Robotic arm replacement system, method, electronic device, and storage medium

Abstract

An embodiment of the present invention discloses a robotic arm replacement system, method, device, electronic device, and storage medium. The system includes: a controller and at least two robotic arms. The controller includes multiple interfaces, and each controller interface is configured with corresponding robotic arm configuration information. Any one of the robotic arms is connected to the controller through an industrial Ethernet based on the robotic arm identifier of the current robotic arm, and receives and executes the operation instructions transmitted by the controller. The controller is used to monitor the operation status of each robotic arm, determine the robotic arm to be replaced based on the operation status of the robotic arm, generate replacement prompt information for the robotic arm to be replaced, and during the replacement process of the robotic arm to be replaced, control other robotic arms to continue to execute the operation instructions corresponding to each robotic arm. Wherein, the operation status includes an operation failure status and an operation instruction status, which realizes reducing the operation difficulty of replacing equipment and increasing the stability and safety of the operation.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent robot devices, and in particular, to a robotic arm replacement system, method, device, electronic device, and storage medium. Background Art

[0002] One of the existing surgical robots is the da Vinci bedside robotic arm system, which consists of a column and four robotic arms extended from the column. In this system, since the four robotic arms are controlled by a single system, if a robotic arm is damaged during use, it cannot be replaced, and only the entire bedside robotic arm system needs to be returned to the factory for repair. Another surgical robot is the CMR type multi-column bedside robotic arm system, which consists of one or more independent columns, and each column has a separate robotic arm. In this system, since the system also controls multiple robotic arms by a single system, if a certain robotic arm is damaged during use, after the system is shut down, a new robotic arm needs to be reconnected and the system needs to be restarted for initialization. Or, before the surgery starts, multiple spare robotic arms are pre-connected, so as to solve the possibility of multi-robotic arm replacement through redundancy.

[0003] During the replacement process of the above two surgical robots, when replacing the robotic arm, the system needs to be shut down to reconnect different robotic arms, resulting in the need to reconfigure (initialize) the entire hardware system of the surgical robot before the newly connected robotic arm can be used. Initialization requires the system and the doctor to re-set the relevant configurations, making it difficult to replace the robotic arm during the repair process, with high repair costs, and the need to reconfigure the entire surgical robot system after replacing the robotic arm, which may cause the surgery to be interrupted, thus triggering surgical risks. Summary of the Invention

[0004] The present invention provides a robotic arm replacement system, method, device, electronic device, and storage medium to reduce the operation difficulty of replacing devices, and only flexibly configure the replaced robotic arm, increasing the stability and safety of the surgery.

[0005] In a first aspect, an embodiment of the present invention provides a robotic arm replacement system, which includes:

[0006] A controller and at least two robotic arms, the controller includes a plurality of interfaces, and each controller interface is configured with corresponding robotic arm configuration information;

[0007] Any robotic arm is connected to the controller through an industrial Ethernet based on the robotic arm identifier of the current robotic arm, and receives and executes the operation instructions transmitted by the controller;

[0008] The controller is used to monitor the operation status of each robotic arm, determine the robotic arm to be replaced based on the operation status of the robotic arm, generate replacement prompt information for the robotic arm to be replaced, and control other robotic arms to continue to execute the operation instructions corresponding to each robotic arm during the replacement process of the robotic arm to be replaced; wherein, the operation status includes an operation failure status and an operation instruction status.

[0009] Optionally, the controller is further used to perform network configuration on each controller interface of the controller in advance based on the robotic arm configuration information, so that the controller can control the corresponding robotic arm based on each controller interface respectively.

[0010] Optionally, the controller is further used to obtain the operation instruction corresponding to the robotic arm to be replaced, and after identifying that the robotic arm to be replaced has been replaced, perform network configuration on the target robotic arm after replacement, so that the target robotic arm continues to execute the operation instruction corresponding to the robotic arm to be replaced.

[0011] Optionally, the target robotic arm and the robotic arm to be replaced have the same mechanical structure and hardware configuration; the controller interface corresponding to the target robotic arm and the controller interface corresponding to the robotic arm to be replaced are different controller interfaces.

[0012] Optionally, the controller is further used to obtain the required quantity of robotic arms and the connected quantity of the connected robotic arms. If the required quantity and the connected quantity are not equal, generate quantity change prompt information for increasing or decreasing the quantity of robotic arms.

