Surgical robot and surgical robot exit method

Abstract

An embodiment of the present invention discloses a surgical robot and a surgical robot exit method, comprising: a control module for determining an exit type according to alarm information, and sending a drive instruction to a drive module according to the exit type, or sending an operation instruction for the drive module to an output module; a drive module for receiving the drive instruction, and exiting an operator component from a first position according to the drive instruction; an output module for displaying the operation instruction so that a user can operate the drive module according to the operation instruction, so that the drive module drives the operator component to exit from the first position. The exit type is determined by the control module, and a drive instruction is sent to the drive module according to the exit type to realize the exit of the operator component, or an operation instruction is sent to the output module so that the user can complete the exit of the operator component according to the operation instruction. Different exit methods are adopted according to different fault types, thereby facilitating the rapid termination of the operator component.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of medical devices, and in particular to a surgical robot and a surgical robot exit method. Background Art

[0002] For medical device products, the principle of "safety after failure" is generally followed to handle system failures. That is, after the system detects a failure, it can promptly put the system into a safe state and issue an alarm signal to prompt the user. The user can then troubleshoot the problem according to the alarm prompt.

[0003] However, current surgical robot systems, when a fault is detected, require the tool arm to be withdrawn from the body for final operation, allowing medical staff to proceed with subsequent patient treatment. However, without distinguishing the type of fault, safety requirements necessitate disabling all robot components from moving and requiring a purely manual withdrawal of the tool arm. This cumbersome, time-consuming, and labor-intensive process hinders the rapid completion of final operations, thus hindering the rapid treatment of patients. Summary of the Invention

[0004] An embodiment of the present invention provides a surgical robot to implement different exit methods for a manipulator component according to different fault types.

[0005] An embodiment of the present invention provides a surgical robot, comprising: a control module, a drive module and an output module communicating with the control module, and a manipulator assembly disposed on the drive module;

[0006] The control module is configured to determine an exit type according to the alarm information, and send a drive instruction to the drive module according to the exit type, or send an operation instruction for the drive module to the output module;

[0007] The driving module is configured to receive the driving instruction and withdraw the operator assembly from the first position according to the driving instruction;

[0008] The output module is used to display the operation instruction so that the user can operate the driving module according to the operation instruction, so that the driving module drives the operator component to exit from the first position.

[0009] In a second aspect, an embodiment of the present invention provides a surgical robot exit method, comprising: providing a control module, determining an exit type according to alarm information by the control module, and sending a drive instruction to the drive module or an operation instruction for the drive module to the output module according to the exit type;

[0010] providing a driving module, receiving the driving instruction through the driving module, and withdrawing the operator assembly from the first position according to the driving instruction;

[0011] An output module is provided, through which the operation instruction is displayed, so that a user can operate the driving module according to the operation instruction, so that the driving module drives the operator component to exit from the first position.

[0012] The technical solution of the embodiment of the present invention determines the exit type through the control module, and sends a drive instruction to the drive module according to the exit type to realize the exit of the operator component, or sends an operation instruction to the output module so that the user can complete the exit of the operator component according to the operation instruction. Different exit methods are adopted according to different fault types, which has better control effect and human-computer experience. Different fault handling processes are adopted from the control end according to the urgency of fault troubleshooting, and all steps that can be operated by non-human operations are integrated into computer control to achieve accurate and efficient fault exit process; for those that cannot be completed by the computer independently, detailed operation prompts and instructions are provided to the operator, so as to realize fault handling with the simplest operation in the shortest time, thereby facilitating the rapid completion of the operator component. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 is a schematic structural diagram of a surgical robot provided in Embodiment 1 of the present invention;

[0015] Figure 2 This is the surgical robot exit method provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0017] It should also be noted that, for ease of description, only the part relevant to the present invention, rather than all of the content, is shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the various operations (or steps) as sequential processes, many of the operations therein can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the various operations can be rearranged. When its operation is completed, the process can be terminated, but can also have additional steps not included in the accompanying drawings. The process can correspond to methods, software implementations, hardware implementations, etc.

