A self-random intelligent verification system of a surgical robot ndi support

Abstract

The application provides a self-random intelligent verification system of a surgical robot NDI support, which comprises an NDI support, a first electric push rod, a second electric push rod and an intermittent control circuit; the first electric push rod is vertically arranged, one end of the first electric push rod is connected with the NDI support, and the other end of the first electric push rod is slidingly connected with the ground to drive the NDI support to move in the vertical direction for verification; the second electric push rod is horizontally arranged, one end of the second electric push rod is connected with the first electric push rod, and the other end of the second electric push rod is fixed to drive the second electric push rod and the NDI support to move in the horizontal direction for verification; and the intermittent control circuit is electrically connected with the first electric push rod and the second electric push rod to intermittently supply power to the first electric push rod and the second electric push rod. In the application, the first electric push rod and the second electric push rod respectively simulate the dragging situation of the NDI support from different directions, so that the actual use and service life of the NDI support are verified.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a self-random intelligent verification system for an NDI stent for a surgical robot. Background Technology

[0002] Surgical robot systems are comprehensive systems that integrate multiple modern high-tech methods. They have a wide range of applications and are widely used in clinical practice. With the rapid development of medical robot technology, surgical robot assistants have been widely used. Artificial knee replacement is a new technology for treating knee joint diseases that has gradually developed in modern times. It can effectively eradicate late-stage knee joint pain and greatly improve patients' quality of life. It is popular in developed countries and is currently in a stage of rapid development in China.

[0003] In robot-assisted joint replacement surgery, the NDI stent needs to be dragged to ensure a usable field of vision. To guarantee the practical usability of the NDI stent, its lifespan and other parameters need to be validated. However, a corresponding validation system is currently lacking. Summary of the Invention

[0004] The problem addressed by this application is the lack of a validation system for NDI stents used in surgical robots.

[0005] To address the aforementioned issues, this application provides a self-randomized intelligent verification system for an NDI stent used in surgical robots, comprising:

[0006] NDI bracket, first electric actuator, second electric actuator, and intermittent control circuit;

[0007] The first electric actuator is set vertically, with one end connected to the NDI bracket and the other end slidably connected to the ground, so as to drive the NDI bracket to perform vertical movement verification;

[0008] The second electric actuator is set horizontally, with one end connected to the first electric actuator and the other end fixed, so as to drive the second electric actuator and the NDI bracket to perform horizontal movement verification;

[0009] The intermittent control circuit is electrically connected to the first electric actuator and the second electric actuator, and intermittently supplies power to the first electric actuator and the second electric actuator.

[0010] Furthermore, the intermittent control circuit includes a timing chip, variable resistors R1 and R2, an electrolytic capacitor C2, and a relay KA1. The variable resistor R1 is connected between the discharge pin of the timing chip and VCC, the variable resistor R2 is connected between the discharge pin and the threshold pin of the timing chip, the electrolytic capacitor C2 is connected between the threshold pin and GND, the threshold pin of the timing chip is shorted to the trigger pin, the relay KA1 is connected between the output pin of the timing chip and GND, and the normally open contact of the relay KA1 is connected to the power supply path of the first electric actuator and the second electric actuator.

[0011] Furthermore, the intermittent control circuit also includes diodes D13 and D14. Diode D14 is connected in series with the variable resistor R2, and the cathode of diode D14 is connected to the variable resistor R2, while the anode is connected to the threshold pin. Diode D13 is connected in parallel with diode D14 and the variable resistor R2, and the anode of diode D13 is connected to the discharge pin, while the cathode is connected to the threshold pin.

[0012] Furthermore, the first electric actuator / second electric actuator includes an actuator motor, an inner actuator with a push head, and a sleeve sleeved on the inner actuator. The sleeve is provided with a top limit switch and a bottom limit switch at its two ends. When the push head of the inner actuator moves to the position of the top limit switch and the bottom limit switch, it triggers the reverse rotation of the actuator motor to control the inner actuator to reciprocate between the top limit switch and the bottom limit switch.

[0013] Furthermore, the first electric actuator also includes a control circuit, which includes relays K3, K5, K1, and K2. Relay K3 is connected in series with a normally closed top limit switch KB1 and then connected to the power supply. Relay K5 is connected in series with the normally closed contact of relay K3 and then connected to the power supply. Relay K1 is connected in series with the third normally closed contact of relay K5 and then connected to the power supply. Relay K2 is connected in series with the fourth normally open contact of relay K5 and then connected to the power supply. The first normally open contact of relay K5 is connected in series with relay K5 and then connected to the power supply.

