Method for debugging driver of medical robot, industrial computer and medical robot

Abstract

The present specification relates to the technical field of medical robots, and specifically discloses a medical robot driver debugging method, an industrial computer and a medical robot. The medical robot comprises an industrial computer and a plurality of drivers. The industrial computer is connected with the plurality of drivers based on EtherCAT communication. The method is applied to the industrial computer and comprises the following steps: in response to a user's selection operation on a medical robot instrument joint, obtaining a device number of a target driver corresponding to the selected instrument joint; according to the device number of the target driver, obtaining current servo parameter information corresponding to the target driver; and in response to a user's debugging operation on the servo parameter information corresponding to the target driver, writing the debugged servo parameter information into the target driver. The above scheme can improve the efficiency of medical robot driver debugging.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of medical robots, and in particular to a medical robot driver debugging method, an industrial computer, and a medical robot. BACKGROUND

[0002] The existing medical robot includes multiple surgical instruments, each surgical instrument including multiple joints. Each joint has a motor, and each motor has a corresponding driver. The driver needs to be configured with parameters before it can control the motor to move normally. Currently, the driver debugging needs to be performed by the host computer software through serial connection of each motor driver. Such a debugging method is tedious and inefficient.

[0003] At present, no effective solution has been proposed for the above problems. SUMMARY

[0004] The embodiments of the present specification provide a medical robot driver debugging method, an industrial computer, and a medical robot to solve the problem of low efficiency of medical robot driver debugging in the prior art.

[0005] The embodiments of the present specification provide a medical robot driver debugging method, the medical robot including an industrial computer and multiple drivers, the industrial computer being connected with the multiple drivers based on EtherCAT communication, the method being applied to the industrial computer and including:

[0006] In response to a user's selection operation on a joint of an instrument of the medical robot, obtaining a device number of a target driver corresponding to the selected joint;

[0007] According to the device number of the target driver, obtaining current servo parameter information corresponding to the target driver;

[0008] In response to a user's debugging operation on the servo parameter information corresponding to the target driver, writing the debugged servo parameter information into the target driver.

[0009] In one embodiment, the medical robot includes an industrial computer and multiple drivers, the industrial computer being connected with the multiple drivers based on EtherCAT communication, the method being applied to the industrial computer and including:

[0010] In response to a user's selection operation on a joint of an instrument of the medical robot, obtaining a device number of a target driver corresponding to the selected joint;

[0011] According to the device number of the target driver, obtaining current servo parameter information corresponding to the target driver;

[0012] write the debugged servo parameter information into the target drive in response to a user's debugging operation on servo parameter information corresponding to the target drive

[0013] In one embodiment, after determining whether the plurality of drives are successfully installed based on the device number, further comprising:

[0014] performing graphical interface display on the instrument joints of the medical robot;

[0015] When it is determined that one or more of the plurality of drives are not successfully installed, marking and displaying the instrument joints corresponding to the one or more drives that are not successfully installed.

[0016] In one embodiment, according to the device number of the target drive, obtaining the current servo parameter information corresponding to the target drive comprises:

[0017] reading a servo parameter file corresponding to the device number of the target drive;

[0018] parsing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target drive, and writing the default data of the plurality of servo parameters corresponding to the target drive into a visualization table;

[0019] scanning the target drive to obtain current values of the plurality of servo parameters corresponding to the target drive;

[0020] updating the visualization table based on the current values of the plurality of servo parameters corresponding to the target drive to obtain the current servo parameter information corresponding to the target drive.

[0021] In one embodiment, parsing the servo parameter file to obtain default data of a plurality of servo parameters corresponding to the target drive, and writing the default data of the plurality of servo parameters corresponding to the target drive into a visualization table comprises:

[0022] determining a root node element in the servo parameter file, and grouping servo parameters of the target drive based on the root node element;

[0023] parsing child node elements corresponding to the root node elements of each group from the servo parameter file, and filling the child node elements corresponding to the root node elements of each group into the visualization table.

[0024] In one embodiment, the target drive comprises at least two drives; and the servo parameter file comprises default data of a plurality of servo parameters corresponding to each drive in the plurality of drives.

[0025] In an embodiment, in response to a user's debugging operation on the servo parameter information corresponding to the target driver, the debugging servo parameter information is written into the target driver, including:

[0026] In response to a user's debugging operation on the servo parameter information corresponding to the target driver, the device number, the servo parameter identifier and the servo parameter value corresponding to the debugging operation are obtained;

[0027] Based on the device number, the servo parameter identifier and the servo parameter value corresponding to the debugging operation, the debugging servo parameter information is written into the target driver.

[0028] The embodiments of the present specification also provide an industrial computer of a medical robot, the medical robot further comprising a plurality of drivers, the industrial computer being communicatively connected with the plurality of drivers based on EtherCAT, and the industrial computer comprising:

[0029] A selection module is configured to, in response to a user's selection operation on an instrument joint of the medical robot, obtain a device number of a target driver corresponding to the selected instrument joint;

[0030] An obtaining module is configured to obtain current servo parameter information corresponding to the target driver according to the device number of the target driver;

[0031] A debugging module is configured to, in response to a user's debugging operation on the servo parameter information corresponding to the target driver, write debugging servo parameter information into the target driver.

