Medical robot operating table trolley off-line control method and operating table trolley

Abstract

This application relates to an offline control method for a surgical trolley of a medical robot, and the surgical trolley itself. The method detects whether the surgical trolley is in offline control mode. When offline control mode is detected, it indicates that the surgical trolley cannot be braked or its motors controlled by the surgeon, making it impossible to release the brakes or adjust the corresponding joints. This leads to problems such as slower relocation progress, lower production efficiency, and extended surgical preparation or evacuation time, resulting in poor convenience. By acquiring posture adjustment control commands sent from the terminal and responding to these commands, the method adjusts the posture of the corresponding mechanical components in the surgical trolley. This enables rapid posture adjustment of each joint of the surgical trolley, facilitating operation and improving relocation progress and production efficiency, while reducing surgical preparation and evacuation time.

Description

Technical Field

[0001] This application relates to the field of medical robot control technology, and in particular to an offline control method and device for a medical robot operating cart, an operating cart, electronic equipment and computer storage medium. Background Technology

[0002] Medical surgical robots mainly consist of a doctor-controlled cart and an operating table. The release of brakes and movement of motors on the operating table require the doctor to send corresponding commands via an industrial control computer. This results in the operating table malfunctioning in scenarios where it moves alone or in situations where the industrial control computer fails, leading to poor convenience. Summary of the Invention

[0003] Therefore, it is necessary to provide an offline control method for a surgical cart of a medical robot that supports offline control operation, as well as the surgical cart, electronic equipment, and computer storage medium, to address the aforementioned technical problems.

[0004] In a first aspect, this application provides an offline control method for a surgical cart of a medical robot, applied to a surgical cart, the method comprising:

[0005] Check if the operating table cart is in offline control mode;

[0006] If in offline control mode, obtain the pose adjustment control command sent by the terminal;

[0007] In response to pose adjustment control commands, the pose of the corresponding mechanical components in the operating table is adjusted.

[0008] In one embodiment, the step of detecting whether the operating table is in offline control mode includes:

[0009] In response to the closing action of the offline switch, it is determined that the operating carriage is in offline control mode. The offline switch is used to connect in series between the power supply and each motor driver of the operating carriage. The motor driver is used to drive each motor on the operating carriage to drive each mechanical component of the operating carriage to make mechanical movements to adjust the position and posture of the corresponding mechanical component in the operating carriage.

[0010] In one embodiment, the method further includes the following steps before obtaining the pose adjustment control command sent by the terminal:

[0011] If in offline control mode, check whether the operating table carriage is communicating with the doctor controlling the operating table carriage;

[0012] If the operating table carriage and the doctor's control carriage are not communicating, a communication connection with the terminal will be established based on the offline control request from the terminal.

[0013] In one embodiment, the mechanical components of the surgical cart include a cart base, an adjustment arm disposed on the cart base, and a tool arm connected to the adjustment arm, the end of each tool arm being used to place surgical instruments; the posture adjustment control commands include at least one of the following: a brake release command, an adjustment arm opening / closing degree adjustment command, and a tool arm posture adjustment command.

[0014] The steps of adjusting the position of the corresponding mechanical component in the operating carriage in response to the position adjustment control command include controlling the target motor in the operating carriage corresponding to the release brake command to release the brake in response to the release brake command.

[0015] The step of adjusting the pose of the corresponding mechanical component in the operating table in response to a pose adjustment control command further includes at least one of the following steps:

[0016] In response to the adjustment arm opening degree adjustment command, the joint motor of the adjustment arm is driven to work to adjust the opening degree of the adjustment arm;

[0017] In response to the tool arm pose adjustment command, the joint motors of the tool arm are driven to work to adjust the pose of the tool arm.

[0018] In one embodiment, the surgical cart also includes a column and a top plate disposed on the cart base. The top plate is connected to the cart base through the column. One end of each adjustment arm is fixedly connected to the top plate, and the other end of each adjustment arm is connected to the corresponding tool arm. The posture adjustment control command also includes one or more of the following: surgical cart height adjustment command, top plate extension command, and top plate rotation command.

[0019] The step of adjusting the pose of the corresponding mechanical component in the operating table in response to a pose adjustment control command further includes at least one of the following steps:

[0020] In response to the operating table height adjustment command, the joint motor of the drive column is activated to adjust the height of the top plate;

[0021] In response to the command to extend or retract the top plate, the joint motor of the top plate is driven to work to adjust the distance between the edge of the projection of the top plate on the trolley base and the edge of the projection surface.

[0022] In response to the top plate rotation command, the joint motor of the top plate is driven to adjust the orientation of the adjustment arm on the top plate.

[0023] In one embodiment, after the step of controlling the target motor in the operating trolley corresponding to the release brake command to release the brake in response to the release brake command, the method further includes any of the following steps:

[0024] In response to the manual control actions of the joint motors of the operating trolley, the position and posture of the corresponding parts of the joint motors are adjusted.

[0025] In response to the target position command sent from the terminal side, the automatic control of the tool arm's shutdown motor and / or the adjustment arm's joint motor is used to move the tool arm to the target position.

[0026] In one embodiment, after the step of adjusting the pose of the corresponding mechanical component in the operating table in response to a pose adjustment control command, the method further includes:

[0027] The status data of the surgical cart after adjustment is fed back to the terminal.

[0028] Secondly, this application provides an offline control method for a surgical cart of a medical robot applied to a terminal, the method comprising:

[0029] In response to an offline control request, the offline control interface will be accessed.

[0030] When the operating carriage is in offline control mode, in response to the input of control parameters on the offline control interface, a pose adjustment control command is generated and sent to the corresponding motor driver in the operating carriage. The pose adjustment control command is used to instruct the motor driver to adjust the pose of the corresponding mechanical component in the operating carriage.

[0031] In one embodiment, the control parameters include a target motor, a target position of the target motor, a target speed, and a target torque. The target motor is a joint motor in the operating table.

[0032] In one embodiment, the step of sending pose adjustment control commands to the corresponding motor driver in the operating cart further includes:

[0033] In response to communication settings on the offline control interface, a communication connection is established with the corresponding motor driver in the operating trolley according to the set communication parameters.