[0014] Furthermore, the control circuit also includes relays K4 and K6. Relay K4 is connected to the power supply after being connected in series with a normally closed bottom limit switch. The first normally open contact of relay K6 and the second normally closed contact of relay K5 are connected in series and then connected in parallel with the normally open contact of relay K4. After being connected in parallel, they are connected to the power supply via relay K6. The second normally closed contact of relay K6 is connected to the path between the first normally open contact of relay K5 and the power supply.

[0015] Furthermore, the control circuit also includes a self-locking button, and the relays K1 and K2 are connected to the power supply through the normally open contact of the self-locking button.

[0016] Furthermore, a random motion device is provided on the outer wall of the sleeve. The random motion device includes a guide rail and a push-pull module. The top limit switch / bottom limit switch is locked in the guide rail and connected to the push-pull module. Under the action of the push-pull module, it reciprocates along the guide rail to randomize the contact position between the top limit switch / bottom limit switch and the push head.

[0017] Furthermore, the random motion device also includes a power supply circuit, which includes a first NAND gate, a second NAND gate, a third NAND gate, an adjusting resistor R3, a capacitor C3, and a transistor Q1. The input terminal of the second NAND gate is connected to one end of the capacitor C3 and one end of the adjusting resistor R3. The output terminal of the second NAND gate is connected to the input terminal of the third NAND gate and the other end of the adjusting resistor R3. The output terminal of the third NAND gate is connected to the other end of the capacitor C3 and the input terminal of the first NAND gate. The output terminal of the first NAND gate is connected to the base of the transistor Q1. The emitter of the transistor Q1 is grounded, and the collector is connected to the push-pull module.

[0018] Furthermore, the power supply duration of the intermittent control circuit is not a multiple of the power supply cycle of the power supply circuit.

[0019] In this application, the dragging of the NDI bracket is simulated from different directions by using the first electric actuator and the second electric actuator, thereby verifying the actual use and service life of the NDI bracket.

[0020] In this application, by setting an intermittent power supply circuit to provide intermittent power to the first electric actuator and the second electric actuator, on the one hand, the equipment damage caused by the continuous and uninterrupted operation of the first electric actuator and the second electric actuator can be avoided, and on the other hand, the intermittent power supply can add a certain degree of randomness to the verification system, thereby achieving a better simulation effect of random dragging. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the self-random intelligent verification system for the NDI stent of the surgical robot in this application.

[0022] Figure 2 The circuit diagram shows the intermittent control circuit of the self-random intelligent verification system for the NDI stent of the surgical robot in this application.

[0023] Figure 3 The circuit diagram of the push rod motor of the self-random intelligent verification system of the NDI scaffold of the surgical robot in this application is shown.

[0024] Figure 4 The circuit diagram shows the self-locking button of the self-random intelligent verification system of the NDI stent for the surgical robot in this application;

[0025] Figure 5 The circuit diagram for the limit switch triggering of the self-random intelligent verification system of the NDI stent for the surgical robot in this application is shown.

[0026] Figure 6 A schematic diagram showing the power-on of the push-pull module of the self-random intelligent verification system for the NDI stent of the surgical robot in this application;

[0027] Figure 7 This is a schematic diagram showing the power-off of the push-pull module of the self-random intelligent verification system of the NDI stent for the surgical robot in this application;

[0028] Figure 8 This is a circuit diagram of the random motion device of the self-random intelligent verification system for the NDI scaffold of the surgical robot in this application;

[0029] Figure 9 This is a pin diagram of the CD4011 chip, which is part of the self-random intelligent verification system for the NDI scaffold of the surgical robot in this application. Detailed Implementation

[0030] To make the above-mentioned objects, features, and advantages of this application more apparent and understandable, specific embodiments of this application will be described in detail below with reference to the accompanying drawings. Although exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0031] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0032] This application provides a self-random intelligent verification system for an NDI scaffold in a surgical robot. The system's structure combines... Figures 1-9 As shown, the self-random intelligent verification system of the surgical robot NDI stent includes: NDI stent 3, first electric push rod 1, second electric push rod 2 and intermittent control circuit;

[0033] The first electric actuator 1 is vertically set, with one end connected to the NDI bracket 3 and the other end slidably connected to the ground, so as to drive the NDI bracket to perform vertical movement verification;

[0034] The second electric actuator 2 is set horizontally, with one end connected to the first electric actuator and the other end fixed, so as to drive the second electric actuator and the NDI bracket 3 to perform horizontal movement verification;

[0035] The intermittent control circuit (not shown in the figure) is electrically connected to the first electric actuator 1 and the second electric actuator 2, and intermittently supplies power to the first electric actuator and the second electric actuator.