[0013] Optionally, if it is determined that a robotic arm needs to be added, the controller is further used to obtain the interface status of the controller interface; if there is an idle interface on the controller, allocate the idle interface to the robotic arm to be added; if there is no idle interface on the controller, generate an addition prompt information indicating that the robotic arm cannot be added.

[0014] In a second aspect, an embodiment of the present invention further provides a robotic arm replacement method, and the method includes:

[0015] Monitor the operation status of each robotic arm; wherein, the operation status includes an operation failure status and an operation instruction status;

[0016] Determine the robotic arm to be replaced based on the operation status of the robotic arm, and generate replacement prompt information for replacing the robotic arm to be replaced;

[0017] During the process of replacing the robotic arm to be replaced, control other robotic arms to continue to execute the operation instructions corresponding to each robotic arm.

[0018] Optionally, after replacing the robotic arm to be replaced, it further includes:

[0019] Perform network configuration on the target robotic arm corresponding to the robotic arm to be replaced, so that the target robotic arm continues to execute the operation instruction corresponding to the robotic arm to be replaced based on the obtained operation instruction corresponding to the robotic arm to be replaced.

[0020] The performing network configuration on the target robotic arm corresponding to the robotic arm to be replaced includes:

[0021] Send network information to each servo in the target robotic arm; wherein, the network information is used to obtain configuration parameters of each servo.

[0022] In a third aspect, an embodiment of the present invention further provides a robotic arm replacement device, and the device includes:

[0023] An operation state monitoring module, configured to monitor the operation states of the robotic arms; wherein, the operation states include an operation failure state and an operation instruction state;

[0024] A robotic arm to be replaced determination module, configured to determine the robotic arm to be replaced based on the operation states of the robotic arms, and generate replacement prompt information for replacing the robotic arm to be replaced;

[0025] A control module, configured to control normal operation of other robotic arms during the process of replacing the robotic arm to be replaced.

[0026] Optionally, the device further includes:

[0027] A target robotic arm configuration module, configured to perform network configuration on the target robotic arm corresponding to the robotic arm to be replaced after replacing the robotic arm to be replaced, so that the target robotic arm continues to execute the operation instruction corresponding to the robotic arm to be replaced based on the obtained operation instruction corresponding to the robotic arm to be replaced.

[0028] Optionally, the target robotic arm configuration module includes:

[0029] A network parameter sending unit, configured to send network information to each servo in the target robotic arm; wherein, the network information is used to obtain configuration parameters of each servo.

[0030] In a fourth aspect, an embodiment of the present invention further provides an electronic device, and the electronic device includes:

[0031] One or more processors;

[0032] A storage device, configured to store one or more programs,

[0033] When the one or more programs are executed by the one or more processors, the one or more processors implement the robotic arm replacement method provided in any embodiment of the present invention.

[0034] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the robotic arm replacement method provided in any embodiment of the present invention is implemented.

[0035] The technical solution of this embodiment pre-configures the corresponding robotic arm configuration information for each controller interface of the controller before performing the surgical task, so that each controller interface can be correspondingly connected to a preset robotic arm. Of course, the number of configured controller interfaces is more than the number of robotic arms required for daily surgery, so as to facilitate replacement when the robotic arm fails. Further, each robotic arm is independently connected to each controller interface of the controller based on industrial Ethernet, thereby building a robotic arm replacement system. Based on this robotic arm replacement system, the robotic arm of the surgical robot is replaced, making the replacement operation of the robotic arm simple, and it can be directly replaced without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the operation difficulty of replacing equipment, and only flexibly configuring the replaced robotic arm, increasing the stability and safety of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the introduced drawings are only the drawings of a part of the embodiments to be described in the present invention, rather than all the drawings. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0037] Figure 1 is a schematic structural diagram of a robotic arm replacement system provided in Embodiment 1 of the present invention;

[0038] Figure 2 is a schematic flowchart of a robotic arm replacement method provided in Embodiment 2 of the present invention;

[0039] Figure 3 is a schematic structural diagram of a robotic arm replacement device provided in Embodiment 3 of the present invention;

[0040] Figure 4 is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention rather than all the structures are shown in the accompanying drawings.

[0042] Embodiment 1

[0043] Figure 1 FIG. is a schematic structural diagram of the robotic arm replacement system provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of replacing the robotic arm of a surgical robot during operation.