[0018] Example 1

[0019] Figure 1 This is a schematic diagram of the structure of the surgical robot provided by the first embodiment of the present invention. This embodiment can be applied to different fault types to realize the exit of the manipulator component, such as Figure 1 As shown, the surgical robot includes: a control module 11, a drive module 12 and an output module 13 communicating with the control module 11, and an operator assembly 14 arranged on the drive module 12; the control module 11 is used to determine the exit type according to the alarm information, and send a drive instruction to the drive module 12 according to the exit type, or send an operation instruction for the drive module 12 to the output module 13; the drive module 12 is used to receive the drive instruction and exit the operator assembly 14 from the first position according to the drive instruction; the output module 13 is used to display the operation instruction so that the user can operate the drive module 12 according to the operation instruction, so that the drive module 12 drives the operator assembly 14 to exit from the first position.

[0020] Optionally, the manipulator assembly includes a surgical tool arm and / or an endoscope tool arm, and the surgical tool arm and / or the endoscope tool arm can achieve an active non-straight posture. In addition, a scalpel or a flexible surgical claw or other structure is provided at the front end of the manipulator assembly. The control module in this embodiment can drive the movement of the manipulator assembly and the posture change of the surgical tool arm and / or the endoscope tool arm of the manipulator assembly by controlling the motor in the drive module. Of course, this embodiment is only an example for illustration and does not limit the specific type of manipulator assembly. And the first position referred to in this embodiment is mainly an effective position where the manipulator assembly can perform surgical operations during the surgical operation, for example, inside a designated organ where a lesion occurs and needs to be treated.

[0021] Optionally, the control module 11 includes: an exit processor 112, an alarm processor 111 connected to the exit processor 112 respectively, and an exit executor 113; the alarm processor 111 is used to receive alarm messages from each component and determine the fault type according to the alarm information, wherein each component constitutes the surgical robot and is used to support the operation of the surgical robot, such as a motor, a main control trolley pedal, etc. Of course, this embodiment is only an example and does not limit the specific type of component. When an error or failure occurs in a component, an alarm message can be sent to the control module in a preset form, or the control module will also generate a preset alarm message when it does not receive communication information from a component within a certain period of time and / or fails to extract information; the exit processor 112 is used to determine the exit type according to the fault type and send the exit type to the exit executor 113; the exit executor 113 is used to determine the type of control system according to the exit type, and use the determined type of control system to send a drive instruction to the drive module 12, or use the determined type of control system to send an operation instruction for the drive module 12 to the output module 13.

[0022] Optionally, the exit processor is specifically used to obtain the exit type by querying the alarm list according to the fault type, wherein the alarm list contains the correspondence between the fault type and the exit type; the exit types include: manual exit due to fault, automatic exit due to fault and normal exit.

[0023] Specifically, the robot system also includes other components required for performing surgical operations. When these components have abnormal conditions, they will send alarm information to the alarm processor. The alarm processor is used to receive the alarm information of each component and determine the fault type based on the alarm information. For example, recoverable faults such as disconnection of the protective cover contacts are classified as the first type of fault; irrecoverable faults such as main control trolley pedal failure or main hand failure that cannot be remotely operated, but are not related to the normal exit motion function of the operator component, are classified as the second type of fault; drive motor failure, drive motor power failure, motion encoder failure or motion control software fault light and faults related to the normal exit motion function of the operator component are classified as the third type of fault. The alarm processor will transmit the determined fault type to the exit processor, and the exit processor will determine the exit type based on the fault type and send the exit type to the exit actuator. Among them, the exit processor specifically uses the alarm list shown in Table 1 below to determine the exit type,

[0024] Table 1

[0025] Fault type Exit Type Type I failure Normal exit The second type of failure Automatic exit in case of failure The third type of failure Manual exit due to fault

[0026] The alarm list includes a correspondence between fault types and exit types, and the exit types included in the alarm list include: manual exit due to fault, automatic exit due to fault, and normal exit.