[0036] One end of the second electric actuator can be fixed to a wall, a fixed bracket, or other location.

[0037] In actual operation, the second electric actuator drives the first electric actuator to move left and right. Since the first electric actuator is slidably connected to the ground, it further drives the NDI bracket to move left and right. At the same time, the first electric actuator drives the NDI bracket to move up and down. In this way, the movement of the NDI bracket is decomposed into horizontal left and right movement and vertical up and down movement, which are then executed by the first and second electric actuators respectively, thereby simulating the arbitrary movement of the NDI bracket in the up, down, left, and right directions.

[0038] The sliding connection between the first electric actuator and the ground can be achieved by setting a sliding wheel under the first electric actuator, or by setting a sliding groove on the ground and locking the first electric actuator in the sliding groove, or by other means, as long as it can slide along the ground.

[0039] In this application, the dragging of the NDI bracket is simulated from different directions by using the first electric actuator and the second electric actuator, thereby verifying the actual use and service life of the NDI bracket.

[0040] In this application, by setting an intermittent power supply circuit to provide intermittent power to the first electric actuator and the second electric actuator, on the one hand, the equipment damage caused by the continuous and uninterrupted operation of the first electric actuator and the second electric actuator can be avoided, and on the other hand, the intermittent power supply can add a certain degree of randomness to the verification system, thereby achieving a better simulation effect of random dragging.

[0041] Combination Figure 2 As shown, in one embodiment, the intermittent control circuit includes a timing chip, variable resistors R1 and R2, an electrolytic capacitor C2, and a relay KA1. The variable resistor R1 is connected between the discharge pin of the timing chip and VCC, the variable resistor R2 is connected between the discharge pin and the threshold pin of the timing chip, the electrolytic capacitor C2 is connected between the threshold pin and GND, the threshold pin of the timing chip is shorted to the trigger pin, the relay KA1 is connected between the output pin of the timing chip and GND, and the normally open contact of the relay KA1 is connected to the power supply path of the first electric actuator and the second electric actuator.

[0042] In this application, the timing chip is the NE555 chip; pin 1 of the chip is the ground pin, pin 2 is the trigger pin, pin 3 is the output pin, pin 4 is the reset pin, pin 5 is the control pin, pin 6 is the threshold pin, pin 7 is the discharge pin, and pin 8 is the power supply pin.

[0043] In this application, pins 1 and 8 of the chip are connected to an external power supply, which is 12V in this application; pin 4 is connected to a high level to keep the chip from resetting; pin 5 is grounded through a filter capacitor C1 to ensure the stability of the chip switching frequency.

[0044] Combination Figure 2 As shown, in one embodiment, the intermittent control circuit further includes diodes D13 and D14. Diode D14 is connected in series with the variable resistor R2, and the cathode of diode D14 is connected to the variable resistor R2, while the anode is connected to the threshold pin. Diode D13 is connected in parallel with diode D14 and the variable resistor R2, and the anode of diode D13 is connected to the discharge pin, while the cathode is connected to the threshold pin.

[0045] Specifically, one end of the variable resistor R1 is connected to the positive terminal of the 12V power supply, and the other end is connected to pin 7; pins 2 and 6 are shorted; the variable resistor R2 is connected in series with diode D14 and then in parallel with diode D13, with one end of the parallel connection connected to pin 7 and the other end connected to pins 2 / 6; one end of the electrolytic capacitor C2 is connected to pins 2 / 6, and the other end is connected to the negative terminal of the 12V power supply / grounded; the anode of diode D13 is connected to pin 7, and the cathode is connected to pins 2 / 6; the anode of diode D14 is connected to pins 2 / 6, and the cathode is connected to the variable resistor R2.

[0046] Specifically, the normally open contact KA1-1 of KA1 is connected to the power supply (which is 24V) and the anode path of VCC1, and the normally open contact KA1-2 of KA1 is connected to the power supply and the cathode path of VCC1.

[0047] In this application, normally open contacts are provided at both the anode and cathode (positive and negative terminals) of the power supply, so that both the anode and cathode are disconnected when the circuit is broken, thereby further ensuring the safety of the circuit through double disconnection.