[0044] Before introducing the technical solution of the embodiment of the present invention, an exemplary introduction to the application scenario of implementing the technical solution of this embodiment will be given first. Of course, the following application scenarios are only optional application scenarios, and this embodiment can also be implemented in other application scenarios. This embodiment does not limit the application scenarios of the implemented technical methods. Specifically, the application scenarios include: during the process of performing surgery using a surgical robot, the surgical robot may be damaged during use, that is, it cannot continue to execute the operation instructions of the controller. In the above situation, there are generally two methods for replacing the robotic arm in the prior art. One is that if the surgical robot is a single-column supporting multiple robotic arms, in this case, the system needs to be shut down and the column with the robotic arms needs to be replaced together, and then the system needs to be reconnected after replacement. The other is that the surgical robot is a single-column supporting a single robotic arm. In this case, after shutting down the system, a new robotic arm needs to be reconnected and the initialization needs to be started again.

[0045] In the above two processes of replacing the surgical robot, the first replacement method requires complete replacement, which is cumbersome to operate and requires a high maintenance cost; the second replacement method requires shutting down the machine to reconnect a different robotic arm, resulting in the need to reconfigure (initialize) the entire hardware system of the surgical robot before the newly connected robotic arm can be used. Initialization requires the system and the doctor to reset the relevant configurations, resulting in a cumbersome replacement operation during the repair of the surgical robot. After replacing the robotic arm, the entire surgical robot system needs to be reconfigured, which may cause the surgery to be interrupted, thus triggering surgical risks.

[0046] Therefore, in view of the above technical problems, the technical solution of the embodiment of the present invention is improved on the basis of the second replacement method. Specifically, before performing a surgical task, the corresponding robotic arm configuration information is pre-configured for each controller interface of the controller, so that each controller interface can be correspondingly connected to a preset robotic arm. Of course, the number of configured controller interfaces is more than the number of robotic arms required for daily surgery, so as to facilitate replacement when a robotic arm fails. Further, each robotic arm is independently connected to each controller interface of the controller based on the industrial Ethernet, thereby building a robotic arm replacement system. Based on this robotic arm replacement system, the robotic arm of the surgical robot is replaced, making the replacement operation of the robotic arm simple, and it can be directly replaced without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the operation difficulty of replacing equipment, and only flexibly configuring the replaced robotic arm, increasing the stability and safety of the surgery.

[0047] See Figure 1 , the specific structure of this robotic arm replacement system includes: a controller 110 and at least two robotic arms 120. The controller 110 includes a plurality of interfaces 111, and each controller interface 111 is configured with corresponding robotic arm configuration information;

[0048] Any robotic arm 120 is connected to the controller 110 through the industrial Ethernet based on the robotic arm identifier of the current robotic arm 120, and receives and executes the operation instructions transmitted by the controller 110;

[0049] The controller 110 is used to monitor the operation status of each robotic arm 120, determine the robotic arm 120 to be replaced based on the operation status of the robotic arm 120, and generate a replacement prompt message for the robotic arm 120 to be replaced. During the replacement process of the robotic arm 120 to be replaced, the controller 110 controls other robotic arms 120 to continue to execute the operation instructions corresponding to each robotic arm 120; wherein, the operation status includes an operation failure status and an operation instruction status.

[0050] In the embodiment of the present invention, the controller 110 includes a plurality of controller interfaces 111, and each controller interface 111 is configured with corresponding robotic arm configuration information; wherein, the robotic arm configuration information may include, but is not limited to, the coding identifier of the robotic arm 120, which is used for information verification when the robotic arm 120 is connected to the controller interface 111 to determine that the robotic arm 120 and the controller interface 111 are correspondingly connected, so that the operation instructions sent by the controller 110 can be executed.

[0051] Before replacing the robotic arm 120, the controller 110 needs to pre-configure the network for each controller interface 111, so that the controller 110 can respectively control the corresponding robotic arm 120 based on each controller interface 111, and thus send the operation instructions corresponding to each robotic arm 120.

[0052] It should be noted that the number of controller interfaces 111 in the controller 110 needs to be more than the number of robotic arms 120 required for daily surgical tasks; in other words, there need to be idle interfaces 111 on the controller 110 in this embodiment, so as to facilitate the replacement of the robotic arm 120 when the robotic arm 120 fails.