[0032] The embodiments of the present specification also provide a medical robot, comprising an industrial computer, a plurality of drivers and a plurality of instrument joints, the industrial computer being communicatively connected with the plurality of drivers based on EtherCAT;

[0033] The plurality of drivers correspond one-to-one to the plurality of instrument joints and are configured to drive motors in the corresponding instrument joints to work;

[0034] The industrial computer is configured to, in response to a user's selection operation on an instrument joint, obtain a device number of a target driver corresponding to the selected instrument joint, and is further configured to obtain current servo parameter information corresponding to the target driver according to the device number of the target driver, and is further configured to, in response to a user's debugging operation on the servo parameter information corresponding to the target driver, write debugging servo parameter information into the target driver.

[0035] In an embodiment, the industrial computer is installed with motion control software and a graphical user interface application development framework; the graphical user interface application development framework stores a user interface developed by a developer in advance;

[0036] The industrial computer acquires a device number of a target driver corresponding to a selected instrument joint of the medical robot in response to a selection operation of the instrument joint by a user through the user interface; and acquires a device number, a servo parameter identifier and a servo parameter value corresponding to a debugging operation of the target driver by the user through the user interface in response to a debugging operation of the servo parameter information corresponding to the target driver by the user.

[0037] The user interface transmits the acquired device number, servo parameter identifier and servo parameter value corresponding to the debugging operation to a PLC module of the motion control software, so as to write the debugged servo parameter information into the target driver.

[0038] The embodiments of the present specification also provide a medical robot, comprising a processor and a memory for storing processor-executable instructions, wherein the processor implements the steps of the medical robot driver debugging method described in any of the above embodiments when executing the instructions.

[0039] The embodiments of the present specification also provide a computer-readable storage medium having computer instructions stored thereon, wherein the instructions implement the steps of the medical robot driver debugging method described in any of the above embodiments when executed.

[0040] In the embodiments of the present specification, a medical robot driver debugging method is provided. An industrial computer is communicatively connected with a plurality of drivers in a medical robot through EtherCAT. The industrial computer can receive a selection operation of an instrument joint of the medical robot by a user, acquire a device number of a target driver corresponding to the selected instrument joint, and further acquire servo parameter information of the target driver according to the device number. The industrial computer can also receive a debugging operation of the servo parameter information of the target driver by the user, acquire debugged servo parameter information corresponding to the debugging operation, and write the debugged servo parameter information into the target driver through the EtherCAT network. Since the industrial computer is connected with a plurality of drivers, the parameters of the plurality of drivers of the medical robot can be debugged through the industrial computer, without the need of repeatedly plugging and unplugging cables, and the servo parameters of the plurality of drivers can be simultaneously modified, so that the debugging efficiency is high, and the labor cost and time cost can be saved. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings, which are included to provide a further understanding of the present specification and constitute a part of the present specification, do not limit the present specification. In the drawings:

[0042] Figure 1 A schematic diagram of driver debugging is shown;

[0043] Figure 2 A mechanical structure diagram of a medical robot is shown;

[0044] Figure 3A traditional debug driver schematic diagram is shown;

[0045] Figure 4 A flow chart of a medical robot driver debugging method in an embodiment of the present specification is shown;

[0046] Figure 5 A schematic diagram of driver debugging in an embodiment of the present specification is shown;

[0047] Figure 6 A total flow chart of a debugging system in an embodiment of the present specification is shown;

[0048] Figure 7 A flow chart of an installation wizard module in an embodiment of the present specification is shown;

[0049] Figure 8 A joint installation schematic diagram of an installation wizard module in an embodiment of the present specification is shown;

[0050] Figure 9 A joint error reporting schematic diagram of an installation wizard module in an embodiment of the present specification is shown;

[0051] Figure 10 A main interface display diagram of a parameter wizard module in an embodiment of the present specification is shown;

[0052] Figure 11 A selected joint schematic diagram of an installation wizard module in an embodiment of the present specification is shown;

[0053] Figure 12 A main interface display diagram of a parameter wizard module in an embodiment of the present specification is shown;

[0054] Figure 13 A parameter wizard module xml analysis flow chart in an embodiment of the present specification is shown;

[0055] Figure 14 A parameter wizard module flow chart in an embodiment of the present specification is shown;

[0056] Figure 15 A structure block diagram of a medical robot industrial computer in an embodiment of the present specification is shown;

[0057] Figure 16 A medical device component structure schematic diagram in an embodiment of the present specification is shown. DETAILED DESCRIPTION

[0058] The principles and spirits of the present specification will be described below with reference to a number of exemplary embodiments. It should be understood that these embodiments are given only so that those skilled in the art can better understand and implement the present specification, and do not limit the scope of the present specification in any way. On the contrary, these embodiments are provided so that the present specification disclosure is more thorough and complete, and the scope of the present disclosure is fully conveyed to those skilled in the art.