[0048] In actual operation, after the chip is powered on, pin 3 outputs a high level, at which time relay KA1 is powered on, and the normally open contacts KA1-1 and KA1-2 of relay KA1 are closed, thus energizing VCC1. At the same time, pin 7 outputs a high level, while pins 2 and 6 output a low level. At this time, diode D13 is turned on, and diode D14 is turned off. The positive terminal of the power supply, variable resistor R1, diode D13, electrolytic capacitor C2, and negative terminal of the power supply form a circuit. This circuit charges electrolytic capacitor C2. By adjusting the resistance of variable resistor R1, the charging speed of electrolytic capacitor C2 can be controlled.

[0049] In practice, when the electrolytic capacitor C2 is charged to a voltage of 8V (2 / 3VCC) across its terminals, pin 6 is activated, causing pins 3 and 7 to output a low level. At this time, relay KA1 is de-energized, and the normally open contacts KA1-1 and KA1-2 of electrical appliance KA1 are opened, de-energizing VCC1. Simultaneously, pin 7 outputs a low level, while pins 2 and 6 are at a high level (8V). At this time, diode D13 is cut off, and diode D14 is turned on. Electrolytic capacitor C2, variable resistor R2, pin 7, and chip IC1 form a circuit, which discharges electrolytic capacitor C2. By adjusting the resistance value of variable resistor R2, the discharge rate of electrolytic capacitor C2 can be controlled.

[0050] In practice, when the electrolytic capacitor C2 discharges to a voltage of 4V (1 / 3VCC) across its terminals, pin 2 is activated, causing pins 3 and 7 to output a high level, thus re-entering the charging state of electrolytic capacitor C2 and the energized state of VCC1. In this way, electrolytic capacitor C2 cycles through charging and discharging, while VCC1 is simultaneously energized and de-energized, achieving intermittent power supply.

[0051] In this application, by setting diodes D13 and D14, the charging circuit and discharging circuit of the electrolytic capacitor are respectively associated with variable resistors R1 and R2. The charging speed and discharging speed of the electrolytic capacitor can be adjusted independently by variable resistors R1 and R2, thereby achieving better adjustment flexibility.

[0052] In one implementation, by adjusting the variable resistors R1 and R2, the 24V power supply VCC1 of the electric actuator is kept in a cyclical working mode of being powered on for 15 minutes and then powered off for 45 minutes, so as to avoid overloading the electric actuator.

[0053] In one embodiment, the intermittent control circuit further includes a freewheeling diode D15, which is connected in parallel with the relay KA1.

[0054] The freewheeling diode D15 is used to protect the relay from being broken down or burned by the induced voltage. It is connected in parallel to the two ends of the relay that generates the induced electromotive force and forms a circuit with it. The high electromotive force generated by it is consumed in the circuit as a freewheeling current, thereby protecting the relay in the circuit from damage.

[0055] Combination Figure 1 As shown, in one embodiment, the first electric actuator / second electric actuator includes an actuator motor, an inner actuator 11 with a push head, and a sleeve 12 sleeved on the inner actuator. The two ends of the sleeve are respectively provided with a top limit switch 13 and a bottom limit switch 14. When the push head of the inner actuator moves to the position of the top limit switch and the bottom limit switch, it triggers the reverse rotation of the actuator motor to control the inner actuator to reciprocate between the top limit switch and the bottom limit switch.

[0056] It should be noted that the push head is mounted on the inner push rod. The push head can be configured with a diameter larger than the inner push rod, allowing it to easily trigger the top and bottom limit switches on the sleeve. Alternatively, the push head can be part of the inner push rod, with the push head's diameter matching that of the inner push rod. In this case, when the push head of the inner push rod first contacts the top and bottom limit switches, it directly triggers them, while the remaining part of the inner push rod maintains contact with the top and bottom limit switches, thus keeping them in their triggered state. Other structural designs are also possible, as long as they can trigger the top and bottom limit switches.

[0057] The first electric actuator and the second electric actuator have the same structure, and are two electric actuators with the same structure.

[0058] It should be noted that the structures of the first electric actuator and the second electric actuator can also be different. For example, the push head of the first electric actuator can be set to have a diameter larger than that of the inner push rod, while the push head of the second electric actuator can be set as part of the inner push rod, with the diameter of the push head being consistent with that of the inner push rod.

[0059] The top limit switch and the bottom limit switch can be located on the inner wall of the sleeve; they can also be located on the outer wall of the sleeve, with the trigger point penetrating the sleeve and extending from the inner wall of the sleeve; or they can be other structures that can actually be triggered.