[0053] In this embodiment, when the robotic arm 120 fails during the operation, the idle interface 111 is used to replace the original interface 111 to replace the robotic arm 120, which can quickly enable the surgical robot to continue to perform the surgical task and reduce the surgical risk caused by the surgical interruption. The reason is that the cause of the failure of the original controller interface 111 connected to the robotic arm 120 is uncertain whether it is the failure of the robotic arm 120 or the interface 111. Therefore, the new robotic arm 120 is directly connected to the new interface 111 to achieve rapid restoration of work, and the cause of the failure can be investigated after the surgical task is completed.

[0054] Specifically, the network configuration of the controller interface 111 can be to configure the robotic arm configuration information of the robotic arm 120 corresponding to the controller interface 111 on the corresponding controller interface 111, so that the controller interface 111 can be correspondingly connected to the preset robotic arm 120. Among them, the robotic arms corresponding to the robotic arm configuration information of each controller interface have the same mechanical structure and hardware settings, so that when any robotic arm fails, other robotic arms can be used for replacement. Correspondingly, any robotic arm 120 is connected to the controller 110 through the industrial Ethernet based on the robotic arm identifier of the current robotic arm 120, and receives and executes the operation instructions transmitted by the controller 110.

[0055] Among them, the industrial Ethernet can also be called real-time Ethernet, real-time industrial Ethernet. For example, Ethercat, ProfiNet, Ethernet / IP, etc. all belong to the industrial Ethernet. In this embodiment, the Ethernet type used when any robotic arm 120 is connected to the controller 110 can be connected using the above industrial Ethernet, or it can be connected using the industrial Ethernet not exemplified above. This embodiment does not limit the specific connection method used.

[0056] Exemplarily, N controller interfaces 111 are pre-configured within the operating system of the controller 110, all set to the optional connection mode, and each is provided with the robotic arm identifier of the connectable robotic arm 120. The system identifies the robotic arm identifier of the connected robotic arm 120, automatically numbers each detected and properly recognized robotic arm 120 starting from 1. Under normal power-on conditions, groups 1, 2, and 3 are default online, representing 3 sets of pre-installed robotic arms 120. At the same time, the system also reserves the numbering space for 4 - 10 groups of robotic arms 120. The operating system automatically detects the connection status of new arms during operation. Once a new device is detected, based on the robotic arm identifier of the robotic arm 120 (i.e., detecting whether it belongs to a set of replaceable robotic arms 120), the system automatically assigns a group number and switches the teleoperation status of the surgical arm through a user interface or system preset values.

[0057] Specifically, after the controller 110 configures each controller interface 111, each robotic arm 120 is independently connected to each controller interface 111 of the controller 110 based on industrial Ethernet, thus building a robotic arm replacement system. Generally speaking, the technical solution of this embodiment is to enable independent communication between each controller interface 111 in the controller 110 and the corresponding robotic arm 120 through industrial Ethernet and the pre-performed network configuration, so as to achieve independent control of any robotic arm 120 to execute operation instructions, and thus it is also possible to replace any robotic arm 120 without shutting down the system.

[0058] Optionally, after building the robotic arm replacement system, the controller 110 monitors the operation status of each robotic arm 120, determines the robotic arm 120 to be replaced based on the operation status of the robotic arm 120, generates a replacement prompt message for the robotic arm 120 to be replaced, and controls other robotic arms 120 to continue to execute the operation instructions corresponding to each robotic arm 120 during the replacement process of the robotic arm 120 to be replaced.

[0059] Among them, the operation status includes the operation failure status and the operation instruction status. The operation instruction status can include the status of whether the current operation instruction has been executed. For example, the unexecuted status, the executing status, and the executed status.

[0060] Specifically, during the operation, the controller 110 monitors the operation status of each robotic arm 120. Exemplarily, it can detect whether there is a connection fault in each robotic arm 120. If it is detected that one or more robotic arms 120 cannot continue to be used due to mechanical failures, a replacement prompt message for replacing the robotic arm 120 is generated. The staff places the spare robotic arm 120 beside the hospital bed and connects it to the integrated center; after successful connection, the replaced robotic arm 120 will be automatically powered on, and the software system will automatically detect and recognize the connection of the new robotic arm 120; on the user interface of the integrated center, the user will be prompted to select the number / color of the surgical arm to be replaced. After confirming the arm to be replaced, the staff withdraws the robotic arm 120 to be replaced and disconnects it from the integrated center; of course, in this embodiment, the robotic arm 120 to be replaced can also be withdrawn first, and then the new robotic arm 120 can be connected; it is also possible to perform the replacement simultaneously. This embodiment does not limit the replacement sequence. The withdrawal in this embodiment can refer to the robotic arm 120 being withdrawn from the trolley, or the entire trolley together with the robotic arm 120 being withdrawn. Optionally, in this embodiment, the robotic arm 120 of the surgical robot can be composed of a trolley and the robotic arm 120, and the robotic arm 120 is detachably installed on the trolley to facilitate the flexible movement of the robotic arm 120, so as to more flexibly execute the operation instructions of the controller 110.