[0034] In one embodiment, the step of sending pose adjustment control commands to the corresponding motor driver in the operating cart further includes:

[0035] Perform a preset number of handshake verifications with the corresponding motor driver in the operating table;

[0036] If the handshake verification is successful for the preset number of times, the process proceeds to sending the pose adjustment control command to the corresponding motor driver in the operating table.

[0037] In one embodiment, the above-described method applied to the terminal further includes:

[0038] Receive and display the status data fed back after the corresponding motor driver adjusts the position and orientation of the corresponding mechanical component in the operating table.

[0039] Thirdly, this application also provides a surgical cart for a medical robot, comprising:

[0040] Cart base;

[0041] Mechanical components are mounted on the trolley base;

[0042] Joint motors are installed at the joints of various mechanical components to drive the movement of the mechanical components and change their position.

[0043] The motor driver is connected to each joint motor in a corresponding manner, and is used to execute the steps of the above-mentioned offline control method for the surgical trolley.

[0044] In one embodiment, the motor driver includes:

[0045] power supply;

[0046] An offline switch, one end of which is used to connect to a power source;

[0047] The motor controller has one end connected to the other end of the offline switch, and the other end of the motor controller is connected to the corresponding motor.

[0048] In one embodiment, the motor driver further includes a voltage conversion chip and a filtering circuit;

[0049] The voltage conversion chip and filter circuit are connected in series between the offline switch and the motor controller.

[0050] In one embodiment, the surgical cart further includes an offline control identifier, which is disposed on the cart base or mechanical component and is used for a terminal to scan and enter the offline control interactive interface.

[0051] Fourthly, an offline control device for a surgical cart of a medical robot is also provided, applied to the surgical cart, including:

[0052] The offline detection module is used to detect whether the operating trolley is in offline control mode;

[0053] The offline control command acquisition module is used to acquire pose adjustment control commands sent by the terminal when in offline control mode.

[0054] The offline adjustment module is used to adjust the position and posture of the corresponding mechanical components in the operating table in response to the posture adjustment control command.

[0055] Fifthly, an offline control device for a surgical cart of a medical robot is also provided, applied to a terminal, including:

[0056] The offline interaction interface entry module is used to respond to offline control request operations and enter the offline control interaction interface;

[0057] The offline control command sending module is used to generate and send pose adjustment control commands to the corresponding motor drivers in the operating carriage in response to the control parameter input action on the offline control interface when the operating carriage is in offline control mode. The pose adjustment control commands are used to instruct the motor drivers to adjust the pose of the corresponding mechanical parts in the operating carriage.

[0058] In a sixth aspect, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of the above-described offline control method for the operating table of the medical robot.

[0059] In a seventh aspect, a computer-readable storage medium is also provided, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the above-described offline control method for the operating trolley of the medical robot.

[0060] The above-mentioned offline control method and device for the operating trolley of the medical robot, the operating trolley, the electronic equipment, and the computer storage medium have at least the following beneficial effects:

[0061] This control method detects whether the operating trolley is in offline control mode. If offline control mode is detected, it indicates that external terminal control is required. By receiving pose adjustment control commands from the terminal, the pose of corresponding mechanical components within the operating trolley can be adjusted, achieving offline control. In scenarios such as transferring the operating trolley, where unsuitable joint positions or postures cause the trolley to be too large to pass through certain thresholds or doors, the aforementioned offline control method can achieve robotic arm pose adjustment in offline control mode. Furthermore, with mobile phones and other terminals becoming increasingly integrated into people's lives, establishing a communication connection between the terminal and the operating trolley in offline mode via applications such as mini-programs allows for offline pose control of the operating trolley in various application scenarios. This not only improves operational convenience but also increases relocation speed and production efficiency, reducing surgical preparation and evacuation time. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1This is a schematic diagram illustrating the communication relationship between the industrial control computer, the doctor's control cart, the operating table cart, and the imaging platform in one embodiment;

[0064] Figure 2 This is a schematic diagram illustrating the application environment of the offline control method for the surgical cart in one embodiment.

[0065] Figure 3 This is a flowchart illustrating an offline control method for a surgical cart in one embodiment;

[0066] Figure 4 This is a schematic diagram of the structure of the operating table cart in one embodiment;

[0067] Figure 5 This is a flowchart illustrating the offline control method for the surgical cart in another embodiment;

[0068] Figures 6-8 This is a schematic diagram showing the connection and power supply relationships of the motor driver, offline switch, articulated motor, and robotic arm in some embodiments;

[0069] Figure 9 This is a flowchart illustrating the steps of adjusting the pose of a corresponding mechanical component in the operating table in response to the pose adjustment control command in one embodiment.

[0070] Figure 10 This is a flowchart illustrating an offline control method for a surgical cart applied to the terminal side in one embodiment.

[0071] Figure 11 This is a schematic diagram of the control parameter settings tab in the offline control interaction interface of one embodiment;

[0072] Figure 12 This is a schematic diagram of the help tab in the offline control interface of one embodiment;

[0073] Figure 13 This is a schematic diagram of the structure of a verification data frame in one embodiment;

[0074] Figure 14 This is a schematic diagram of the homepage tabs in an offline control interface in one embodiment;

[0075] Figure 15 This is a schematic diagram of the structure of an offline control device for an operating trolley applied to the side of the operating trolley in one embodiment;

[0076] Figure 16 This is a schematic diagram of an offline control device for a surgical cart applied to the terminal side in one embodiment;

[0077] Figure 17 This is a schematic diagram of the structure of an electronic device in one embodiment. Detailed Implementation

[0078] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0079] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0080] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0081] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as “below,” “under,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0082] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0083] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0084] Such as background technology Figure 1 As shown, the medical robot consists of a doctor's control cart, a surgical control cart, and an imaging platform, often referred to simply as the doctor's cart, surgical cart, and imaging cart. When the two main control arms on the doctor's cart are moved, two of the four slave control arms on the surgical cart will move synchronously in sync. For laparoscopic robots, one slave control arm is typically used as the imaging arm to mount endoscopic instruments. The images acquired by the endoscope are processed by the imaging platform and then simultaneously displayed on the imaging platform monitor and the stereoscopic monitor on the doctor's control cart.