[0060] Combination Figures 3-5As shown, in one embodiment, the first electric actuator further includes a control circuit, which includes relays K3, K5, K1, and K2. Relay K3 is connected to the power supply in series with a normally closed top limit switch KB1. Relay K5 is connected to the power supply in series with the normally closed contact of relay K3. Relay K1 is connected to the power supply in series with the third normally closed contact of relay K5. Relay K2 is connected to the power supply in series with the fourth normally open contact of relay K5. Furthermore, the first normally open contact of relay K5 is connected to the power supply in series with relay K5.

[0061] Specifically, the two normally open contacts K1-1 and K1-2 of relay K1 are respectively set on the positive and negative terminals of the push rod motor M1 and the power supply VCC1. After relay K1 is energized, normally open contacts K1-1 and K1-2 close, and push rod motor M1 is energized and starts to run.

[0062] The anode of the push rod motor M1 is connected to the positive terminal of the power supply VCC1 through the normally open contact K1-1, so the push rod motor M1 rotates in the forward direction after being powered on.

[0063] Specifically, the two normally open contacts K2-1 and K2-2 of relay K2 are respectively located on the positive and negative terminals of the connection between the push rod motor M1 and the power supply VCC1. After relay K2 is energized, normally open contacts K2-1 and K2-2 close, and the push rod motor M1 is energized and starts running. Furthermore, the cathode of the push rod motor M1 is connected to the positive terminal of the power supply VCC1 through normally open contact K2-2, so the push rod motor M1 reverses direction after being energized.

[0064] Specifically, the normally open contact K5-4 of relay K5 is connected in series with relay K2 to form a circuit, and the normally closed contact K5-3 is connected in series with relay K1 to form a circuit. At this time, after relay K5 is de-energized, the circuit between the normally closed contact K5-3 and relay K1 is connected, and relay K1 is energized. After relay K5 is energized, the circuit between the normally closed contact K5-4 and relay K2 is connected, and relay K2 is energized.

[0065] In this application, the forward and reverse switches of the push rod motor are controlled by different types of contacts of the same relay, so as to realize the linkage between different control circuits, thereby setting the forward and reverse rotation of the push rod motor to be mutually exclusive and avoiding short circuit of the push rod motor.

[0066] Specifically, the positive terminal of the power supply, the normally closed contact of the top limit switch KB1, the relay K3, and the negative terminal of the power supply form a circuit. After the power supply is turned on, the circuit is connected and the relay K3 is energized.

[0067] Specifically, the normally open contact K5-1 of relay K5 and the normally closed contact K3-1 of relay K3 are connected in parallel and then connected in series with relay K5. When the power is on, the top limit switch KB1 is triggered, its normally closed contact opens, relay K3 is de-energized, and its normally closed contact K3-1 is energized, thereby energizing relay K5 and closing its normally open contact K5-1. At this time, relay K5 and normally open contact K5-1 form a conducting circuit and are no longer affected by normally closed contact K3-1.

[0068] In this application, a self-locking effect is achieved by connecting the relay in series with its normally open contact, thereby preventing the relay from being de-energized.

[0069] In this application, relay K3 controls relay K5, and relay K5 controls relay K1 / 2. Through indirect control, the self-locking effect of the relays is increased, and the flexibility of relay settings is increased, reducing restrictions on relay installation location and installation logic.

[0070] Combination Figures 3-5 As shown, in one embodiment, the control circuit further includes relays K4 and K6. Relay K4 is connected to the power supply after being connected in series with a normally closed bottom limit switch. The first normally open contact of relay K6 and the second normally closed contact of relay K5 are connected in series and then connected in parallel with the normally open contact of relay K4. After being connected in parallel, they are connected to the power supply via relay K6. The second normally closed contact of relay K6 is connected to the path between the first normally open contact of relay K5 and the power supply.

[0071] Specifically, the second normally closed contact K6-2 of relay K6 is connected in series with the first normally open contact K5-1 of relay K5, and then connected in parallel with the normally closed contact K3-1 of relay K3. Thus, after relay K5 self-locks, it can be disconnected from its self-locking state by relay K6.

[0072] Similarly, relay K6 has a self-locking function, and relay K5 disconnects its self-locking after relay K6 is energized; relay K6 disconnects its self-locking after relay K5 is energized, thereby achieving the effect of flexible self-locking and flexible release.