[0061] Exemplarily, during the operation, when the controller 110 monitors that the No. 2 robotic arm 120 controlled by the doctor's right hand is damaged, a message is generated indicating that the No. 2 robotic arm 120 needs to be replaced and the newly replaced robotic arm 120 is No. 4. Further, a replacement prompt message for switching the No. 4 arm to replace the No. 2 arm can be generated through the interface, and the staff replaces the robotic arm 120. After completion, the right hand controller 110 of the doctor's console starts to control the No. 4 arm to continue the operation. Of course, during the process of the staff replacing the robotic arm 120, the robotic arms 120 corresponding to No. 1 and No. 3 are still controlled by the original controller 110 to continue to perform the original surgical tasks.

[0062] Optionally, after completing the replacement of the robotic arm 120, the controller 110 also obtains the operation instructions corresponding to the robotic arm 120 to be replaced, and after recognizing that the robotic arm 120 to be replaced has been replaced, performs network configuration on the replaced target robotic arm 120 so that the target robotic arm 120 can continue to execute the operation instructions corresponding to the robotic arm 120 to be replaced.

[0063] In this embodiment, performing network configuration on the replaced target robotic arm 120 is to perform network configuration on the No. 4 robotic arm 120 in the above exemplary content, so that the right hand controller 110 of the doctor's console can control the No. 4 arm to continue the operation.

[0064] Optionally, the method for network configuration of the target robotic arm 120 may include: sending network information to each servo in the target robotic arm 120; wherein, the network information is used to obtain configuration parameters of each servo.

[0065] Specifically, after the controller 110 discovers that the robotic arm 120 has been replaced, that is, the controller 110 scans the control network of the robotic arm 120 to detect changes in the control network and reorganizes the network topology. Further, the controller 110 initializes the network configuration and parameter configuration of each servo in the current target robotic arm 120. Exemplarily, the controller 110 can read the configuration of each servo in the robotic arm 120 through the broadcast mode to form new network topology information.

[0066] It should be noted that the robotic arm 120 in this embodiment has the same mechanical structure and hardware configuration as the robotic arm 120 to be replaced. Specifically, it can be understood that the part categories, quantity combination methods in the target robotic arm 120 and the robotic arm 120 to be replaced are the same, and the operation instructions that the target robotic arm 120 and the robotic arm 120 to be replaced can execute are the same, so that the target robotic arm 120 after replacement can continue to execute the operation instructions of the robotic arm 120 to be replaced.

[0067] Based on the above embodiments, the controller 110 is further configured to obtain the required quantity of the robotic arm 120 and the connected quantity of the connected robotic arm 120. If the required quantity and the connected quantity are not equal, a quantity change prompt information for increasing or decreasing the quantity of the robotic arm 120 is generated.

[0068] Specifically, the controller 110 determines the required quantity of the robotic arm 120 for the operation instruction based on the received operation instruction, and determines the connected quantity of the robotic arm 120 connected to each controller interface 111. Compare the required quantity of the robotic arm 120 with the connected quantity. If the required quantity and the connected quantity are not equal, a quantity change prompt information for increasing or decreasing the quantity of the robotic arm 120 is generated.

[0069] Exemplarily, if the required quantity is more than the connected quantity, a quantity change prompt information for increasing the quantity of the robotic arm 120 is generated; if the required quantity is less than the connected quantity, a quantity change prompt information for decreasing the quantity of the robotic arm 120 is generated.

[0070] Further, after generating the quantity change prompt information for increasing or decreasing the quantity of the robotic arm 120, in other words, if it is determined that the robotic arm 120 needs to be increased, the status of the interface 111 of the controller interface 111 is obtained; if there is an idle interface 111 in the controller 110, the idle interface 111 is allocated to the robotic arm 120 to be added; if there is no idle interface 111 in the controller 110, an addition prompt information indicating that the robotic arm 120 cannot be added is generated.