[0027] Optionally, the first fault exit control system is applied to situations where the control module can autonomously control the movement of the drive module and / or operator component through commands, for example, some faults that do not affect the control module's control over the drive module and operator component, such as display errors of the output module.

[0028] Optionally, the second fault exit control system is applied to the situation where the control module can no longer autonomously control the drive module and / or operator component through commands, and the motor of the drive module is operating normally, for example, some faults that can affect the control module's control over the drive module and operator component, such as communication blockage when the control module sends a command to the drive module, resulting in the drive module being unable to be directly controlled by the control module.

[0029] Specifically, in this embodiment, the exit actuator will determine the type of control system based on the exit type, and adopt different systems to exit the subsequent operator components. When it is determined that the exit type is a normal exit, it is determined that the first fault exit control system is adopted. When it is determined that the exit type is a fault automatic exit and a fault manual exit, it is determined that the second fault exit control system is adopted.

[0030] Optionally, when the exit type includes a normal exit, an exit actuator is used to determine whether to use the first fault exit control system to send a drive instruction to the drive module according to the exit type; and a drive module is used to receive the drive instruction based on the first fault exit control system, and exit the operator assembly from the first position by starting the motor according to the drive instruction.

[0031] Specifically, when the exit type is determined to be a normal exit, it means that the current fault is a recoverable fault, the motor in the drive module is working normally, and the command transmission channel between the control module and the drive module is normal. The exit actuator will determine the use of the first fault exit control system to send a drive instruction to the drive module according to the type of normal exit. Since there is a normally working motor in the drive module, and the drive instruction contains information such as the rotation direction and angle of the manipulator component, after receiving the drive instruction based on the first fault exit control system, the drive module will start the motor according to the drive instruction to exit the manipulator component from the first position, that is, to exit the surgical tool arm or the endoscopic tool arm from the designated organ to be treated.

[0032] Optionally, the exit type includes automatic exit due to fault; an exit actuator is used to determine, based on the exit type, to adopt a second fault exit control system to send a first operation instruction for the drive module to the output module, so that the user can input a drive instruction to the drive module by manually triggering a designated control device on the drive module according to the first operation instruction; a drive module is used to receive the drive instruction input by the user, and according to the drive instruction, the operator component forms an exit posture by starting the motor, and the operator component exits the first position; or, a drive module is used to receive the drive instruction input by the user, and according to the drive instruction, the operator component exits from the first position by starting the motor.

[0033] Specifically, if the exit type is determined to be fault-induced automatic exit, this indicates that the current fault is unrecoverable and the motor in the drive module is operating normally. However, the command transmission channel between the control module and the drive module is abnormal, meaning that the drive module cannot receive the drive command sent by the control module. The exit actuator then determines, based on the exit type, to utilize a second fault-induced exit control system to send a first operation instruction to the drive module to the output module. The output module includes a display device, such as a touchscreen display, and displays the first operation instruction on the touchscreen display. The first operation instruction also includes a designated control device on the drive module that needs to be triggered to complete the normal exit of the manipulator assembly. The user triggers the designated control device on the drive module according to the displayed first operation instruction, inputting a drive instruction to the drive module. In this embodiment, the control device can specifically be various buttons on the drive module or a remote control device directly associated with the motor. For example, if the surgical claw at the front end of the manipulator assembly is determined to be in a bent state, the user can press a posture exit button. The drive module receives the user-inputted drive instruction and, in accordance with the drive instruction, activates the motor to bring the manipulator assembly into the exit posture, thereby returning the surgical claw to a straight state, and then exits the manipulator assembly from the first position. When it is determined that the surgical claw at the front end of the manipulator assembly is already in a straight state, the user can directly input a driving instruction to the driving module by triggering the upward button on the driving module. The driving module is used to receive the driving instruction input by the user, and according to the driving instruction, the manipulator assembly is directly withdrawn from the first position by starting the motor, that is, the surgical tool arm or the endoscope tool arm is controlled to move upward and withdraw from the designated organ to be treated.

