Electrical control system, method and electrical management platform for a medical robot

Abstract

The disclosure provides an electrical control system, method and electrical management platform of a medical robot, the electrical control system comprising a master station and an industrial computer in communication connection, a general control module and a motor control module, the master station being used to acquire target processing information, generate general control instructions and motion control instructions, the general control module being used to control the general module based on the general control instructions; the industrial computer being used to control the motor control module to perform motion control on the motor executive mechanism based on the motion control instructions; the communication speed between the industrial computer and the motor control module is higher than the communication speed between the master station and the general control module. The disclosure sets a double host computer architecture composed of the master station and the industrial computer, the two host computers work in cooperation and interact information, the electrical control efficiency of the medical robot is higher; meanwhile, the high-speed signal and the low-speed signal are separated, and the reliability of the overall network topology structure of the medical robot system is enhanced.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of medical technology, in particular to an electrical control system and method of a medical robot and an electrical management platform. BACKGROUND

[0002] At present, the electrical control system of a domestic medical robot is usually designed for a single robot, and the electrical control system is only applicable to the robot developed in this direction, resulting in poor generality and expandability of the electrical control system, and it is difficult to develop various types of user interfaces. When developing multiple types of medical robot products, due to the poor generality and expandability of the existing electrical control system, the electrical control system cannot be directly transplanted, and therefore a large amount of time and effort is required for the design of the electrical control system, greatly increasing the operating cost of the company. SUMMARY

[0003] The technical problem to be solved by the present disclosure is to overcome the defects of the electrical control system of the medical robot in the prior art, such as lack of compatibility and expandability and high operating cost, and to provide an electrical control system, method and electrical management platform of a medical robot.

[0004] The present disclosure solves the above technical problems by the following technical solutions:

[0005] In a first aspect, an electrical control system of a medical robot is provided, which comprises a master station and an industrial computer in communication connection, and a general control module and a motor control module;

[0006] The master station, the general control module and the general module of the medical robot are sequentially in communication connection, and the industrial computer, the motor control module and the motor actuator of the medical robot are sequentially in communication connection;

[0007] The master station is configured to obtain target processing information, generate general control instructions and motion control instructions, send the motion control instructions to the industrial computer, and send the general control instructions to the general control module;

[0008] The target processing information includes image information and / or human-computer interaction information.

[0009] The general control module is configured to receive the general control instructions and control the general module based on the general control instructions;

[0010] The industrial computer is configured to receive the motion control instructions and control the motor control module to perform motion control on the motor actuator based on the motion control instructions.

[0011] The communication speed between the industrial computer and the motor control module is higher than the communication speed between the master station and the general control module.

[0012] Preferably, the master station is further configured to acquire first feedback information, the first feedback information being used to represent the running state of the general module.

[0013] The master station is further configured to update the general control instruction based on the first feedback information, so as to adjust the control over the general module.

[0014] Preferably, the master station is further configured to acquire second feedback information, the second feedback information being used to represent the running state of the motor actuator.

[0015] The master station is further configured to update the motion control instruction based on the second feedback information, so as to adjust the control over the motor actuator.

[0016] Preferably, the industrial computer is configured to decompose the motion control instruction into a plurality of sub-motion control instructions based on a preset algorithm, and send the sub-motion control instructions to the motor control module.

[0017] The motor control module controls the motor actuator to drive the medical robot to perform each corresponding motion operation based on each of the sub-motion control instructions.

[0018] Preferably, the medical robot comprises a plurality of motor actuators.

[0019] The motor control module is configured to receive different sub-motion control instructions, and send the sub-motion control instructions to corresponding motor actuators, so as to drive the corresponding motor actuators to drive the medical robot to perform corresponding motion operations.

[0020] Preferably, the sub-motion control instruction comprises at least one of motor running mode, motor running speed, moving position and output torque.

[0021] Preferably, the motor actuator comprises a motor and a sensor.

[0022] The sensor is configured to collect position information of the medical robot, and send the position information to the motor control module.

[0023] The motor control module is configured to receive the position information, and drive the motor to drive the medical robot to move.

[0024] Preferably, the general module comprises a state display circuit and a state acquisition circuit.

[0025] The state acquisition circuit is configured to acquire state information of the medical robot and send the state information to the general control module.

[0026] The general control module is configured to receive the state information and send the state information to the master station.