[0071] In the technical solution of this embodiment, before performing a surgical task, corresponding robotic arm configuration information is pre-configured for each controller interface 111 of the controller 110, so that each controller interface 111 can be correspondingly connected to a preset robotic arm 120. Of course, the number of configured controller interfaces 111 is more than the number of robotic arms 120 required for daily surgery, so as to facilitate replacement when a robotic arm 120 fails. Further, each robotic arm 120 is separately and independently connected to each controller interface 111 of the controller 110 based on industrial Ethernet, thereby building a robotic arm replacement system. Based on this robotic arm replacement system, the robotic arm 120 of the surgical robot is replaced, making the replacement operation of the robotic arm 120 simple, and it can be directly replaced without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the operation difficulty of replacing equipment, and only flexibly configuring the replaced robotic arm 120, increasing the stability and safety of the surgery.

[0072] The following is an embodiment of the robotic arm replacement method provided by the embodiment of the present invention. This method and the robotic arm replacement system of the above embodiments belong to the same inventive concept. For the details not described in detail in the embodiment of the robotic arm replacement method, reference can be made to the embodiment of the robotic arm replacement system above.

[0073] Embodiment Two

[0074] Figure 2 As shown in the flowchart of a robotic arm replacement method provided by Embodiment Two of the present invention, this embodiment is applicable to the situation of replacing the robotic arm of a surgical robot during operation. This method can be executed by a robotic arm replacement device, and the device can be implemented in a software and / or hardware manner. As Figure 2 shown, the method specifically includes the following steps:

[0075] S210. Monitor the operation status of each robotic arm; wherein, the operation status includes an operation failure status and an operation instruction status.

[0076] S220. Determine the robotic arm to be replaced based on the operation status of the robotic arm, and generate a replacement prompt message for replacing the robotic arm to be replaced.

[0077] S230. During the process of replacing the robotic arm to be replaced, control other robotic arms to continue to execute the operation instructions corresponding to each robotic arm.

[0078] The technical solution of this embodiment pre-configures the corresponding robotic arm configuration information for each controller interface of the controller before performing the surgical task, so that each controller interface can be correspondingly connected to a preset robotic arm. Of course, the number of configured controller interfaces is more than the number of robotic arms required for daily surgery, so as to facilitate replacement in case of a robotic arm failure. Further, each robotic arm is independently connected to each controller interface of the controller based on the industrial Ethernet, thereby building a robotic arm replacement system. Based on this robotic arm replacement system, the robotic arm of the surgical robot is replaced, making the replacement operation of the robotic arm simple, and it can be directly replaced without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the operation difficulty of replacing the equipment, and only flexibly configuring the replaced robotic arm, increasing the stability and safety of the surgery.

[0079] The following is an embodiment of the robotic arm replacement device provided by the embodiment of the present invention. This device and the robotic arm replacement method and system of the above embodiments belong to the same inventive concept. For the details not described in detail in the embodiment of the robotic arm replacement device, reference can be made to the embodiments of the above robotic arm replacement method and system.

[0080] Embodiment III

[0081] Figure 3 FIG. is a schematic structural diagram of the robotic arm replacement device provided by Embodiment III of the present invention. This embodiment is applicable to the situation of replacing the robotic arm of a surgical robot during operation. Refer to Figure 3 , the specific structure of the robotic arm replacement device includes: an operation status monitoring module 310, a robotic arm to be replaced determination module 320, and a control module 330; wherein,

[0082] The operation status monitoring module 310 is used to monitor the operation status of each of the robotic arms; wherein, the operation status includes an operation failure status and an operation instruction status;

[0083] The robotic arm to be replaced determination module 320 is used to determine the robotic arm to be replaced based on the operation status of the robotic arm, and generate a replacement prompt information for replacing the robotic arm to be replaced;

[0084] The control module 330 is used to control the normal operation of other robotic arms during the process of replacing the robotic arm to be replaced.

[0085] The technical solution of this embodiment pre-configures the corresponding robotic arm configuration information for each controller interface of the controller before performing the surgical task, so that each controller interface can be correspondingly connected to a preset robotic arm. Of course, the number of configured controller interfaces is more than the number of robotic arms required for daily surgery, so as to facilitate replacement in case of a malfunction of the robotic arm. Further, each robotic arm is independently connected to each controller interface of the controller based on the industrial Ethernet, thereby building a robotic arm replacement system. Based on this robotic arm replacement system, the robotic arm of the surgical robot is replaced, making the replacement operation of the robotic arm simple and allowing direct replacement without shutting down the system. After the replacement is completed, the surgical task can be continued, reducing the operation difficulty of replacing the equipment, and only flexibly configuring the replaced robotic arm, increasing the stability and safety of the surgery.