[0059] Those skilled in the art know that the embodiments of the present specification can be implemented as a system, device, method, computer readable storage medium, computer program product, data structure or signal / data stream. Therefore, the present specification disclosure can be specifically implemented in the following forms, i.e., complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0060] Figure 1 A schematic diagram of driver debugging is shown. As shown in Figure 1 , before driving the motor, the motor driver needs to configure the relevant parameters of the motor, such as rated current, rated voltage, etc., with the help of debugging software. After the parameters are matched with the actual parameters of the motor, the driver can drive the motor to run normally.

[0061] The medical robot can include a plurality of surgical instruments, each surgical instrument including a plurality of instrument joints, and each motor in each instrument joint is driven by a separate driver. Figure 2 A mechanical structure diagram of a medical robot is shown. As shown in Figure 2 , the actuator of the medical robot is usually composed of a doctor's console and a patient's surgery platform. Figure 2 The left side is the doctor's console, which can include two master arms, and the driving parameters of the joints of the two master arms can be universal. Figure 2 The right side is the patient's surgery platform. The patient's surgery platform includes at least one operation arm, and the driving parameters of the joints of the operation arm can also be universal.

[0062] Figure 3 A schematic diagram of a traditional driver debugging is shown. As shown in Figure 3 , at present, the debugging of the driver of the instrument joint of the medical robot can be connected to the driver through the network cable or serial port by the computer, and after the corresponding motor parameters are configured, the motor can run normally. Then, the connection line is pulled out and then connected to the next driver for configuration, and the above steps are repeated. The medical robot has dozens of joints in total, and the traditional method has many disadvantages in the field of medical robots, such as the need to repeatedly plug and unplug the cable, the inability to modify multiple driver parameters at the same time, and the low efficiency of debugging, etc.

[0063] Based on this, the present specification embodiment provides a medical robot driver debugging method. Figure 4A flow chart of a method for debugging a driver of a medical robot is shown in an embodiment of the present specification. Although the present specification provides method operation steps or device structures as shown in the following embodiments or drawings, more or less operation steps or module units can be included in the method or device based on conventional or non-inventive labor. The execution order of the steps or the module structure of the device is not limited to the execution order or module structure shown in the embodiment description and drawings of the present specification in the absence of necessary causality in logic. When the method or module structure is applied to the actual device or terminal product, it can be sequentially executed or executed in parallel (for example, in a parallel processor or a multi-thread processing environment, or even a distributed processing environment) according to the method or module structure shown in the embodiment or drawing.

[0064] Specifically, as shown in the present specification, an embodiment provides a method for debugging a driver of a medical robot, which can include the following steps: Figure 4

[0065] In step S401, in response to a selection operation of a user on an instrument joint of the medical robot, a device number of a target driver corresponding to the selected instrument joint is acquired.

[0066] The method for debugging the driver of the medical robot in the embodiment of the present specification is applied to the industrial computer. The industrial computer, i.e., the industrial control computer, is part of the medical robot. The industrial computer in the medical robot is a tool general term for detecting and controlling the surgical process and surgical instruments in a bus structure.

[0067] The medical robot can include an industrial computer and a plurality of drivers. The industrial computer serves as a master control station, and the plurality of drivers serve as slave stations. The industrial computer is connected with the plurality of drivers in sequence through an EtherCAT communication mode. Please refer to Figure 5 , a schematic diagram of driver debugging in an embodiment of the present specification is shown. As shown in Figure 5 , by means of the original industrial computer environment of the medical robot, the industrial computer as the master station and the driver as the slave station can be connected through EtherCAT.

[0068] EtherCAT (Ether Control Automation Technology) is a deterministic industrial Ethernet, mainly completing two functions of communication and control application, and the physical layer of EtherCAT selects standard Ethernet physical layer devices. The master station of EtherCAT can be realized in a standard Ethernet media access controller by software. The slave station of EtherCAT needs a special EtherCAT slave station controller to realize fast transmission, for example, FPGA can be used to realize it, and there is ready-made code, and this controller can also be realized by ASIC.​

[0069] The industrial computer can display the instrument joints of the medical robot in a visual graphical interface. A user can select an instrument joint displayed in the graphical interface, and then debug a driver corresponding to the selected instrument joint. The industrial computer can acquire a device number of a target driver corresponding to the selected instrument joint in response to a selection operation of the user on the instrument joint of the medical robot. The device number refers to the numbers of all the drivers connected to the industrial computer. For example, the drivers can be automatically numbered from 0 according to the connection order of the drivers on a bus.

[0070] The industrial computer can store a correspondence between the instrument joints and the device numbers of the drivers. After the user selects an instrument joint, the industrial computer can determine the device number of a target driver corresponding to the instrument joint based on the stored correspondence between the instrument joints and the device numbers of the drivers.

[0071] In step S402, current servo parameter information corresponding to the target driver is acquired according to the device number of the target driver.

[0072] After the device number of the target driver is obtained, the industrial computer can acquire current servo parameter information corresponding to the target driver. The servo parameter information can include information of a plurality of servo parameters of the driver, and the plurality of servo parameters can include at least one of a rated current, a rated voltage, a motor type, a brake type, a sensor switch, a detection switch, a motor type, a number of encoder lines, a motor resistance, a motor voltage, a motor inductance, an encoder type, a motor gain, and the like. The industrial computer can acquire information of all the current servo parameters of the target driver from the target driver.

