the gear reducer, the surgical instrument stops rotating.

[0071] In one embodiment, after an emergency occurs, when the doctor presses the emergency stop switch (such as the safe torque off switch) in the emergency stop switch circuit 100 to trigger the emergency stop switch, the emergency stop switch circuit 100 can change the working mode of the power circuit 700 to quickly stop the motor M from running via the safe torque circuit, the main control circuit 600, the controlled terminal PH of the drive circuit 400, the power circuit 700 and the motor M, and with the cooperation of the gear reducer, the surgical instrument stops rotating.

[0072] In one embodiment, the safe torque circuit can directly send an emergency stop enable control signal to the drive circuit 400. After an emergency occurs, when the doctor presses the emergency stop switch (such as the safe torque off switch) in the emergency stop switch circuit 100 to trigger the emergency stop switch, the emergency stop switch circuit 100 can change the working mode of the power circuit 700 to quickly stop the motor M from running via the safe torque circuit, the controlled terminal PH of the drive circuit 400, the power circuit 700 and the motor M, and with the cooperation of the gear reducer, the surgical instrument stops rotating.

[0073] In one embodiment, the safe torque circuit can directly send an emergency stop drive control signal to the power circuit 700. After an emergency occurs, when the doctor presses the emergency stop switch (such as the safe torque off switch) in the emergency stop switch circuit 100 to trigger the emergency stop switch, the emergency stop switch circuit 100 can change the working mode of the power circuit 700 to quickly stop the motor M from running via the safe torque circuit, the power circuit 700 and the motor M, and with the cooperation of the gear reducer, the surgical instrument stops rotating.

[0074] In one embodiment, after the emergency stop switch circuit 100 is triggered for an emergency stop operation, it can directly upload an emergency stop command to the host computer, and the host computer changes the working mode of the power circuit 700 to quickly stop the motor M from running via the main control circuit 600, the controlled terminal PH of the drive circuit 400, the power circuit 700 and the motor M, and with the cooperation of the gear reducer, the surgical instrument stops rotating.

[0075] Under the above multiple emergency stop control paths, when any one of the safety torque circuit, the main control circuit 600, the drive circuit 400, and the upper computer fails, the rapid and safe execution of the emergency stop plan can be ensured, and the safety of the operation can be guaranteed.

[0076] The beneficial effects of the embodiment of the present invention compared with the prior art are as follows: The emergency stop switch circuit generates an emergency stop instruction according to the user's emergency stop operation, and the emergency stop detection circuit generates a first emergency stop control signal according to the emergency stop instruction. The signal processing circuit generates a corresponding enable control signal according to the first emergency stop control signal and outputs it to the enable terminal of the drive circuit, so as to control the drive circuit to drive the load to be in the corresponding working state, achieving the purpose of emergency stop of the load.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A drive control circuit for controlling a load to operate in a corresponding state, characterized in that, The drive control circuit includes: An emergency stop switch circuit for generating an emergency stop command according to the user's emergency stop operation; An emergency stop detection circuit connected to the emergency stop switch circuit for generating a first emergency stop control signal according to the emergency stop command; A signal processing circuit connected to the emergency stop detection circuit for receiving the first emergency stop control signal and generating a corresponding enable control signal according to the first emergency stop control signal; A drive circuit, the enable terminal of the drive circuit is used to receive the enable control signal output by the signal processing circuit, and the drive circuit drives the load to be in a corresponding working state according to the voltage of its enable terminal.

2. The drive control circuit according to claim 1, characterized in that, The drive control circuit further includes: A main control circuit for generating a corresponding second emergency stop control signal according to an emergency stop control command and outputting it to the signal processing circuit; the signal processing circuit is further used to generate a corresponding enable control signal according to the second emergency stop control signal.

3. The drive control circuit according to claim 2, characterized in that, The emergency stop switch circuit includes: A plurality of emergency stop switch units, the output terminals of the plurality of emergency stop switch units are connected to the emergency stop detection circuit, and the emergency stop detection circuit is further used to output the first emergency stop control signal to the signal processing circuit when any one of the emergency stop switch units triggers an emergency stop action.

4. The drive control circuit according to claim 2, characterized in that, The main control circuit is further used to receive the first emergency stop control signal output by the emergency stop detection circuit and generate the second emergency stop control signal according to the first emergency stop control signal and output it to the signal processing circuit.

5. The drive control circuit according to claim 2, characterized in that, The main control circuit is further used to generate a load control signal according to a control command and output it to the drive circuit; the drive circuit generates a corresponding load drive signal according to the load control signal to drive the load to be in a corresponding working state.

6. The drive control circuit according to claim 5, characterized in that, The load is a motor, and the drive control circuit further includes: A power circuit connected between the motor and the drive circuit for conducting or turning off according to the load drive signal to control the current flowing through the motor.

7. The drive control circuit according to claim 6, characterized in that, The power circuit includes a first switch tube, a second switch tube, a third switch tube, a fourth switch tube, and a current limiting resistor; The first end of the first switch tube and the first end of the third switch tube are commonly connected to the power supply terminal, the second end of the first switch tube and the first end of the second switch tube are commonly connected to the negative electrode of the motor, the second end of the third switch tube and the first end of the fourth switch tube are commonly connected to the positive electrode of the motor, the second end of the second switch tube and the second end of the fourth switch tube are commonly connected to the ground, and the control terminals of the first switch tube, the second switch tube, the third switch tube, and the fourth switch tube are connected to the drive circuit.

8. The drive control circuit according to claim 7, characterized in that, The main control circuit is further used to generate a load emergency stop control signal according to the first emergency stop control signal and output it to the drive circuit; the drive circuit controls the second switch tube and the fourth switch tube to conduct according to the load emergency stop control signal and controls the first switch tube and the third switch tube to turn off.

9. A drive control device, characterized in that, Including the drive control circuit according to any one of claims 1-8.

10. A surgical robot, characterized in that, Including a motor; and the drive control circuit according to any one of claims 1-8.

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