[0086] Optionally, the device further includes:

[0087] A target robotic arm configuration module, configured to perform network configuration on the target robotic arm corresponding to the robotic arm to be replaced after replacing the robotic arm to be replaced, so that the target robotic arm continues to execute the operation instruction corresponding to the robotic arm to be replaced based on the obtained operation instruction corresponding to the robotic arm to be replaced.

[0088] Optionally, the target robotic arm configuration module includes:

[0089] A network parameter sending unit, configured to send network information to each servo in the target robotic arm; wherein, the network information is used to obtain the configuration parameters of each servo.

[0090] The robotic arm replacement device provided by the embodiment of the present invention can execute the robotic arm replacement method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0091] It should be noted that in the embodiment of the above-mentioned robotic arm replacement device, the included units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0092] Embodiment 4

[0093] Figure 4 It is a schematic structural diagram of an electronic device provided by Embodiment 4 of the present invention. Figure 4 The block diagram of the exemplary electronic device 12 suitable for implementing the embodiment of the present invention is shown. Figure 4 The displayed electronic device 12 is only an example and should not bring any limitation to the functions and usage scope of the embodiment of the present invention.

[0094] As shown Figure 4 in FIG. 1, the electronic device 12 is embodied in the form of a general-purpose computing electronic device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples different system components (including the system memory 28 and the processing unit 16).

[0095] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0096] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and nonvolatile media, removable and non-removable media.

[0097] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, a storage system 34 can be used for reading and writing non-removable, nonvolatile magnetic media ( Figure 4 not shown, typically referred to as a "hard disk drive"). Although Figure 4 not shown in FIG. 1, a disk drive for reading and writing a removable nonvolatile disk (such as a "floppy disk") and an optical disk drive for reading and writing a removable nonvolatile optical disk (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these instances, each drive can be connected to the bus 18 by one or more data media interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of the embodiments of the present invention.

[0098] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in the system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. The program modules 42 generally carry out the functions and / or methods of the embodiments described herein.

[0099] The electronic device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. Moreover, the electronic device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As Figure 4 shown, the network adapter 20 communicates with other modules of the electronic device 12 through a bus 18. It should be understood that although Figure 4 not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0100] The processing unit 16 executes various functional applications and obtains sample data by running programs stored in the system memory 28. For example, it implements the steps of a robotic arm replacement method provided in an embodiment of the present invention. The robotic arm replacement method includes:

[0101] Monitoring the operation status of each of the robotic arms; wherein, the operation status includes an operation failure status and an operation instruction status;

[0102] Determining a robotic arm to be replaced based on the operation status of the robotic arm, and generating replacement prompt information for replacing the robotic arm to be replaced;

[0103] During the process of replacing the robotic arm to be replaced, controlling other robotic arms to continue to execute the operation instructions corresponding to each of the robotic arms.

[0104] Of course, those skilled in the art can understand that the processor can also implement the technical solutions of the sample data acquisition method provided in any embodiment of the present invention.

[0105] Embodiment Five

[0106] Embodiment Five of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements, for example, the steps of a robotic arm replacement method provided in an embodiment of the present invention. The robotic arm replacement method includes:

[0107] Monitoring the operation status of each of the robotic arms; wherein, the operation status includes an operation failure status and an operation instruction status;

[0108] Determine the robotic arm to be replaced based on the operating state of the robotic arm, and generate replacement prompt information for replacing the robotic arm to be replaced;

[0109] During the process of replacing the robotic arm to be replaced, control other robotic arms to continue to execute the operation instructions corresponding to each of the robotic arms.