[0085] The surgeon's control cart is the control center of the entire surgical system because the electrical control box installed at its rear contains the industrial control computer for the entire system. This computer acts as the brain, controlling the entire surgical procedure based on the surgeon's hand and foot movements. The release of brakes on various joints and the movement of motors on the surgical cart all require corresponding commands from the industrial control computer on the cart.

[0086] The industrial control computer, as the central control unit, connects and communicates with the various motor drivers on the robotic arms of the doctor's control cart and the operating table via network cables. Its main functions include sending control commands to the various joint motor drivers of the doctor and the operating table, and receiving feedback data from the various joint motor drivers of the doctor's control cart and the operating table.

[0087] The surgeon's control cart has two main control arms, which are the direct objects for the surgeon's operations and also the terminal inputs for the entire surgical robot system. When the surgeon operates the main control arms, the industrial control computer collects the mapping of the surgeon's hand movements on the main control arms in real time. After processing the data, it sends control commands to the secondary control arms of the surgical control platform, enabling the secondary control arms to move in sync with the main control arms. Therefore, the secondary control arms function like the surgeon's left and right hands to complete the entire surgery.

[0088] The space structure of the surgeon's trolley is relatively small and usually does not require adjustment. However, the height of the operating table and the opening and closing of the tool arms require frequent adjustments. In situations where there is no surgeon's trolley, the surgeon's trolley is not powered, or the industrial control computer is not working, adjustments to the operating table's column height, top plate extension length, top plate rotation position, and adjusting arm opening angle will be impossible because the connection to the industrial control computer will prevent the corresponding motor drivers of the operating table from receiving brake release, torque, or speed commands, thus hindering the operation.

[0089] For example, in scenarios where the operating table is moved independently, the unsuitable position or posture of certain joints may result in a large area of ​​space on the table, making it impossible to pass through certain thresholds or doors. Furthermore, it may be impossible to release the brakes and adjust the corresponding joints, leading to problems such as slower relocation progress, lower production efficiency, and extended surgical preparation or evacuation time.

[0090] For the above reasons, embodiments of this application provide an offline control method and apparatus for a surgical cart, a surgical cart, a terminal, and a computer storage medium. The method provided in this application embodiment can be applied to, for example... Figure 2 In the application environment shown, terminal 102 communicates with the motor driver 104 of the operating table via a network. A data storage system can store the data that the motor driver 104 needs to process. The data storage system can be integrated into the motor driver 104 or located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc.

[0091] This invention provides an offline control method for a surgical trolley of a medical robot, which can be applied to... Figure 2 The following explanation will be based on the motor driver 104 of the operating table cart. Figure 3 As shown, the method includes:

[0092] S200: Detects whether the operating cart is in offline control mode; offline control mode refers to the mode in which the motor driver receives control from devices other than the doctor's console and industrial computer. Whether it is in offline control mode can be determined by an offline switch connected in series between the power supply and the motor driver in the operating cart's electrical cabinet. When the offline switch is closed, a high-level signal transmitted from the power supply is detected, indicating that the operating cart is in offline control mode.

[0093] S600: If in offline control mode, it acquires the pose adjustment control command sent by the terminal.

[0094] S800: In response to a pose adjustment control command, adjusts the pose of the corresponding mechanical component in the operating carriage. The mechanical component refers to each joint of the operating carriage, which can change position and / or posture under the action of the corresponding joint motor. For example, mechanical components may include the operating carriage's top plate, column, adjusting arm, and tool arm, etc. The corresponding mechanical component refers to the mechanical component acted upon in the pose adjustment control command, i.e., the mechanical component that the user expects to adjust.

[0095] When the operating trolley is not communicating with the doctor's control unit or industrial computer, improper joint positions or postures can cause the trolley to be too large to pass through certain thresholds or doors. Furthermore, the corresponding joints cannot be released or adjusted, leading to slower relocation, lower productivity, and extended surgical preparation or evacuation times, resulting in poor convenience and low efficiency. In this situation, establishing a communication connection with a terminal in offline control mode and receiving posture adjustment control commands from the terminal allows for rapid adjustment of the posture of corresponding mechanical components within the operating trolley. This enables convenient operation and quick adjustment of the posture of each joint. Moreover, with mobile phones and other terminals becoming increasingly integrated into people's lives, establishing a communication connection between the terminal and the operating trolley in offline mode via applications such as mini-programs allows for offline control of the operating trolley's posture in various application scenarios. This not only improves operational convenience but also increases relocation speed and productivity, and reduces surgical preparation and evacuation time.

[0096] Taking laparoscopic robots as an example, such as Figure 4 As shown, the operating table is a device that directly faces the patient, performing surgical operations via surgical instruments mounted at the ends of the adjusting arm and tool arm. The operating table mainly consists of a table base, adjusting arm, tool arm, surgical instruments, and an electrical control box. The operating table serves as the basic support for mounting other components in the patient surgical platform system, primarily enabling the movement, lifting, extension, and rotation of the entire platform, thereby adjusting the position and posture of the front-end robotic arm. Under normal circumstances, the motor drivers on the robotic arms (tool arm, adjusting arm, and table) of the surgical control console control brake and motor movement by receiving instructions from the industrial control computer. When these motor drivers enter offline control mode, they can also receive offline commands such as posture adjustment control commands sent from the terminal side.

[0097] In one embodiment, such as Figure 5 As shown, the steps for detecting whether the operating table is in offline control mode S200 include:

[0098] S220: In response to the offline switch closing action, it determines that the surgical cart is in offline control mode, such as Figure 6-8As shown, the offline switch is connected in series between the power supply and the motor drivers of each motor on the operating cart. The motor drivers drive the motors on the operating cart to move the mechanical components of the operating cart, thereby adjusting the position and orientation of the mechanical components. The operating cart is determined to be in offline control mode by receiving a high-level signal, which is convenient for detection.

[0099] In one embodiment, such as Figure 5 As shown, before step S600 of obtaining the pose adjustment control command sent by the terminal, the method further includes:

[0100] S300: If in offline control mode, detect whether the operating table carriage is communicating with the doctor controlling the operating table carriage;

[0101] S400: If the operating trolley is not communicating with the doctor controlling the trolley, a communication connection will be established with the terminal based on the offline control request from the terminal. If no communication is established, it means that the operating trolley is not under the control of the doctor and the brake opening and motor movement cannot be controlled. In this case, it is necessary to establish a communication connection with other terminals to adjust the position of the operating trolley.