[0073] Combination Figure 4 As shown, in one embodiment, the control circuit further includes a self-locking button, and the relays K1 and K2 are connected to the power supply through the normally open contact of the self-locking button.

[0074] Specifically, one end of the self-locking button S1 is connected to the positive terminal of the power supply, and the other end is connected to the parallel circuit of relay K1 and relay K2. In this way, relays K1 and K2 can only be powered on after the self-locking button is pressed, so that the self-locking button can be used as the main switch of the push rod motor to prevent the push rod motor from operating incorrectly.

[0075] It should be noted that, Figures 3-5 This is the control circuit for one of the first and second electric actuators. In actual operation, the control circuits for the first and second electric actuators are the same. Therefore, only the circuit diagram of one of them is used for illustration, and the others will not be described in detail.

[0076] In one embodiment, the normally open contacts of the self-locking button have two sets, which respectively control the push rod motors in the first and second electric push rods.

[0077] It should be noted that the top and bottom limit switches are designed so that the first and second electric actuators move in opposite directions after either switch is triggered, achieving reciprocating motion. However, in actual operation, this motion is periodic, meaning the duration of each reciprocating motion of the first and second electric actuators is fixed. This periodic motion differs from the actual action of medical personnel dragging the NDI stent, affecting the verification effect of the NDI stent.

[0078] In one implementation, each relay is connected in parallel with a freewheeling diode to protect the relay from breakdown or burnout by induced voltage.

[0079] Specifically, relay K1 is connected in parallel with freewheeling diode D1, relay K2 is connected in parallel with freewheeling diode D2, relay K3 is connected in parallel with freewheeling diode D3, relay K4 is connected in parallel with freewheeling diode D4, relay K5 is connected in parallel with freewheeling diode D5, and relay K6 is connected in parallel with freewheeling diode D6.

[0080] In this application, the freewheeling diode is connected in parallel to the two ends of the relay that generates the induced electromotive force, and forms a circuit with it, so that the high electromotive force generated by it is consumed in the circuit in the form of freewheeling current, thereby protecting the relay in the circuit from damage.

[0081] Combination Figures 6-7 As shown, in one embodiment, a random motion device is provided on the outer wall of the sleeve. The random motion device includes a guide rail 15 and a push-pull module 16. The top limit switch 13 / bottom limit switch 14 is locked in the guide rail 15 and connected to the push-pull module 16. Under the action of the push-pull module 16, it reciprocates along the guide rail to randomize the contact position between the top limit switch / bottom limit switch and the push head.

[0082] When the push-pull module is powered on, the top limit switch / bottom limit switch is pushed to the farthest end along the guide rail. When the push-pull module is powered off, the top limit switch / bottom limit switch returns to the nearest end under the action of external force (spring, etc.).

[0083] The terms "farthest end" and "nearest end" refer to the relative positions of the top / bottom limit switch and the push-pull module.

[0084] Furthermore, two random motion devices are installed on the outer wall of a sleeve to push the top limit switch and the bottom limit switch respectively.

[0085] In this application, by setting a push-pull module, the specific position of the top limit switch / bottom limit switch on the sleeve is variable, thereby increasing the randomness of the contact between the top limit switch / bottom limit switch and the inner push rod, that is, making the reversal time of the reciprocating motion of the first electric push rod / second electric push rod random, thereby achieving the effect of random dragging.

[0086] Preferably, the push-pull module is a push-pull electromagnet.

[0087] Among them, the push-pull electromagnet utilizes the leakage flux structure of the solenoid to repeatedly attract the moving slider of the electromagnet to the stationary iron core over a long distance, thereby causing the traction rod to perform linear reciprocating motion; the push-pull electromagnet controls the overall action and power strength through electrical current, and by adjusting the magnetic strength of different electromagnetic coils and power supplies, it converts the action into a reciprocating push-pull motion, making the electromagnet move back and forth like a piston in the overall motion. The electromagnet's reset can be achieved by a reset spring.

[0088] Combination Figures 8-9 As shown, in one embodiment, the random motion device further includes a power supply circuit. The power supply circuit includes a first NAND gate, a second NAND gate, a third NAND gate, an adjusting resistor R3, a capacitor C3, and a transistor Q1. The input terminal of the second NAND gate is connected to one end of the capacitor C3 and one end of the adjusting resistor R3. The output terminal of the second NAND gate is connected to the input terminal of the third NAND gate and the other end of the adjusting resistor R3. The output terminal of the third NAND gate is connected to the other end of the capacitor C3 and the input terminal of the first NAND gate. The output terminal of the first NAND gate is connected to the base of the transistor Q1. The emitter of the transistor Q1 is grounded, and the collector is connected to the push-pull module.