[0110] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0111] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0112] The program code contained on the computer-readable medium may be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0113] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0114] Those of ordinary skill in the art should understand that the various modules or steps of the present invention described above may be implemented using a general-purpose computing device. They may be concentrated on a single computing device or distributed across a network composed of multiple computing devices. Optionally, they may be implemented using program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0115] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, it may also include more other equivalent embodiments, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robotic arm replacement system, characterized in that, it includes: a controller and at least two robotic arms, the controller includes a plurality of interfaces, and each controller interface is configured with corresponding robotic arm configuration information; wherein, the number of interfaces is more than the number of robotic arms required for daily surgical tasks; any one of the robotic arms is connected to the controller through industrial Ethernet based on the robotic arm identifier of the current robotic arm, and receives and executes the operation instructions transmitted by the controller; the controller is used to monitor the operation status of each robotic arm, determine the robotic arm to be replaced based on the operation status of the robotic arm, and generate replacement prompt information for the robotic arm to be replaced, and during the replacement process of the robotic arm to be replaced, control other robotic arms to continue to execute the operation instructions corresponding to each robotic arm; wherein, the operation status includes an operation failure status and an operation instruction status; the controller is further used to obtain the operation instructions corresponding to the robotic arm to be replaced, and after recognizing that the robotic arm to be replaced has been replaced, send network information to each servo in the replaced target robotic arm, and re-establish a new network topology according to the network configuration of each servo, so that the target robotic arm continues to execute the operation instructions corresponding to the robotic arm to be replaced; wherein, the network information is used to obtain the configuration parameters of each servo.

2. The system according to claim 1, characterized in that, the controller is further used to perform network configuration on each controller interface of the controller in advance based on the robotic arm configuration information, so that the controller can control the corresponding robotic arm based on each controller interface respectively.

3. The system according to claim 1, characterized in that, the target robotic arm and the robotic arm to be replaced have the same mechanical structure and hardware configuration; the controller interface corresponding to the target robotic arm and the controller interface corresponding to the robotic arm to be replaced are different controller interfaces.

4. The system according to claim 1, characterized in that, the controller is further used to obtain the required number of robotic arms and the installed number of the connected robotic arms, and if the required number and the installed number are not equal, generate quantity change prompt information for increasing or decreasing the number of robotic arms.

5. The system according to claim 4, characterized in that, the controller is further used to, if it is determined that a robotic arm needs to be added, obtain the interface status of the controller interface; if there is an idle interface in the controller, allocate the idle interface to the robotic arm to be added; if there is no idle interface in the controller, generate an addition prompt information indicating that the robotic arm cannot be added.

6. A robotic arm replacement method, characterized in that, it is applied to the robotic arm replacement system according to any one of claims 1-5 above, wherein the number of interfaces of the controller is more than the number of robotic arms required for daily surgical tasks; it includes: monitoring the operation status of each robotic arm; wherein, the operation status includes an operation failure status and an operation instruction status; determining the robotic arm to be replaced based on the operation status of the robotic arm, and generating replacement prompt information for replacing the robotic arm to be replaced; During the process of replacing the robotic arm to be replaced, control other robotic arms to continue to execute the operation instructions corresponding to each of the robotic arms; Among them, after replacing the robotic arm to be replaced, it further includes: Send network information to each servo in the target robotic arm corresponding to the robotic arm to be replaced, and re - construct a new network topology according to the network configuration of each servo, so that the target robotic arm continues to execute the operation instructions corresponding to the robotic arm to be replaced based on the obtained operation instructions corresponding to the robotic arm to be replaced; where the network information is used to obtain the configuration parameters of each servo.

7. A robotic arm replacement device, Characterized in that, Applied to a controller and at least two robotic arms, the controller includes a plurality of interfaces, and each controller interface is configured with corresponding robotic arm configuration information; where the number of interfaces is more than the number of robotic arms required for daily surgical tasks; it includes: An operation status monitoring module, used to monitor the operation status of each of the robotic arms; where the operation status includes an operation failure status and an operation instruction status; A robotic arm to be replaced determination module, used to determine the robotic arm to be replaced based on the operation status of the robotic arm, and generate a replacement prompt information for replacing the robotic arm to be replaced; A control module, used to control other robotic arms to operate normally during the process of replacing the robotic arm to be replaced; A target robotic arm configuration module, used to send network information to each servo in the target robotic arm corresponding to the robotic arm to be replaced, and re - construct a new network topology according to the network configuration of each servo, so that the target robotic arm continues to execute the operation instructions corresponding to the robotic arm to be replaced based on the obtained operation instructions corresponding to the robotic arm to be replaced; where the network information is used to obtain the configuration parameters of each servo.

8. An electronic device, Characterized in that, It includes: One or more processors; A storage device, used to store one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the robotic arm replacement method according to any one of claims 6.

9. A computer - readable storage medium, on which a computer program is stored, Characterized in that, When the program is executed by a processor, it implements the robotic arm replacement method according to any one of claims 6.

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