[0034] Optionally, the exit type includes a manual exit due to a fault; the exit actuator is used to determine, based on the exit type, a second fault exit control system to send a second operation instruction for the drive module to the output module, so that the user can physically rotate the motor in the drive module according to the second operation instruction to drive the operator assembly to exit from the first position; the second operation instruction is also used to prompt the user to manually remove the operator assembly from the drive module when the operator assembly exceeds a preset distance from the first position.

[0035] Specifically, if the exit type is determined to be a manual exit due to a fault, this indicates that the current fault is unrecoverable and the command transmission channel between the control module and the drive module is abnormal. This means that the drive module cannot receive the drive instructions sent by the control module, and the motor status in the drive module is abnormal. Based on the exit type, the exit actuator determines a second fault exit control system and sends a second operation instruction for the drive module to the output module. This second operation instruction is then displayed on the output module's touchscreen display. Due to the abnormal state of the motor, the user can no longer input driving instructions to the driving module by triggering the designated motion control button on the driving module. Therefore, the second operation instruction includes the position and operation method of the manual operation interface. The user physically rotates the motor in the driving module according to the displayed second operation instruction to drive the manipulator assembly to exit from the first position. For example, the user drives the manipulator assembly upward by manually rotating the generator bearing, and when the manipulator assembly exceeds a preset distance from the first position, that is, the position of the manipulator assembly is within a safe working range that will not cause harm to the human body, the surgical claw at the front end of the manipulator assembly may still be in a bent state. In this case, it still cannot be completely removed from the human body. The second operation instruction will also prompt the user to manually disassemble the manipulator assembly from the driving module. When the disassembly is completed, the surgical claw is transformed into a straight state, which is convenient for direct removal from the human body to achieve a quick conclusion of the operation.

[0036] Optionally, the drive module is further configured to obtain status information of the motor and the operator assembly, and transmit the status information of the motor and the operator assembly to the control module; the control module is configured to monitor the real-time status of the drive module based on the motor status information, and to monitor the operator assembly based on the operator assembly status information. The status of the drive module may include the current spatial position of the drive module and its operator assembly, the axial rotation angle of the feed axis, and the posture of the operator assembly.

[0037] Specifically, in this embodiment, since the control instructions and status information between the control module and the drive module use different transmission channels respectively, even if the instruction transmission channel between the control module and the drive module is abnormal and causes the control module to be unable to transmit the drive instructions to the drive module, the drive module can still use the status transmission channel to send the status information of the motor and the status information of the operator component to the control module, so that the control module can obtain the status information of the motor and the operator component in real time, and monitor the motor and the operator component.

[0038] Optionally, the output module is also used to obtain the fault type and generate an alarm prompt in the form of sound, light or image according to the fault type.

[0039] Specifically, the output module in this embodiment not only displays the operating instructions for the drive module, but also obtains the type of fault and issues an alarm according to the type of fault. Specifically, it can be in the form of sound, light or image, and different alarm forms can be used for different fault types. For example, when the fault type is a first type of fault, a flashing red light can be used to alarm; when the fault type is a second type of fault, a flashing green light can be used to alarm; when the fault type is a third type of fault, a flashing yellow light can be used to alarm. Of course, an alarm can also be issued by broadcasting different sound contents. This embodiment is only an example for illustration, and does not limit the alarm method corresponding to each fault type. As long as it can serve as a reminder and warning to the user, it is within the scope of protection of this application.