[0073] In step S403, the industrial computer writes the debugged servo parameter information into the target driver in response to a debug operation of the user on the servo parameter information corresponding to the target driver.

[0074] The user can debug the servo parameter information corresponding to the target driver in the graphical display interface of the industrial computer. The debug operation can be a debug operation on a parameter value of one or more parameters of the target driver. The industrial computer can acquire debugged servo parameter information corresponding to the debug operation of the user on the servo parameter information corresponding to the target driver, and write the debugged servo parameter information into the target driver.

[0075] In the above embodiment, the industrial computer is connected to the plurality of drives in the medical robot through EtherCAT, the industrial computer can receive a selection operation of a user on an instrument joint of the medical robot, obtain a device number of a target drive corresponding to the selected instrument joint, and then obtain servo parameter information of the target drive according to the device number, and can also receive a debugging operation of the user on the servo parameter information of the target drive, obtain the servo parameter information after debugging corresponding to the debugging operation, and write the servo parameter information after debugging into the target drive through the EtherCAT network. Since the industrial computer is connected to the plurality of drives, the parameters of the plurality of drives of the medical robot can be debugged through the industrial computer, without the need to repeatedly plug and unplug cables, the servo parameters of the plurality of drives can be modified at the same time, the debugging efficiency is high, and the labor cost and time cost can be saved.

[0076] In some embodiments of the present specification, before obtaining the device number of the target drive corresponding to the selected instrument joint, the method can further include: scanning the plurality of drives to obtain a plurality of device numbers; and determining whether the plurality of drives are successfully installed based on the device numbers.

[0077] Specifically, the industrial computer can be connected to the plurality of drives through EtherCAT, that is, the drives or the instrument joints corresponding to the drives are installed. If the installation is successful, the device numbers of all the drives can be obtained when the plurality of drives are scanned. If there is a drive that is not successfully installed, the number of obtained device numbers is less than the number of drives. In the case that one drive is not successfully installed, the drives connected after the drive are also not successfully installed.

[0078] Please refer to Figure 6 , which shows a total flow chart of the debugging system in an embodiment of the present specification. In the embodiment, the industrial computer can be divided into an installation wizard module and a parameter wizard module. The installation wizard module is used to obtain the devices connected to the industrial computer through EtherCAT communication mode, and the obtained device numbers are sequentially corresponding to the joints of the robot according to the network cable connection order, and the installation wizard is realized by displaying through a graphical interface. The parameter wizard module is used to select the joints that need to be debugged, and multiple joints can be selected, and a set of standard parameters corresponding to the multiple joints and the corresponding reference range are provided according to the selection result, and after the user edits and modifies, the drive parameter can be read and written, the parameter wizard, that is, the debugging of the drive, is realized, until the motor operates normally.

[0079] Please refer to Figure 7 , which shows a flow chart of the installation wizard module in an embodiment of the present specification. As shown in Figure 7As shown, the corresponding joint can be installed, that is, the driver corresponding to the joint of the instrument is connected to the industrial computer. Then, a plurality of drivers can be scanned to obtain the corresponding slave station number (that is, the device number). In the case where the slave station numbers of all drivers are obtained, the user interface is updated to display the joints of the instrument. In the case where the slave station numbers of all drivers are not obtained, the corresponding joint can be reinstalled until all drivers are successfully installed.

[0080] Please refer to Figure 8 , a joint installation schematic diagram of an installation wizard module in an embodiment of the present specification is shown. As Figure 8 shown, in the installation wizard module of the present debugging system, the "O" shape indicates that the joint has been installed, and the joint that has not been installed is displayed as " / ", which can clearly feed back the installation progress of the current machine to the installer, realizing simple human-computer interaction.

[0081] Figure 9 A joint error reporting schematic diagram of an installation wizard module in an embodiment of the present specification is shown. As Figure 9 shown, after installation is completed, the error code of the current slave station can be detected. If it is not 0, it means that it is in an error state, and the joint will display a prohibited symbol in the UI

[0082] In some embodiments of the present specification, after determining whether the plurality of drivers are successfully installed based on the device number, the joint of the instrument of the medical robot can also be displayed on the graphical interface. When it is determined that one or more of the plurality of drivers is not successfully installed, the joint corresponding to the one or more drivers that are not successfully installed is marked and displayed. At the same time, for the joint that is marked and displayed, the user is not allowed to select and operate it, that is, the user is not allowed to perform parameter debugging on the driver that fails to install.

[0083] In some embodiments of the present specification, according to the device number of the target driver, the current servo parameter information corresponding to the target driver can be obtained, which can include: reading the servo parameter file corresponding to the device number of the target driver; parsing the servo parameter file to obtain the default data of a plurality of servo parameters corresponding to the target driver, and writing the default data of the plurality of servo parameters corresponding to the target driver into a visual table; scanning the target driver to obtain the current values of the plurality of servo parameters corresponding to the target driver; updating the visual table based on the current values of the plurality of servo parameters corresponding to the target driver to obtain the current servo parameter information corresponding to the target driver.