[0089] Among them, the first NAND gate 1ABY, the second NAND gate 2ABY, and the third NAND gate 3ABY are part of the NAND gate logic chip, which is a CD4011 chip and has an external power supply.

[0090] The CD4011 chip is connected to an external power supply. Pins 5, 6, and 4 are NAND gate logic circuits, with the latter being the output terminal; pins 1, 2, and 3 are NAND gate logic circuits, with the latter being the output terminal; pins 8, 9, and 10 are NAND gate logic circuits, with the latter being the output terminal; pins 14 and 7 are the positive and negative power supply pins, respectively.

[0091] Furthermore, a resistor R4 is connected in series between the adjusting resistor R3 and the capacitor C3 to protect the capacitor.

[0092] Furthermore, a resistor R5 is connected in series between the output of the first NAND gate and the base of transistor Q1 to limit the current.

[0093] Furthermore, a resistor R6 is connected in series between the push-pull electromagnet / push-pull module and the power supply to serve as a voltage divider.

[0094] Specifically, pins 5 and 6 are shorted and connected to one end of capacitor C3; pins 8 and 9 are shorted and connected to pin 4 and one end of adjusting resistor R3; the other end of adjusting resistor R3 is connected to one end of capacitor C3 via resistor R4; pins 1 and 2 are shorted and connected to capacitor C3 and pin 10; pin 3 is connected to the base of transistor Q1 via resistor R5; the emitter of transistor Q1 is grounded, and the collector is connected to the push-pull electromagnet / push-pull module; the other end of the push-pull electromagnet / push-pull module is connected to the positive terminal of the 24V power supply via resistor R6.

[0095] In actual operation, when the CD4011 chip is connected to a 12V power supply, pins 5 and 6 are at high level, pin 4 outputs a low level, and pin 10 outputs a high level. At this time, the high level charges capacitor C3, and pins 1 and 2 are at high level, while pin 3 is at low level. After charging is complete, discharge is achieved by adjusting resistors R3 and R4. When the discharge reaches a certain level, the voltage levels of pins 5 and 6 are low enough, and the logic gate flips. At this time, pins 5 and 6 are at low level, pin 4 outputs a high level, and pin 10 outputs a low level. At this time, pins 1 and 2 are at low level, and pin 3 is at high level. After the discharge is complete, pin 10 continues to output a high level to charge capacitor C3. This process is repeated, and pin 3 receives a pulsed high-level signal. The discharge speed of capacitor C3 is controlled by adjusting resistor R3, and the pulse frequency is controlled within a certain time.

[0096] Specifically, when pin 3 is high, transistor Q1 is turned on, the push-pull electromagnet is powered on, and the limit switch is pushed to both ends. When pin 3 is low, transistor Q1 is turned off, the push-pull electromagnet is de-powered, and the limit switch is pulled back to the middle, thus reciprocating.

[0097] In one embodiment, the power supply duration of the intermittent control circuit is not a multiple of the power supply cycle of the power supply circuit.

[0098] The power supply duration of the intermittent control circuit is the duration of the power supply phase within a power supply-power-off cycle; during this power supply duration, the electric actuator performs a motion action.

[0099] The power supply cycle of the power supply circuit is the cycle of the pulsed high-level signal, which is also the cycle of the push-pull electromagnet's push-pull reciprocating motion.

[0100] It can be seen that if the power supply duration of the intermittent control circuit is a multiple of the power supply cycle of the power supply circuit, then N power supply cycles of the power supply circuit will be generated within the power supply duration of the intermittent control circuit. This will cause the limit switch to be triggered periodically, thereby affecting the randomness of the verification system.

[0101] In this application, the power supply duration of the intermittent control circuit is controlled to be a non-multiple relationship with the power supply cycle of the power supply circuit, which can avoid periodic motion within a power supply duration and improve the system's self-random characteristics.