[0040] The technical solution of the embodiment of the present invention determines the exit type through the control module, and sends a drive instruction to the drive module according to the exit type to realize the exit of the operator component, or sends an operation instruction to the output module so that the user can complete the exit of the operator component according to the operation instruction. Different exit methods are adopted according to different fault types, which has better control effect and human-computer experience. Different fault handling processes are adopted from the control end according to the urgency of fault troubleshooting, and all steps that can be operated by non-human operations are integrated into computer control to achieve accurate and efficient fault exit process; for those that cannot be completed by the computer independently, detailed operation prompts and instructions are provided to the operator, so as to realize fault handling with the simplest operation in the shortest time, thereby facilitating the rapid completion of the operator component.

[0041] Example 2

[0042] Figure 2 This is a flowchart of the surgical robot exit method provided in the second embodiment of the present invention. This embodiment can be applied to situations where the manipulator component can be exited according to different fault types. This method can be applied to the surgical robot disclosed in the first embodiment.

[0043] Optional, such as Figure 1 As shown, the method in this embodiment may include the following steps:

[0044] Step 101: providing a control module, determining an exit type according to alarm information through the control module, and sending a driving instruction to a driving module according to the exit type, or sending an operation instruction for the driving module to an output module.

[0045] Optionally, determining the exit type based on the alarm information may include: receiving alarm messages from each component, and determining the fault type based on the alarm information; obtaining the exit type by querying the alarm list based on the fault type, wherein the alarm list contains a correspondence between the fault type and the exit type; the exit types include: manual exit due to fault, automatic exit due to fault, and normal exit.

[0046] Specifically, the robot system also includes other components required for performing surgical operations. When these components have abnormal conditions, they will send alarm information to the alarm processor. The alarm processor is used to receive the alarm information of each component and determine the fault type based on the alarm information. For example, recoverable faults such as disconnection of the protective cover contact are classified as the first type of fault; irrecoverable faults such as main control trolley pedal failure or main hand failure that cannot be remotely operated, but are not related to the normal exit of the operator component movement function, are classified as the second type of fault; drive motor failure, drive motor power failure, motion encoder failure or motion control software fault light and the normal exit of the operator component movement function are related to the third type of fault. After determining the fault type, the exit type can be obtained by querying the alarm list, and the alarm list contains the correspondence between the fault type and the exit type. The alarm list is specifically shown in Table 1 in Example 1 and will not be repeated in this embodiment.

[0047] Among them, when it is determined that the exit type is a normal exit, a drive instruction is sent to the drive module, and step 102 is directly executed. When it is determined that the exit type is an automatic exit due to a fault or a manual exit due to a fault, an operation instruction for the drive module is sent to the output module, and step 102 is skipped and step 103 is directly executed.

[0048] Step 102 : providing a driving module, receiving a driving instruction through the driving module, and withdrawing the operator component from the first position according to the driving instruction.

[0049] Optionally, receiving a drive instruction through a drive module and exiting the operator assembly from the first position according to the drive instruction may include: when it is determined that the fault type includes a normal exit, receiving a drive instruction sent by the control module based on a first fault exit control system through the drive module, and exiting the operator assembly from the first position by starting a motor according to the drive instruction, wherein the first fault exit control system is applied to a situation where the control module can autonomously control the movement of the drive module and / or the operator assembly through commands.

[0050] Specifically, when the exit type is determined to be a normal exit, the first fault exit control system is determined to be used. When the exit system is determined to be an automatic exit due to a fault or a manual exit due to a fault, the second fault exit control system is determined to be used. Therefore, the control systems used for different exit types are different.

[0051] Specifically, when it is determined that the exit type is a normal exit, it means that the current fault is a recoverable fault, the motor in the drive module is working normally, and the command transmission channel between the control module and the drive module is normal. The exit actuator will determine the use of the first fault exit control system to send a drive instruction to the drive module according to the type of normal exit, and the drive module will receive the drive instruction. After receiving the drive instruction based on the first fault exit control system, the drive module will exit the operator component from the first position by starting the motor according to the drive instruction.