[0027] The master station is configured to receive the state information and send state driving instructions to the general control module.

[0028] The general control module is configured to receive the state driving instructions and send the state driving instructions to the state display circuit.

[0029] The state display circuit is configured to receive the state driving instructions to display the corresponding working state of the medical robot.

[0030] Preferably, the general module further comprises a power management circuit.

[0031] The master station is configured to send first power management instructions to the general control module.

[0032] The general control module is configured to receive the first power management instructions and send the first power management instructions to the power management circuit.

[0033] The power management circuit is configured to receive the first power management instructions and drive power supply or power-off of a target module in the medical robot.

[0034] And / or, the master station is configured to receive power information and send second power management instructions to the general control module.

[0035] The general control module is configured to receive the second power management instructions and send the second power management instructions to the power management circuit.

[0036] The power management circuit is configured to receive the second power management instructions and drive power supply or power-off of a target module in the medical robot.

[0037] Preferably, the master station and the industrial computer are connected in communication through wired and / or wireless modes.

[0038] And / or, the industrial computer is connected in communication with the motor control module through an industrial field bus and / or Ethernet.

[0039] And / or, the master station comprises several types of communication interfaces.

[0040] The master station receives the target processing information through the communication interfaces.

[0041] The second aspect also provides an electrical control method of a medical robot, which is implemented based on the electrical control system of the medical robot, and the electrical control method comprises:

[0042] acquiring target processing information, generating general control instructions and motion control instructions;

[0043] The target processing information comprises image information and / or human-computer interaction information.

[0044] controlling general modules in the medical robot based on the general control instructions;

[0045] performing motion control on motor actuators in the medical robot based on the motion control instructions.

[0046] The third aspect also provides an electrical management platform of a medical robot, which comprises a medical robot and the electrical control system of the medical robot.

[0047] On the basis of common sense in the art, the preferred conditions described above can be combined arbitrarily, thereby obtaining preferred examples of the present disclosure.

[0048] The positive progress effect of the present disclosure is that:

[0049] The electrical control system, method and electrical management platform of the medical robot of the present disclosure have the following advantages: the dual-host architecture composed of a master station and an industrial computer is provided, the two hosts work in cooperation and perform information interaction, the electrical control efficiency of the medical robot is higher, and the electrical control is more reasonable; different hosts correspond to different operation types and communication protocols, have rich communication interfaces, can modularize the hardware of the host, and facilitate modular design of the software code and transplantation of the software and hardware, thereby providing a good research and development platform for the electrical control system of the medical robot. In addition, the different hosts are connected in communication, the different hosts are not arranged at different positions, hardware expansion is facilitated at different components, wiring between components is reduced, a more flexible networking form can be compatible, the layout of the electrical control system of the medical robot is less limited, various distributed layouts of the medical robot product can be supported, remote communication can be realized, and remote surgery can be supported; at the same time, different communication protocols are adopted according to the requirements of high-speed control and low-speed control, the different protocols are isolated in hardware and do not interfere with each other, high-speed signals and low-speed signals are separated, and the reliability of the overall network topology structure of the surgical robot system is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 A structural schematic diagram of the electrical control system of the medical robot provided in Embodiment 1 of the present disclosure is shown in the figure.

[0051] Figure 2 A flowchart of an electrical control method of a medical robot according to Embodiment 2 of the present disclosure is shown in FIG. 2.

[0052] Figure 3 A structural diagram of an electrical management platform of a medical robot according to Embodiment 3 of the present disclosure is shown in FIG. 3. DETAILED DESCRIPTION

[0053] The present disclosure is further illustrated by way of examples below, but the present disclosure is not limited to the scope of the examples.

[0054] Embodiment 1

[0055] The present embodiment provides an electrical control system of a medical robot, as shown in FIG. 1. Figure 1 The electrical control system includes a master station 1 and an industrial computer 2, and a general control module 3 and a motor control module 4, which are communicatively connected.

[0056] The master station 1, the general control module 3 and a general module 5 of the medical robot are sequentially communicatively connected, and the industrial computer 2, the motor control module 4 and a motor actuator 6 of the medical robot are sequentially communicatively connected.

[0057] The master station 1 is configured to obtain target processing information, generate general control instructions and motion control instructions, send the motion control instructions to the industrial computer 2, and send the general control instructions to the general control module 3.

[0058] The target processing information includes image information and / or human-computer interaction information.