[0102] Specifically, to prevent accidental entry into offline control mode and the receipt of control commands from other terminal devices, which could negatively impact surgical operation control during normal communication between the surgeon's control cart and the operating table, a further check is performed on whether the operating table is communicating with the surgeon's control cart when offline control mode is detected. If not, it indicates that the operating table cannot perform brake and motor control under the surgeon's control. Entering offline control mode is only permitted when there is no connection; otherwise, the motor driver will report an error and upload it to the industrial control computer, displaying the fault on the interactive interface.

[0103] In one embodiment, the process of establishing a communication connection with the terminal may be:

[0104] Switch to wireless communication mode; wireless communication mode means that wireless communication connection with external devices is allowed. For example, turn on the Bluetooth module to allow the terminal to establish a communication connection with the motor driver through the Bluetooth protocol.

[0105] A wireless communication connection is established with the terminal based on the terminal's offline control request. The offline control request can be triggered by the terminal scanning a QR code on the operating table, or by clicking a function icon in the interactive interface of an application on the terminal.

[0106] In one embodiment, the mechanical components of the surgical cart include a cart base, an adjustment arm mounted on the cart base, and tool arms connected to the adjustment arm. The end of each tool arm is used to hold endoscopic instruments or surgical instruments. The posture adjustment control commands include at least one of a brake release command, an adjustment arm opening / closing degree adjustment command, and a tool arm posture adjustment command. The adjustment arm is used to adjust the spatial position of the tool arms to match the needs of surgical adjustments and is an important component connecting the tool arms to the cart base. The tool arms are mounted at the ends of the adjustment arms and can have multiple degrees of freedom, for example, seven degrees of freedom. One tool arm can serve as an imaging arm, holding endoscopic instruments, while the remaining tool arms hold surgical instruments.

[0107] In response to pose adjustment control commands, such as Figure 9 As shown, step S800 of adjusting the pose of the corresponding mechanical component in the operating table includes:

[0108] S820: In response to the release brake command, controls the target motor in the operating trolley corresponding to the release brake command to release the brake;

[0109] Since adjusting the rotation of the target motor requires releasing the brake, the aforementioned posture adjustment control command may include a brake release command. The motor driver corresponding to the target motor controls the target motor to release the brake according to the brake release command. At this time, the speed and rotation angle of the motor can be further controlled to adjust the position and posture of the joint connected to the target motor.

[0110] In one embodiment, such as Figure 9 As shown, step S800, which adjusts the pose of the corresponding mechanical component in the operating table in response to a pose adjustment control command, further includes at least one of the following steps:

[0111] S840: In response to an adjustment arm opening / closing degree adjustment command, drives the joint motor of the adjustment arm to adjust the opening / closing degree of the adjustment arm. The opening / closing degree of the adjustment arm refers to the extent to which the adjustment arm is extended relative to the trolley base.

[0112] For laparoscopic robots, the mechanical components of the operating table typically include an adjusting arm and a tool arm. To facilitate the movement of endoscopic or surgical instruments at the end of the tool arm, the tool arm is usually mounted on the table base via an adjusting arm, preventing the instruments from colliding with the table base during surgery. However, in scenarios involving table movement, where space is limited by doors or passageways, it is desirable to position the adjusting arm, tool arm, and the endoscopic or surgical instruments at the tool arm's end closer to the table base. This means minimizing the opening angle of the adjusting arm and adjusting the tool arm's position so that its end is as close as possible to the table base surface to avoid collisions with doors or passageways and improve movement speed. In this case, the adjusting arm's opening angle is adjusted in response to the user's input of control parameters on the offline control interface of the terminal.

[0113] S860: Responding to tool arm pose adjustment commands, it drives the articulated motors of the tool arm to adjust the tool arm's pose. Surgical instruments can be instruments such as ultrasonic scalpels, and their selection can be based on the actual medical surgical application scenario.

[0114] As described in the above embodiments, when there is a need to adjust the posture of the tool arm in scenarios such as moving the operating trolley alone, the posture of the tool arm can be adjusted by responding to the tool arm posture adjustment command sent by the terminal side, which will also change the posture of the endoscope or surgical instrument. As described in the above embodiments, in the scenario of moving the operating trolley, the tool arm can be moved to a position close to the trolley base by responding to the tool arm posture adjustment command, and the endoscope or surgical instrument connected to the end can also be moved as close as possible to the trolley base.

[0115] In one embodiment, such as Figure 4 As shown, the surgical cart also includes a column 12 and a top plate 13 mounted on the cart base 1. The top plate 13 is connected to the cart base 1 via the column 12. One end of each adjusting arm 14 is fixedly connected to the top plate 13, and the other end of each adjusting arm 14 is connected to a corresponding tool arm 15. The posture adjustment control commands also include one or more of the following: surgical cart height adjustment command, top plate extension command, and top plate rotation command. The top plate includes a top plate rotating part 131 for rotating the top plate and a top plate extension part 132 for controlling the extension and retraction of the top plate. The surgical cart may also include a surgical table handle 19.

[0116] like Figure 9 As shown, step S800, which adjusts the pose of the corresponding mechanical component in the operating table in response to a pose adjustment control command, further includes at least one of the following steps:

[0117] S870: In response to the surgical cart height adjustment command, the articulated motor of column 12 is driven to adjust the height of the top plate. During preoperative preparation, the height requirements of the surgical cart vary depending on the height of the patient when installing endoscopic instruments or surgical instruments at the end of the tool arm. In this case, the articulated motor of column 12 is driven to adjust the height of the top plate in response to the surgical cart height adjustment command, thereby adjusting the height of the tool arm and adjusting arm connected to the top plate to the user's desired height position.

[0118] S880: In response to the top plate extension command, drive the joint motor of the top plate to work to adjust the distance between the edge of the projection of the top plate on the trolley base 1 and the edge of the projection surface; Top plate extension refers to the distance of a certain side of the top plate from the center of gravity of the trolley base 1 in the horizontal direction.