[0052] Step 103 : providing an output module, and displaying the operation instruction through the output module so that the user can operate the driving module according to the operation instruction, so that the driving module drives the operator component to exit from the first position.

[0053] Optionally, the operation instructions are displayed through the output module so that the user operates the drive module according to the operation instructions, so that the drive module drives the operator component to exit from the first position. This may include: when it is determined that the fault type includes automatic exit due to fault, the output module receives the first operation instruction for the drive module sent by the control module based on the second fault exit control system, so that the user inputs a drive instruction to the drive module by manually triggering the designated control button on the drive module according to the first operation instruction, wherein the second fault exit control system is applied to scenarios where the fault is unrecoverable; the drive instruction input by the user is received through the drive module, and the operator component is formed into an exit posture by starting the motor according to the drive instruction, and the operator component exits from the first position; or, the drive instruction input by the user is received through the drive module, and the operator component exits from the first position by starting the motor according to the drive instruction.

[0054] Optionally, the operation instructions are displayed through the output module so that the user can operate the drive module according to the operation instructions so that the drive module drives the operator assembly to exit from the first position. This may include: when it is determined that the fault type includes manual exit due to fault, the output module receives a second operation instruction for the drive module sent by the control module based on the second fault exit control system, so that the user can physically rotate the motor in the drive module according to the second operation instruction to drive the operator assembly to exit from the first position; the second operation instruction is also used to prompt the user to manually remove the operator assembly from the drive module when the operator assembly exceeds a preset distance from the first position.

[0055] For unrecoverable faults, the command transmission channel between the control module and the drive module is abnormal. However, the motor in the drive module is divided into two situations: one is normal and the other is abnormal:

[0056] When the motor in the drive module is operating normally, the first operation instruction includes a designated control device on the drive module that needs to be triggered to complete the normal exit of the operator component. The user inputs a drive instruction to the drive module by triggering the designated control device on the drive module according to the displayed first operation instruction. The drive module receives the drive instruction input by the user and, according to the drive instruction, starts the motor to restore the operator component to the exit posture first, and then exits from the first position. Alternatively, if the operator component is already in the exit posture, it directly exits from the first position. Regarding the normal exit method of the motor under irrecoverable faults, please refer to the relevant functional description of the drive module in Example 1.

[0057] If the motor in the drive module malfunctions, the second operating instruction includes the location and operation method of the manual operation interface. The user physically rotates the motor in the drive module according to the displayed second operating instruction to drive the manipulator assembly out of the first position. The second operating instruction also prompts the user to manually remove the manipulator assembly from the drive module. When removal is complete, the surgical claws are straightened, facilitating direct removal from the human body and enabling a quick conclusion of the surgery. For information on the exit method in the event of an unrecoverable motor failure, please refer to the relevant functional description of the drive module in Example 1.

[0058] The technical solution of the embodiment of the present invention determines the exit type through the control module, and sends a drive instruction to the drive module according to the exit type to realize the exit of the operator component, or sends an operation instruction to the output module so that the user can complete the exit of the operator component according to the operation instruction. Different exit methods are adopted according to different fault types, which has better control effect and human-computer experience. Different fault handling processes are adopted from the control end according to the urgency of fault troubleshooting, and all steps that can be operated by non-human operations are integrated into computer control to achieve accurate and efficient fault exit process; for those that cannot be completed by the computer independently, detailed operation prompts and instructions are provided to the operator, so as to realize fault handling with the simplest operation in the shortest time, thereby facilitating the rapid completion of the operator component.