[0084] The standard parameter information of the drive can be provided in the servo parameter file. After obtaining the device number of the target drive, the servo parameter file corresponding to the target drive can be read. The servo parameter file can be in XML format or the like. The servo parameter file can be parsed to obtain the default data of the plurality of servo parameters corresponding to the target drive. The default data can include the type of the parameter, the default value, the value range, the parameter description, and the like. The default data of the plurality of servo parameters can be written into the visual table. Then, the target drive can be scanned to obtain the current values of the plurality of servo parameters corresponding to the target drive. The default values of the plurality of servo parameters in the visual table can be updated to the current values, so as to obtain the servo parameter information corresponding to the target drive. In the above embodiment, the servo parameter file is used to store the servo parameters of the drive. If it is desired to add, modify, or delete the parameter options, only the servo parameter file is required, without the need to modify any code, thereby improving the code usability and facilitating the subsequent maintenance.

[0085] Please refer to Figure 10 , which shows the display diagram of the parameter wizard module main interface in an embodiment of the present specification. As shown in Figure 10 , in the graphical display interface of the parameter wizard module, the current parameter information of the plurality of servo parameters corresponding to the target drive can be displayed. The explanations of the options of the parameter wizard module function area are shown in Table 1 as follows.

[0086] Table 1

[0087] Function Detailed description Import parameters Import previously saved parameter file Export parameters Save current parameter data as a file Read selected Read currently selected parameters Read all Read all parameters for the drive Write selected Write currently modified parameters to the drive Write all Write all modified parameters to the drive EEPROM Write data to FLASH

[0088] In some embodiments of the present specification, the target drive includes at least two drives; and the servo parameter file includes the default data of the plurality of servo parameters corresponding to each drive in the plurality of drives.

[0089] Figure 10 The parameter information in the parameter wizard module in the above embodiment is selected for one instrument joint, and corresponds to the parameter information of one target drive. In the present embodiment, the user can select at least two instrument joints. Correspondingly, the target drive can include at least two drives.

[0090] Please refer to Figure 11 , which shows the schematic diagram of the installation wizard module-selected joint in an embodiment of the present specification. As shown in Figure 11 , if the parameters are to be modified, the installation wizard interface can be returned to select the corresponding installed joints. The relevant joints are displayed with “☆”, and a plurality of joints can be selected at the same time.

[0091] In the present embodiment, the servo parameter file can be set for a plurality of drives, and can include all types of parameters of the drives, and the current values of each type of parameter are displayed separately.Figure 12 A main interface display diagram of a parameter guide module in an embodiment of the present specification is shown. As shown in Figure 12 , current parameter information of joint 1 and joint 2 can be displayed, and servo parameter information of joint 1 and joint 2 can also be edited, realizing the function of simultaneously debugging multiple drivers, and further improving the driver adjustment efficiency.

[0092] In some embodiments of the present specification, the servo parameter file is parsed to obtain default data of multiple servo parameters corresponding to the target driver, and the default data of multiple servo parameters corresponding to the target driver is written into the visualization table, including: determining a root node element in the servo parameter file, and grouping servo parameters of the target driver based on the root node element; parsing child node elements corresponding to the root node elements of each group from the servo parameter file, and filling the child node elements corresponding to the root node elements of each group into the visualization table.

[0093] In the present embodiment, the servo parameter file can be an XML file or the like. After reading the servo parameter file, the servo parameter file can be parsed. In order to facilitate the user to debug the driver, the parameters in the servo parameter file can be grouped, for example, can be grouped into device type parameters and motor parameters. Then, for each group, the corresponding parameter information is given. Please refer to Figure 13 , a parameter guide module XML parsing flowchart in an embodiment of the present specification is shown. As shown in Figure 13 , after reading the servo parameter file, the root node element in the servo parameter file can be determined, and the servo parameters can be grouped according to the root node element. Then, the child node elements corresponding to the root node elements of each group, i.e. the information of specific parameters, can be parsed from the servo parameter file. Then, the child node elements corresponding to the root node elements of each group can be filled into the visualization table, i.e. the default data information of the target driver can be obtained. In order to obtain the current parameter information of the target driver, the current values of all parameters of the target driver can be automatically obtained and the visualization table can be updated, as shown in Figure 13 . Through the above manner, the parsing operation of the servo parameter file can be realized, and the current parameter information of the driver can be obtained.

[0094] In some embodiments of the present specification, in response to the user's debugging operation on the servo parameter information corresponding to the target driver, the debugged servo parameter information is written into the target driver, which can include: in response to the user's debugging operation on the servo parameter information corresponding to the target driver, obtaining the device number, servo parameter identifier and servo parameter value corresponding to the debugging operation; based on the device number, servo parameter identifier and servo parameter value corresponding to the debugging operation, writing the debugged servo parameter information into the target driver.

[0095] In some embodiments of the present specification, the industrial computer can be installed with motion control software and a graphical user interface application development framework; the graphical user interface application development framework can store a user interface developed by a developer in advance. The industrial computer can use the user interface to obtain a device number of a target drive corresponding to a selected instrument joint in response to a selection operation of a user on an instrument joint. The industrial computer can also use the user interface to obtain a device number, a servo parameter identifier and a servo parameter value corresponding to the debugging operation in response to a debugging operation of the user on servo parameter information corresponding to the target drive. Then, the user interface can transmit the obtained device number, servo parameter identifier and servo parameter value corresponding to the debugging operation to a PLC module of the motion control software, and the PLC module can call a CoE interface function to write the debugged servo parameter information into the target drive.