[0119] S890: In response to the top plate rotation command, the joint motor of the top plate is driven to adjust the orientation of the adjusting arm on the top plate. That is, the top plate rotates in the horizontal direction. For example, when moving the surgical cart in an aisle, if there is an obstacle such as a fixed chair on the left, the top plate can be rotated in response to the top plate rotation command, thereby adjusting the orientation of the adjusting arm on it, so that the adjusting arm and tool arm that were originally on the left can be adjusted to the right to avoid the obstacle.

[0120] In one embodiment, after the step of controlling the target motor in the operating trolley corresponding to the release brake command to release the brake in response to the release brake command, the method further includes any of the following steps:

[0121] In response to the manual control actions of the joint motors of the operating table, the position and posture of the corresponding parts of the joint motors are adjusted; manual adjustment of the position and posture of the operating table is supported.

[0122] In response to a target position command sent from the terminal, the automatic control of the tool arm's shutdown motor and / or the adjustment arm's joint motor drives the tool arm to the target position. The target position refers to the user's desired relative position and orientation of the tool arm with respect to the trolley base 1. For example, when moving the surgical trolley alone, the user desires the tool arm to retract and fold, and to converge as close as possible around the trolley base 1.

[0123] In one embodiment, after the step of adjusting the pose of the corresponding mechanical component in the operating table in response to a pose adjustment control command, the method further includes:

[0124] The status data of the surgical trolley after adjustment is fed back to the terminal. The status data may include the angle of the joint motor, the posture of the robotic arm, the output current of the driver, the rotation angle, and other data.

[0125] Secondly, this application provides an offline control method for a surgical cart of a medical robot applied to a terminal, such as... Figure 10 As shown, the method includes:

[0126] S20: In response to an offline control request, enter the offline control interaction interface;

[0127] S40: When the operating carriage is in offline control mode, in response to the control parameter input action on the offline control interface, a pose adjustment control command is generated and sent to the corresponding motor driver in the operating carriage. The pose adjustment control command is used to instruct the motor driver to adjust the pose of the corresponding mechanical component in the operating carriage.

[0128] For the definitions of terms and control implementation in the offline control method on the terminal side, please refer to the description in the embodiments of this application, which will not be repeated here.

[0129] In one embodiment, the control parameters include a target motor, a target position of the target motor, a target speed, and a target torque. The target motor is a joint motor in the operating table. The terminal-side mini-program control interface, i.e., the offline control interaction interface, provides a tab for the user to select the joint motor driver they want to control, or to select all joints for pose control. Figure 11 As shown, by selecting control parameters on this tab, the control data setting frame is sent to the motor driver in offline control mode. At the same time, the status data feedback frame sent by the motor driver can be parsed to monitor status data such as motor running speed, rotation angle, and position and attitude of mechanical parts.

[0130] In one embodiment, such as Figure 10 As shown, the step of sending pose adjustment control commands to the corresponding motor driver in the operating table also includes:

[0131] S30: In response to the communication settings action on the offline control interface, establish a communication connection with the corresponding motor driver in the operating cart according to the set communication parameters. The offline control interface of the terminal-side applet allows users to set the type of wireless communication between the terminal and the operating cart motor driver, such as Bluetooth, Wi-Fi (mobile hotspot), or LoRa (Long Range Radio), as well as communication parameters such as pairing code, key, and frequency band. The data frame type sent to the driver by this tab is a communication setting frame. After the settings are complete, clicking the connect button will establish a connection with the motor driver that has entered offline control mode.

[0132] In one embodiment, the method further includes:

[0133] In response to a request for help, the help tab is displayed. For example... Figure 12As shown in the image. Users can find help information, program version information, and technical support details for easy communication with human support.

[0134] In one embodiment, the step of sending pose adjustment control commands to the corresponding motor driver in the operating cart further includes:

[0135] Perform a preset number of handshake verifications with the corresponding motor driver in the operating table;

[0136] If the handshake verification is successful for the preset number of times, the process proceeds to sending the pose adjustment control command to the corresponding motor driver in the operating table.

[0137] In one embodiment, the above-described method applied to the terminal further includes:

[0138] It receives and displays the status data fed back after the corresponding motor driver adjusts the position and orientation of the corresponding mechanical component in the operating table. The status data refers to the changes in the working parameters of the joint motors and motor drivers before and after the position and orientation of the operating table, and may also include data reflecting the latest position and orientation of mechanical components such as the adjusting arm and tool arm.

[0139] It should be understood that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple steps or stages, which are not necessarily completed at the same time, but may be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but may be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0140] Thirdly, this application also provides a surgical trolley for a medical robot, comprising: a trolley base 1 with mechanical components disposed on the trolley base 1; joint motors correspondingly disposed at the joints of each mechanical component, the joint motors being used to drive the movement of the mechanical components to change the position of the mechanical components; and motor drivers connected one-to-one with the joint motors, the motor drivers being used to execute the steps of the above-mentioned offline control method for the surgical trolley.

[0141] By modifying the motor driver in a traditional operating trolley and improving its software, the motor driver can execute the steps of the offline control method for medical robots used on the operating trolley. This allows for rapid communication with the motor controller via a terminal, even when the doctor is controlling the trolley or the industrial computer is not connected to it. The motor driver responds to user control operations on the terminal's mini-program interface, adjusting the height of the trolley's column 12, the extension length of the top plate, the rotation position of the top plate, and the opening angle of the adjustment arm. This avoids situations where unsuitable joint positions or postures of the operating trolley result in a large trolley space that cannot pass through certain thresholds or doors, thereby improving relocation speed, production efficiency, and reducing surgical preparation or evacuation time. It also significantly enhances the flexibility of individual adjustments to the operating trolley.

[0142] In one embodiment, such as Figure 6-8 As shown, the motor driver includes a power supply, an offline switch, and a motor controller. The offline switch is connected in series between the power supply and the input terminals of the motor controller, and the output terminal of the motor controller is connected to the corresponding motor. When the offline switch is closed, for example, an offline switch button can be used. When the button is pressed, the offline switch is closed. At this time, the motor controller receives power from the power supply, enters offline control mode, activates the wireless communication function, and enters wireless communication operating mode, waiting for terminal access. If an offline control request is received from the terminal, the driver responds to the offline control request operation on the terminal side, establishes a communication connection with the terminal, and adjusts the posture of the corresponding mechanical components in the operating table according to the posture adjustment control commands received from the terminal in offline control mode.