[0059] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0060] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot, characterized in that: include: A control module, a drive module communicatively connected to the control module, and an operator assembly disposed on the drive module; The driving module is used to drive the operator assembly to move; The control module is configured to control the drive module to drive the operator assembly to exit from the first position based on the fault type; The fault types include: The first type of fault includes recoverable faults; The second type of fault includes an unrecoverable fault that is not related to the normal exit motion function of the operator component; and The third type of fault includes unrecoverable faults related to the normal exit motion function of the operator component; The control module is configured to determine that the exit type is a normal exit based on the first type of fault, and control the drive module to drive the operator assembly to exit normally from the first position; The control module is configured to, based on the second type of fault, determine that the exit type is fault-induced automatic exit, send a first operation instruction for prompting a user to input an instruction, and cause the drive module to drive the operator assembly to exit from the first position based on the input instruction input by the user; the first operation instruction includes a designated control device on the drive module that needs to be triggered to complete the exit of the operator assembly from the first position, so that the user triggers the designated control device on the drive module to input a drive instruction to the drive module according to the first operation instruction; The control module is configured to determine, based on the third type of fault, that the exit type is a fault-manual exit, send a second operation instruction, and allow the user to manually exit the operator assembly from the first position based on the second operation instruction; the second operation instruction includes an instruction indicating the position and operation method of a manual operation interface for the user, so that the user can manually operate the power device in the drive module according to the second operation instruction to drive the operator assembly to exit from the first position; The first position is an effective position in which the manipulator assembly can perform a surgical operation during a surgical operation.

2. The surgical robot according to claim 1, characterized in that: The control module is configured to: Receive alarm information; Determining the fault type based on the alarm information; and Based on the fault type, an exit type is determined.

3. The surgical robot according to claim 2, characterized in that: Also includes: An output module is communicatively connected to the control module, and is configured to output an operation instruction related to the alarm information and / or the exit type.

4. The surgical robot according to claim 2, characterized in that: The control module includes: an exit processor, an alarm processor and an exit executor respectively communicating with the exit processor; The alarm processor is configured to receive an alarm message from a component of the surgical robot and determine the fault type based on the alarm information; The exit processor is configured to determine an exit type based on the fault type; The exit actuator is configured to determine the type of fault exit control system based on the exit type, and send a drive instruction to the drive module based on the determined fault exit control system, or send an operation instruction to the output module based on the determined fault exit control system.

5. The surgical robot according to claim 4, characterized in that: The exit types include: manual exit due to fault, automatic exit due to fault and normal exit; The exit handler is configured to: Based on the first type of fault, determining the exit type as the normal exit; Based on the second type of fault, determining the exit type as automatic exit due to the fault; and Based on the third type of fault, the exit type is determined to be the fault manual exit.

6. The surgical robot according to claim 5, characterized in that: The exit actuator is configured to determine a first fault exit control system based on the normal exit, and control the drive module to drive the operator assembly to exit from the first position based on the first fault exit control system; or The exit actuator is configured to automatically exit based on the fault, determine a second fault exit control system, send a first operation instruction for prompting a user to input an instruction to the output module based on the second fault exit control system, and control the drive module to drive the operator assembly to exit from the first position based on the input instruction; or The exit actuator is configured to determine a second fault exit control system based on the fault manual exit, and based on the second fault exit control system, send a second operation instruction to the output module to prompt the user to manually exit the operator assembly from the first position.

7. The surgical robot according to claim 6, characterized in that: The second operation instruction includes a plurality of messages prompting the user to perform an operation.

8. The surgical robot according to claim 1, characterized in that: The input instruction includes a posture instruction and an exit instruction. The posture instruction is used to make the operator component form an exit posture, and the exit instruction is used to make the operator component exit.

9. The surgical robot according to claim 1, characterized in that: The manipulator assembly includes a surgical tool arm and / or an endoscopic tool arm.

10. The surgical robot according to claim 6, characterized in that: The first fault exit control system is configured to be applied to a situation where the control module is able to autonomously control the movement of the drive module and / or the operator assembly through commands; The second fault exit control system is configured to be applied to a situation where the control module is unable to autonomously control the drive module and / or the operator component through commands, and the motor of the drive module is working normally.

11. The surgical robot according to claim 3, characterized in that: The output module includes at least one of an audio output module, a lighting output module or an image output module.

Images