[0096] The motion control software can include TwinCAT and the like. The application development framework can be a QT framework or a language framework similar to a C# interface. The selected operation and the debugging operation of the user can be obtained by interacting between the host computer written by QT and the TwinCAT software. The reading and writing of the parameters can be realized by interacting between the TwinCAT software and the drive.

[0097] Please refer to Figure 14 , which shows a flowchart of a parameter wizard module in an embodiment of the present specification. As shown in Figure 14 , after the user selects multiple joints and saves the modified parameters, the QT host computer can transmit the slave station number and the SDO address corresponding to the modification operation into the PLC module of the TwinCAT through ADS communication. After receiving the slave station number and the SDO address, the PLC module can call a CoE interface function according to the slave station number to realize the reading and writing of the parameters of the target drive.

[0098] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments focuses on the differences from other embodiments. For details, refer to the descriptions of the related processing embodiments described above, which will not be repeated here.

[0099] The above describes particular embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims can be performed in a different order than those in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or possible.

[0100] Based on the same inventive concept, the present specification also provides a medical robot industrial computer, as described in the following embodiments. The medical robot industrial computer comprises an industrial computer and a plurality of drives, and the industrial computer is connected with the plurality of drives based on EtherCAT communication. Since the principle of solving the problem of the medical robot industrial computer is similar to the medical robot drive debugging method, the implementation of the medical robot industrial computer can refer to the implementation of the medical robot drive debugging method, and the repeated parts will not be described. The term "unit" or "module" used below can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated. Figure 15 is a structural block diagram of the medical robot industrial computer of the present specification, as shown in Figure 15 The structure is described as follows.

[0101] The selection module 151 is configured to, in response to a selection operation of a user on an instrument joint of the medical robot, acquire a device number of a target drive corresponding to the selected instrument joint.

[0102] The acquisition module 152 is configured to acquire current servo parameter information corresponding to the target drive according to the device number of the target drive.

[0103] The debugging module 153 is configured to, in response to a debugging operation of a user on the servo parameter information corresponding to the target drive, write the debugged servo parameter information into the target drive.

[0104] In some embodiments of the present specification, the apparatus further comprises an installation module, which can be configured to: scan the plurality of drives to acquire a plurality of device numbers; and determine whether the plurality of drives are successfully installed based on the device numbers.

[0105] In some embodiments of the present disclosure, the installation module can further be configured to: display the instrument joint of the medical robot in a graphical interface; and display a mark on the instrument joint corresponding to the one or more drives that are not successfully installed when it is determined that the one or more drives are not successfully installed.

[0106] In some embodiments of the present disclosure, the obtaining module can be specifically configured to: read a servo parameter file corresponding to the device number of the target drive; parse the servo parameter file to obtain default data of the plurality of servo parameters corresponding to the target drive, and write the default data of the plurality of servo parameters corresponding to the target drive into a visual table; scan the target drive to obtain current values of the plurality of servo parameters corresponding to the target drive; and update the visual table based on the current values of the plurality of servo parameters corresponding to the target drive to obtain current servo parameter information corresponding to the target drive.

[0107] In some embodiments of the present disclosure, parsing the servo parameter file to obtain the default data of the plurality of servo parameters corresponding to the target drive and writing the default data of the plurality of servo parameters corresponding to the target drive into the visual table can include: determining a root node element in the servo parameter file, and grouping servo parameters of the target drive based on the root node element; parsing child node elements corresponding to the root node element of each group from the servo parameter file, and filling the child node elements corresponding to the root node element of each group into the visual table.

[0108] In some embodiments of the present disclosure, the target drive includes at least two drives; and the servo parameter file includes default data of a plurality of servo parameters corresponding to each drive of the plurality of drives.

[0109] In some embodiments of the present disclosure, the debugging module can be specifically configured to: in response to a debugging operation of the user on the servo parameter information corresponding to the target drive, obtain a device number, a servo parameter identifier, and a servo parameter value corresponding to the debugging operation; and write the servo parameter information after debugging into the target drive based on the device number, the servo parameter identifier, and the servo parameter value corresponding to the debugging operation.

[0110] Based on the same inventive concept, the embodiments of the present specification also provide a medical robot, comprising an industrial computer, a plurality of drivers and a plurality of instrument joints, the industrial computer is connected with the plurality of drivers based on an EtherCAT communication connection; the plurality of drivers correspond one-to-one with the plurality of instrument joints, and are used to drive the motors in the corresponding instrument joints to work; the industrial computer is used to acquire the device number of the target driver corresponding to the selected instrument joint in response to the selection operation of the user on the instrument joint; and is also used to acquire the current servo parameter information corresponding to the target driver according to the device number of the target driver; and is also used to write the debugged servo parameter information into the target driver in response to the debugging operation of the user on the servo parameter information corresponding to the target driver.