[0143] Taking the offline switch button as an example, when the offline switch button is pressed, the motor driver connected to it will collect a high-level signal. The motor driver will then enter offline control mode and simultaneously activate wireless communication to connect with wireless devices. When the terminal device scans the offline control QR code on the trolley, it will enter the offline control mini-program. In the mini-program, the user can establish a wireless connection with the offline motor driver, send control commands to the motor driver, and receive status data from the motor driver. After receiving the control commands, the motor driver will parse them and control the corresponding brakes and motor movements, thereby adjusting the posture and position of certain joints of the surgical trolley's robotic arm. For example, a brake release command can be sent to allow manual adjustment of the robotic arm's posture; or a position command can be sent to automatically adjust the robotic arm's position, etc.

[0144] The offline switch can be installed on the electrical control box panel at the rear of the operating cart. The switch signal is connected to the circuit board of each motor driver in the operating cart that requires offline control. When the motor driver detects the offline switch closing signal, it enters offline control mode and receives control commands from the terminal side to control the brake and motor movement.

[0145] In one embodiment, to ensure information security, the motor driver responds to the offline control request from the terminal by performing a preset number of handshake verifications with the corresponding motor driver in the operating table. If the preset number of consecutive handshake verifications are successful, the driver then acquires the pose adjustment control command sent by the terminal. Before the handshake verification is complete, the driver does not receive the pose adjustment control command sent by the terminal to improve information security.

[0146] Here's an example of a handshake process with a preset count of 3. After setting the communication parameters (communication type and parameters) on the terminal side, the user can click the connect button to trigger a handshake verification process between the terminal-side application (such as a mini-program) and the motor driver.

[0147] First, the terminal sends connection verification data to the corresponding motor driver via a mini-program. This motor driver can be one or more motor drivers in the operating trolley (the field indicating the number of successful connections in the verification data is 1 during the first connection). After successfully receiving the verification data, the motor driver sends the verification data back to the terminal mini-program without modification. At the same time, the motor driver parses the number of successful connections in the verification data. If the number is greater than or equal to 3, the connection is considered successful, and the interaction of the above control commands and status data can be performed normally. Otherwise, it continues to wait for the next connection.

[0148] Specifically, after the terminal successfully receives the verification data returned by the motor driver through the mini-program, it will determine whether the number of successful connections in the frame is greater than or equal to 3. If so, the handshake verification ends and the above control command can be sent. Otherwise, the number of successful connections in the verification data will be incremented by 1 to generate new verification data and the handshake connection will continue to be initiated based on the new verification data.

[0149] Furthermore, this example uses a preset number of times of 3, but depending on the actual application scenario, the preset number of times can also be set to 2 or other numbers.

[0150] In one embodiment, the terminal can communicate with the motor driver via a mini-program, such as... Figure 13The data frame, in a specific format, enhances the security and reliability of wireless communication. This data frame consists of a frame header, frame type, data area, and a CRC (Cyclic Redundancy Check) checksum. The frame header uses fixed data, such as 0x550A, to enhance communication security. Frame types include communication setup frames, control data setup frames, and status feedback frames. These three frame types are also distinguished by different fixed numbers. The data area length varies depending on the frame type; the driver and applets parse the data area to obtain valid information based on the received frame type. The CRC checksum ensures the validity of the frame and the security of control.

[0151] In one embodiment, such as Figure 6 As shown, the offline switch can be installed in the electrical control box at the rear of the surgical cart. The electrical control box mainly consists of a switching power supply, a power control board, a UPS controller, batteries, and relays. The power control board and UPS primarily provide 24V DC power to the various motor drivers and I / O modules (input / output modules) on the surgical cart. Compared to the electrical control box on the doctor's console, this box does not contain an industrial computer, but it does have an offline control switch button circuit.

[0152] In one embodiment, such as Figure 8 As shown, the motor driver also includes a voltage conversion chip and a filter circuit; the voltage conversion chip and the filter circuit are connected in series between the offline switch and the motor controller.

[0153] The motor controller can be a microcontroller unit (MCU). The operating voltage of the motor controller is often lower than the power supply voltage in the electrical cabinet. Therefore, in some embodiments, a voltage conversion chip is used to convert the power supply voltage to a logic operating voltage suitable for the motor controller. For example, if the power supply outputs 24V DC, when the offline switch button is pressed, the offline switch closes, and the connected motor driver detects the 24V DC voltage. This 24V DC voltage is converted to 3.3V DC by the voltage conversion chip, and then, after passing through a filter circuit, is connected to a specific I / O pin of the main control MCU. When the MCU detects that the I / O pin is at a high level (3.3V), it can control the entry into offline control mode, receiving posture adjustment control commands to control the brakes and motor operation of each joint motor of the surgical trolley, thereby adjusting the posture of the corresponding mechanical components in the surgical trolley.

[0154] In one embodiment, the surgical cart further includes an offline control identifier, which is located on the cart base 1 or a mechanical component. The offline control identifier is used by a terminal to scan and access an offline control interface. The offline control identifier can be a QR code or barcode affixed to a position such as the column 12 of the surgical table. Users can scan the code to identify the application information carried by the offline control identifier. After scanning, the terminal parses the application information carried by the offline control identifier and enters the application interface, i.e., the offline control interface. To facilitate subsequent user operations, such as... Figure 14 As shown, the terminal will default to entering the homepage interface after scanning the QR code. The homepage interface displays instructions for users to perform offline pose control of the corresponding mechanical components on the surgical cart within this offline control interface. This content can be in voice format, such as… Figure 14 The text and / or video formats shown.

[0155] Fourthly, an offline control device for the operating table of a medical robot is also provided, such as... Figure 15 As shown, it is used on an operating table cart and includes:

[0156] The offline detection module 200 is used to detect whether the operating trolley is in offline control mode.

[0157] The offline control command acquisition module 600 is used to acquire the pose adjustment control command sent by the terminal when the offline control mode is detected.