[0102] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0103] In this application, unless otherwise expressly specified and limited, the terms "set up," "connected," "linked," "connected," etc., should be interpreted broadly. For example, they can refer to electrical connection / communication connection, electrical coupling / communication coupling, or integration; they can refer to direct connection or indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0104] In the description of this application, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0105] It should be noted that numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some embodiments, well-known structures and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0106] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A self-random intelligent verification system for an NDI stent in a surgical robot, characterized in that, include: NDI bracket, first electric actuator, second electric actuator, and intermittent control circuit; The first electric actuator is set vertically, with one end connected to the NDI bracket and the other end slidably connected to the ground, so as to drive the NDI bracket to perform vertical movement verification; The second electric actuator is set horizontally, with one end connected to the first electric actuator and the other end fixed, so as to drive the second electric actuator and the NDI bracket to perform horizontal movement verification; The intermittent control circuit is electrically connected to the first electric actuator and the second electric actuator, and intermittently supplies power to the first electric actuator and the second electric actuator; The first electric actuator / second electric actuator includes a actuator motor, an inner actuator with a push head, and a sleeve sleeved on the inner actuator. A top limit switch and a bottom limit switch are respectively provided at both ends of the sleeve. When the push head of the inner actuator moves to the position of the top limit switch and the bottom limit switch, it triggers the reverse rotation of the actuator motor to control the inner actuator to reciprocate between the top limit switch and the bottom limit switch. A random motion device is provided on the outer wall of the sleeve. The random motion device includes a guide rail and a push-pull module. The top limit switch / bottom limit switch is locked in the guide rail and connected to the push-pull module. Under the action of the push-pull module, it reciprocates along the guide rail to randomize the contact position between the top limit switch / bottom limit switch and the push head.

2. The self-random intelligent verification system according to claim 1, characterized in that, The intermittent control circuit includes a timing chip, variable resistors R1 and R2, an electrolytic capacitor C2, and a relay KA1. The variable resistor R1 is connected between the discharge pin of the timing chip and VCC, the variable resistor R2 is connected between the discharge pin and the threshold pin of the timing chip, the electrolytic capacitor C2 is connected between the threshold pin and GND, the threshold pin of the timing chip is shorted to the trigger pin, the relay KA1 is connected between the output pin of the timing chip and GND, and the normally open contact of the relay KA1 is connected to the power supply path of the first electric actuator and the second electric actuator.

3. The self-random intelligent verification system according to claim 2, characterized in that, The intermittent control circuit further includes diodes D13 and D14. Diode D14 is connected in series with the variable resistor R2, and the cathode of diode D14 is connected to the variable resistor R2, while the anode is connected to the threshold pin. Diode D13 is connected in parallel with diode D14 and the variable resistor R2, and the anode of diode D13 is connected to the discharge pin, while the cathode is connected to the threshold pin.

4. The self-random intelligent verification system according to claim 1, characterized in that, The first electric actuator also includes a control circuit, which includes relays K3, K5, K1, and K2. Relay K3 is connected to the power supply in series with a normally closed top limit switch KB1. Relay K5 is connected to the power supply in series with the normally closed contact of relay K3. Relay K1 is connected to the power supply in series with the third normally closed contact of relay K5. Relay K2 is connected to the power supply in series with the fourth normally open contact of relay K5. The first normally open contact of relay K5 is connected to the power supply in series with relay K5.

5. The self-random intelligent verification system according to claim 4, characterized in that, The control circuit also includes relays K4 and K6. Relay K4 is connected to the power supply after being connected in series with a normally closed bottom limit switch. The first normally open contact of relay K6 and the second normally closed contact of relay K5 are connected in series and then connected in parallel with the normally open contact of relay K4. After being connected in parallel, they are connected to the power supply via relay K6. The second normally closed contact of relay K6 is connected to the path between the first normally open contact of relay K5 and the power supply.

6. The self-random intelligent verification system according to claim 4, characterized in that, The control circuit also includes a self-locking button, and the relays K1 and K2 are connected to the power supply through the normally open contact of the self-locking button.

7. The self-random intelligent verification system according to claim 1, characterized in that, The random motion device further includes a power supply circuit, which includes a first NAND gate, a second NAND gate, a third NAND gate, an adjusting resistor R3, a capacitor C3, and a transistor Q1. The input terminal of the second NAND gate is connected to one end of the capacitor C3 and one end of the adjusting resistor R3. The output terminal of the second NAND gate is connected to the input terminal of the third NAND gate and the other end of the adjusting resistor R3. The output terminal of the third NAND gate is connected to the other end of the capacitor C3 and the input terminal of the first NAND gate. The output terminal of the first NAND gate is connected to the base of the transistor Q1. The emitter of the transistor Q1 is grounded, and the collector is connected to the push-pull module.

8. The self-random intelligent verification system according to claim 1, characterized in that, The power supply duration of the intermittent control circuit is not a multiple of the power supply cycle of the power supply circuit.

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