[0111] In some embodiments of the present specification, the motion control software and a graphical user interface application development framework are installed in the industrial computer; the graphical user interface application development framework stores a user interface developed by a developer in advance; the industrial computer uses the user interface to acquire the device number of the target driver corresponding to the selected instrument joint in response to the selection operation of the user on the instrument joint; and also uses the user interface to acquire the device number, servo parameter identifier and servo parameter value corresponding to the debugging operation in response to the debugging operation of the user on the servo parameter information corresponding to the target driver; the user interface transmits the acquired device number, servo parameter identifier and servo parameter value corresponding to the debugging operation to the PLC module of the motion control software, so as to write the debugged servo parameter information into the target driver.

[0112] From the above description, it can be seen that the embodiments of the present specification achieve the following technical effects: the industrial computer is connected with the plurality of drivers in the medical robot through EtherCAT, the industrial computer can receive the selection operation of the user on the instrument joint of the medical robot, acquire the device number of the target driver corresponding to the selected instrument joint, and then acquire the servo parameter information of the target driver according to the device number, and can also receive the debugging operation of the user on the servo parameter information of the target driver, acquire the debugged servo parameter information corresponding to the debugging operation, and write the debugged servo parameter information into the target driver through the EtherCAT network. Since the industrial computer is connected with the plurality of drivers, the parameters of the plurality of drivers of the medical robot can be debugged through the industrial computer, the cable does not need to be repeatedly plugged and unplugged, the servo parameters of the plurality of drivers can be simultaneously modified, the debugging efficiency is high, and the labor cost and time cost can be saved.

[0113] The embodiments of the present specification also provide a medical device, which can be specifically referred to Figure 16An embodiment shown based on the medical robot driver debugging method provided in the specification provides a schematic diagram of the medical equipment composition structure, which specifically can include an input device 161, a processor 162, and a memory 163. The memory 163 is used to store processor executable instructions. The processor 162 executes the instructions to implement the steps of the medical robot driver debugging method described in any of the above embodiments.

[0114] In the embodiment, the input device can be one of the main devices for information exchange between the user and the computer system. The input device can include a keyboard, a mouse, a camera, a scanner, a light pen, a handwriting input board, a voice input device, etc. The input device is used to input raw data and programs for processing the data into the computer. The input device can also obtain data transmitted by other modules, units, and devices. The processor can be implemented in any appropriate manner. For example, the processor can take the form of a microprocessor or a processor and a computer readable medium storing computer readable program code (such as software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (ASIC), programmable logic controllers, and embedded microcontrollers, etc. The memory can be a memory device used to save information in modern information technology. The memory can include multiple levels, and in a digital system, as long as it can save binary data, it can be a memory; in an integrated circuit, a circuit without a physical form with a storage function is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, a TF card, etc.

[0115] In the embodiment, the functions and effects of the medical equipment can be explained in comparison with other embodiments, and will not be repeated here.

[0116] The embodiment of the specification also provides a computer storage medium based on the medical robot driver debugging method, which stores computer program instructions. When the computer program instructions are executed, the steps of the medical robot driver debugging method described in any of the above embodiments are implemented.

[0117] In the present embodiment, the storage medium includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk drive (HDD), or a memory card. The storage medium can be used to store computer program instructions. The network communication unit can be an interface configured according to a standard set by a communication protocol, and used to perform network connection communication.

[0118] In the present embodiment, the functions and effects realized by the program instructions stored in the computer storage medium can be explained in comparison with other embodiments, and will not be described here again.

[0119] Obviously, those skilled in the art should understand that each module or each step of the above-described embodiments of the present specification can be realized by a general computing device, which can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be realized by program codes executable by a computing device, so that they can be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described can be executed in an order different from here, or they can be manufactured into each integrated circuit module respectively, or a plurality of modules or steps among them can be manufactured into a single integrated circuit module to realize. Thus, the embodiments of the present specification are not limited to any specific combination of hardware and software.

[0120] It should be understood that the above description is intended for illustration only and not for the purpose of limiting. Upon reading the above description, many implementations and many applications other than those provided in the accompanying examples will be apparent to those skilled in the art. The scope of the present specification should therefore not be determined with reference to the above description, but instead should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0121] The above only describes the preferred embodiments of the present specification and is not intended to limit the present specification. For those skilled in the art, the embodiments of the present specification can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.

Claims

1. A method for debugging the actuator of a medical robot, characterized in that, The medical robot includes an industrial control computer and multiple drivers. The industrial control computer and the multiple drivers are connected via EtherCAT communication. The method is applied to the industrial control computer and includes: The medical robot's joints are displayed in a visual graphical interface; in response to the user's selection operation of the medical robot's joints displayed in the visual graphical interface, the device number of the target driver corresponding to the selected joint is obtained. Based on the device number of the target driver, obtain the current servo parameter information corresponding to the target driver and display the current servo parameter information corresponding to the target driver in the visualization graphical interface. The current servo parameter information includes the current value and value range of the servo parameter. In response to the user's debugging operation on the current value of the current servo parameter information corresponding to the target driver in the visual graphical interface, the debugged servo parameter information is written into the target driver.