[0158] The offline adjustment module 800 is used to adjust the position and posture of the corresponding mechanical components in the operating table in response to the position and posture adjustment control command.

[0159] Fifthly, an offline control device for the operating table of a medical robot is also provided, such as... Figure 16 As shown, it is applied to the terminal and includes:

[0160] The offline interaction interface entry module 20 is used to respond to offline control request operations and enter the offline control interaction interface;

[0161] The offline control command sending module 40 is used to generate and send a pose adjustment control command to the corresponding motor driver in the operating trolley in response to the control parameter input action in the offline control interactive interface. The pose adjustment control command is used to instruct the motor driver to adjust the pose of the corresponding mechanical component in the operating trolley.

[0162] Specific limitations regarding the offline control device for the operating trolley of the medical robot can be found in the above-mentioned limitations on the offline control method for the operating trolley of the medical robot on the same execution subject side, and will not be repeated here. Each module in the aforementioned offline control device for the operating trolley of the medical robot can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the terminal in hardware form, or stored in the memory of the terminal in software form, so that the processor can call and execute the operations corresponding to each module. It should be noted that the module division in this embodiment is illustrative and only represents a logical functional division; other division methods may be used in actual implementation.

[0163] In one embodiment, an electronic device is provided, which can be a terminal or a motor controller in a surgical cart. The terminal can be a mobile phone, tablet, laptop, etc., and its internal structure diagram can be as follows. Figure 17 As shown, the terminal includes a processor, memory, and network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data such as preset counts. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements an offline control method for a medical robot operating table. For cases where the electronic device is the motor controller in the operating table, the component structure in the terminal can be understood by referring to the example, and will not be elaborated here. The motor controller can be a control panel or similar device including the processor.

[0164] Those skilled in the art will understand that Figure 17 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0165] In one embodiment, an electronic device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement any of the offline control methods for the operating trolley of the medical robot in the above embodiments, and achieves the corresponding beneficial effects, which will not be elaborated here.

[0166] In one embodiment, an offline control system for a surgical trolley of a medical robot is provided, including the terminal described above and the surgical trolley in the above embodiment. The terminal is used to execute the method steps on the terminal side, and the motor driver in the surgical trolley is used to execute the method steps applied on the surgical trolley side. This enables the surgical trolley to be quickly adjusted in position and posture through the terminal when the surgical trolley is not connected to an industrial control computer and a doctor's console, thereby achieving the beneficial effects described in the above embodiment.

[0167] The system mainly consists of offline switches, motor drivers, and terminals. When the doctor's trolley and industrial control computer cannot adjust the spatial posture of the operating trolley, the relevant motor drivers of the operating trolley can receive corresponding instructions sent from the terminal side via a mobile app, and control the corresponding brakes and motors to move, so as to achieve the purpose of adjusting the spatial position or posture of certain joints such as the operating trolley's adjustment arm, column, and top plate.

[0168] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it implements all the steps of the offline control method for the operating trolley of the medical robot in the above embodiments and achieves the corresponding beneficial effects, which will not be elaborated here.

[0169] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0170] The aforementioned methods, operating carts, systems, and terminal implementation schemes offer several advantages. First, they greatly facilitate the use of operating carts when their footprint needs to be minimized to pass through thresholds or doors. Second, they increase the versatility of control methods for adjusting the spatial posture of the operating cart during non-surgical procedures. Furthermore, offline control allows for individual adjustment of the operating cart's posture, reducing surgical preparation time. For training scenarios, they also facilitate independent practice of operating cart posture adjustment by relevant medical personnel.

[0171] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0172] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0173] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical cart offline control method of a medical robot, characterized by, Applied to an operating table, the method includes: Detect whether the operating table is in offline control mode; If in offline control mode, check whether the operating table cart is communicating with the doctor controlling the cart; If the operating table cart and the doctor's control cart are not communicating, a communication connection with the terminal is established based on the offline control request from the terminal. Obtain the pose adjustment control command sent by the terminal; In response to the pose adjustment control command, the pose of the corresponding mechanical component in the operating table is adjusted; The step of detecting whether the surgical cart is in offline control mode includes: In response to the closing action of the offline switch, it is determined that the operating trolley is in offline control mode. The offline switch is used to connect in series between the power supply and each motor driver of the operating trolley. The motor driver is used to drive each motor on the operating trolley to drive each mechanical component of the operating trolley to perform mechanical movement in order to adjust the position and posture of the corresponding mechanical component in the operating trolley. The motor driver includes: power supply; An offline switch, one end of which is used to connect to the power supply; A motor controller, one end of which is connected to the other end of the offline switch, and the other end of which is connected to the corresponding motor.

2. The method of claim 1, wherein, The mechanical components of the surgical trolley include a trolley base, an adjusting arm disposed on the trolley base, and a tool arm connected to the adjusting arm, the end of each tool arm being used to place surgical instruments; the posture adjustment control command includes at least one of a brake release command, an adjusting arm opening degree adjustment command, and a tool arm posture adjustment command. The step of adjusting the position of the corresponding mechanical component in the operating trolley in response to the position adjustment control command includes controlling the target motor in the operating trolley corresponding to the release brake command to release the brake in response to the release brake command. The step of adjusting the pose of the corresponding mechanical component in the operating table in response to the pose adjustment control command further includes at least one of the following steps: In response to the adjustment arm opening degree adjustment command, the joint motor of the adjustment arm is driven to work to adjust the opening degree of the adjustment arm; In response to the tool arm pose adjustment command, the joint motors of the tool arm are driven to work in order to adjust the pose of the tool arm.

3. The method of claim 2, wherein, The surgical cart also includes a column and a top plate mounted on the cart base. The top plate is connected to the cart base via the column. One end of each adjustment arm is fixedly connected to the top plate, and the other end of each adjustment arm is connected to the corresponding tool arm. The posture adjustment control command also includes one or more of the following: surgical cart height adjustment command, top plate extension command, and top plate rotation command. The step of adjusting the pose of the corresponding mechanical component in the operating table in response to the pose adjustment control command further includes at least one of the following steps: In response to the surgical cart height adjustment command, the joint motor of the column is driven to adjust the height of the top plate; In response to the top plate extension command, the joint motor of the top plate is driven to work to adjust the distance between the edge of the projection of the top plate on the trolley base and the edge of the projection surface. In response to the top plate rotation command, the joint motor of the top plate is driven to operate to adjust the orientation of the adjustment arm on the top plate.

4. The method of claim 2, wherein, Following the step of controlling the target motor in the operating trolley corresponding to the release brake command to release the brake in response to the release brake command, the procedure further includes any one of the following steps: In response to the manual control actions of the joint motors of the surgical trolley, the position and posture of the corresponding parts of the joint motors are adjusted. In response to the target position command sent by the terminal, the power-off motor of the tool arm and / or the joint motor of the adjustment arm are automatically controlled to drive the tool arm to the target posture.

5. The method according to any one of claims 1-4, characterized in that, After the step of adjusting the pose of the corresponding mechanical component in the operating table in response to the pose adjustment control command, the method further includes: The status data of the surgical cart after adjustment is fed back to the terminal.

6. A surgical cart offline control method of a medical robot, characterized by, Applied to a terminal, the method includes: In response to an offline control request, an offline control request is sent to the operating cart so that the operating cart is in offline control mode when the offline switch is closed and the operating cart is not communicating with the doctor's console, and a communication connection is established with the terminal. Enter the offline control interface; When the operating trolley is in offline control mode, in response to the control parameter input action on the offline control interface, a pose adjustment control command is generated and sent to the corresponding motor driver in the operating trolley. The pose adjustment control command is used to instruct the motor driver to adjust the pose of the corresponding mechanical component in the operating trolley. The offline switch is connected in series between the power supply and each motor driver of the operating cart. The motor driver is used to drive each motor on the operating cart to drive each mechanical component of the operating cart to make mechanical movements in order to adjust the position and posture of the corresponding mechanical component in the operating cart. The motor driver includes: power supply; An offline switch, one end of which is used to connect to the power supply; A motor controller, one end of which is connected to the other end of the offline switch, and the other end of which is connected to the corresponding motor.

7. The method of claim 6, wherein, The control parameters include the target motor, the target position, the target speed, and the target torque of the target motor, wherein the target motor is a joint motor in the operating table.

8. The method according to claim 6, characterized in that, Before the step of sending the pose adjustment control command to the corresponding motor driver in the operating table, the following is also included: In response to the communication setting action on the offline control interface, a communication connection is established with the corresponding motor driver in the operating trolley according to the set communication parameters.

9. The method according to claim 8, characterized in that, Before the step of sending the pose adjustment control command to the corresponding motor driver in the operating table, the following is also included: Perform a preset number of handshake verifications with the corresponding motor driver in the operating table; If the handshake verification is successful for the preset number of times, then proceed to the step of sending the pose adjustment control command to the corresponding motor driver in the operating table.

10. The method according to any one of claims 6-9, characterized in that, Also includes: Receive and display the status data fed back after the corresponding motor driver adjusts the position and orientation of the corresponding mechanical component in the operating table.

11. A surgical cart of a medical robot, characterized by include: Cart base; Mechanical components are mounted on the trolley base; Joint motors are correspondingly installed at the joints of each of the mechanical components, and are used to drive the movement of the mechanical components to change the position of the mechanical components; A motor driver is connected to each of the joint motors, and the motor driver is used to execute the steps of the offline control method for the surgical cart as described in any one of claims 1-5; The motor driver includes: power supply; An offline switch, one end of which is used to connect to the power supply; A motor controller, one end of which is connected to the other end of the offline switch, and the other end of which is connected to the corresponding motor.

12. The surgical cart of claim 11, wherein, The motor driver also includes a voltage conversion chip and a filtering circuit; The voltage conversion chip and the filter circuit are connected in series between the offline switch and the motor controller.

13. The operating table cart according to any one of claims 11-12, characterized in that, It also includes an offline control identifier, which is set on the trolley base or the mechanical component, and is used for the terminal to scan and enter the offline control interactive interface.

14. A surgical cart off-line control device of a medical robot characterized by comprising: Applications to operating room carts include: The offline detection module is used to detect whether the operating trolley is in offline control mode, and when it is in offline control mode, to detect whether the operating trolley is communicating with the doctor controlling the trolley; and when the operating trolley is not communicating with the doctor controlling the trolley, to establish a communication connection with the terminal based on the offline control request of the terminal. The offline control command acquisition module is used to acquire pose adjustment control commands sent by the terminal. An offline adjustment module is used to adjust the pose of the corresponding mechanical component in the operating trolley in response to the pose adjustment control command. The offline detection module is also used to determine that the operating trolley is in offline control mode in response to the closing action of the offline switch. The offline switch is used to be connected in series between the power supply and each motor driver of the operating trolley. The motor driver is used to drive each motor on the operating trolley to drive each mechanical component of the operating trolley to perform mechanical movement in order to adjust the position and posture of the corresponding mechanical component in the operating trolley. The motor driver includes: power supply; An offline switch, one end of which is used to connect to the power supply; A motor controller, one end of which is connected to the other end of the offline switch, and the other end of which is connected to the corresponding motor.

15. A surgical cart off-line control device of a medical robot characterized by comprising: Applied to terminals, including: The offline interactive interface entry module is used to respond to offline control request operations, send an offline control request to the operating trolley, so that when the offline switch of the operating trolley is closed and the operating trolley is in offline control mode and the operating trolley is not communicating with the doctor's console, establish a communication connection with the terminal; and enter the offline control interactive interface. The offline control command sending module is used to generate and send a pose adjustment control command to the corresponding motor driver in the operating carriage in response to the control parameter input action on the offline control interface when the operating carriage is in offline control mode. The pose adjustment control command is used to instruct the motor driver to adjust the pose of the corresponding mechanical component in the operating carriage. The offline switch is connected in series between the power supply and each motor driver of the operating cart. The motor driver is used to drive each motor on the operating cart to drive each mechanical component of the operating cart to make mechanical movements in order to adjust the position and posture of the corresponding mechanical component in the operating cart. The motor driver includes: power supply; An offline switch, one end of which is used to connect to the power supply; A motor controller, one end of which is connected to the other end of the offline switch, and the other end of which is connected to the corresponding motor.

16. An electronic device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 9.

17. A computer readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

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