2. The driver debugging method for a medical robot according to claim 1, characterized in that, Before obtaining the device number of the target actuator corresponding to the selected instrument joint, the process also includes: The plurality of drivers are scanned to obtain a plurality of device numbers; The device number is used to determine whether the plurality of drivers have been successfully installed.

3. The driver debugging method for a medical robot according to claim 2, characterized in that, After determining whether the plurality of drivers have been successfully installed based on the device number, the process further includes: The medical robot's joints are displayed using a graphical interface; When it is determined that one or more of the plurality of drivers have failed to install, the joints corresponding to the one or more drivers that failed to install are marked and displayed.

4. The driver debugging method for a medical robot according to claim 1, characterized in that, Based on the device number of the target driver, obtain the current servo parameter information corresponding to the target driver, including: Read the servo parameter file corresponding to the device number of the target driver; The servo parameter file is parsed to obtain the default data of multiple servo parameters corresponding to the target driver, and the default data of multiple servo parameters corresponding to the target driver is written into a visualization table; Scan the target driver to obtain the current values ​​of multiple servo parameters corresponding to the target driver; The visualization table is updated based on the current values ​​of multiple servo parameters corresponding to the target driver to obtain the current servo parameter information corresponding to the target driver.

5. The driver debugging method for a medical robot according to claim 4, characterized in that, The servo parameter file is parsed to obtain default data for multiple servo parameters corresponding to the target driver, and the default data for these servo parameters is written into a visualization table, including: Determine the root node element in the servo parameter file, and group the servo parameters of the target driver based on the root node element; Parse the child node elements corresponding to the root node elements of each group from the servo parameter file, and fill the child node elements corresponding to the root node elements of each group into the visualization table.

6. The driver debugging method for a medical robot according to claim 4, characterized in that, The target driver includes at least two drivers; the servo parameter file includes default data for multiple servo parameters corresponding to each of the multiple drivers.

7. The actuator debugging method for a medical robot according to claim 1, characterized in that, In response to a user's debugging operation on the current value of the current servo parameter information corresponding to the target driver in the visual graphical interface, the debugged servo parameter information is written into the target driver, including: In response to a user's debugging operation on the servo parameter information corresponding to the target driver, the device number, servo parameter identifier, and servo parameter value corresponding to the debugging operation are obtained; Based on the device number, servo parameter identifier, and servo parameter value corresponding to the debugging operation, the debugged servo parameter information is written into the target driver.

8. An industrial control computer for a medical robot, characterized in that, The medical robot also includes multiple actuators, and the industrial control computer is connected to the multiple actuators via EtherCAT communication. The industrial control computer includes: The selection module is used to display the instrument joints of the medical robot in a visual graphical interface; in response to the user's selection operation on the instrument joints of the medical robot displayed in the visual graphical interface, the device number of the target driver corresponding to the selected instrument joint is obtained. The acquisition module is used to acquire the current servo parameter information corresponding to the target driver based on the device number of the target driver and display the current servo parameter information corresponding to the target driver in the visualization graphical interface. The current servo parameter information includes the current value and value range of the servo parameter. The debugging module is used to respond to the user's debugging operation on the current value of the current servo parameter information corresponding to the target driver in the visual graphical interface, and write the debugged servo parameter information into the target driver.

9. A medical robot, characterized in that, The medical robot includes an industrial control computer, multiple actuators, and multiple instrument joints, wherein the industrial control computer and the multiple actuators are connected via EtherCAT communication. Each of the plurality of drivers corresponds to one of the plurality of instrument joints and is used to drive the motors in the corresponding instrument joints to work. The industrial control computer is used to display the joints of the medical robot in a visual graphical interface; it is also used to obtain the device number of the target driver corresponding to the selected joint in response to the user's selection operation of the joints displayed in the visual graphical interface. It is also used to obtain the current servo parameter information corresponding to the target driver according to the device number of the target driver and display the current servo parameter information corresponding to the target driver in the visualization graphical interface, wherein the current servo parameter information includes the current value and value range of the servo parameter; it is also used to write the debugged servo parameter information into the target driver in response to the user's debugging operation on the current value of the current servo parameter information corresponding to the target driver in the visualization graphical interface.

10. The medical robot according to claim 9, characterized in that, The industrial computer is equipped with motion control software and a graphical user interface (GUI) application development framework; the GUI application development framework stores user interfaces pre-developed by developers; the user interface is the visual graphical interface. The industrial control computer uses the user interface to respond to the user's selection operation on the instrument joint and obtains the device number of the target driver corresponding to the selected instrument joint. The user interface is also used to respond to the user's debugging operation on the servo parameter information corresponding to the target driver, and to obtain the device number, servo parameter identifier and servo parameter value corresponding to the debugging operation. The user interface transmits the device number, servo parameter identifier, and servo parameter value corresponding to the debugging operation to the PLC module of the motion control software, so as to write the debugged servo parameter information into the target driver.

11. A medical device, characterized in that, It includes a processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, implements the steps of the driver debugging method for the medical robot according to any one of claims 1 to 7.

12. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the steps of the driver debugging method for the medical robot according to any one of claims 1 to 7.

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