[0059] The general control module 3 is configured to receive the general control instructions and control the general module 5 based on the general control instructions.

[0060] The industrial computer 2 is configured to receive the motion control instructions and control the motor control module 4 to perform motion control on the motor actuator 6 based on the motion control instructions.

[0061] The communication speed between the industrial computer 2 and the motor control module 4 is higher than the communication speed between the master station 1 and the general control module 3.

[0062] The target processing information includes but is not limited to image information and human-computer interaction information. The image information can be image information sent by an external device or image information stored in the master station.

[0063] The main station has powerful graphic processing capability, can collect and process image data of external devices (such as camera, medical imaging device and endoscope, etc.) in real time, calculate motion control instructions, and send the motion control instructions to the industrial computer under the condition of maintaining a high data refresh frequency. Meanwhile, the main station can fuse image data into the human-computer interface, and provide a more intuitive human-computer interaction interface.

[0064] The industrial computer runs the motion control algorithm, processes the motion control instructions sent by the main station based on kinematics and dynamics, and controls the motor actuator through the motor control module to drive the motor actuator to drive the medical robot to perform corresponding motion operation.

[0065] The general control module receives the general control instructions sent by the main station, and converts the general control instructions into control of the general module.

[0066] The communication speed between the industrial computer and the motor control module is higher than the communication speed between the main station and the general control module, that is, the motor control module uses high-speed communication, and the general control module uses low-speed communication. The general control module is used in scenes with low real-time requirements, such as power management, state indication and state detection, etc.; the motor control module is used in scenes with high real-time requirements, such as motor control and state feedback of motion component sensors. The motor control module uses high-speed communication to realize the high real-time motion response capability of the medical robot; the general control module uses low-speed communication, which is more stable and occupies less main station resources. According to the requirements of high-speed control and low-speed control, different communication protocols are used, and different protocols are isolated in hardware and do not interfere with each other, realizing the separation of high-speed signals and low-speed signals, and enhancing the reliability of the overall network topology structure of the surgical robot system.

[0067] The electrical control system of the medical robot of the embodiment has the double host computer architecture composed of the master station and the industrial computer, the two host computers are divided and cooperated and information is interacted, the electrical control efficiency of the medical robot is higher, the electrical control is more reasonable, different host computers correspond to different operation types and communication protocols, have rich communication interfaces, can modularize the hardware of the host computer, at the same time, facilitate the modular design of the software code, facilitate the transplantation of software and hardware, provide a good research and development platform for the electrical control system of the medical robot. In addition, the communication connection between different host computers can arrange different host computers in different positions, facilitate the hardware expansion of different components, reduce the wiring between components, can be compatible with more flexible networking form, the layout of the electrical control system of the medical robot is less limited, supports various distributed layouts of the medical robot product, without any modification of software and hardware, can realize remote communication and support remote surgery; at the same time, according to the requirements of high-speed control and low-speed control, different communication protocols are adopted, the different protocols are isolated on the hardware and do not interfere with each other, the high-speed signal and the low-speed signal are separated, and the reliability of the overall network topology structure of the surgical robot system is enhanced.

[0068] In an optional embodiment, the industrial computer 2 is configured to decompose the motion control instruction into a plurality of sub-motion control instructions based on a preset algorithm, and send the sub-motion control instructions to the motor control module 4.

[0069] The motor control module 4 controls the motor actuator to drive the medical robot to perform each corresponding motion operation based on each sub-motion control instruction.

[0070] The industrial computer receives the motion control instruction sent by the master station and the data information processed by the master station, decomposes the motion control instruction into a plurality of sub-motion control instructions by a motion control algorithm, and sends the sub-motion control instructions to the motor control module in real time under the condition of maintaining a high data refresh frequency, so that the motor control module controls the motor actuator to drive the medical robot to perform each corresponding motion operation based on the sub-motion control instructions.

[0071] In an optional embodiment, the master station 1 is further configured to obtain first feedback information, the first feedback information being used to represent the running state of the general module 5.

[0072] The master station 1 is further configured to update the general control instruction based on the first feedback information, so as to adjust the control on the general module 5.

[0073] The master station sends a general control instruction to the general control module, and the general control module converts the general control instruction into a control of the general module. Meanwhile, the general control module also sends first feedback information to the master station, the first feedback information being used to represent the running state of the general module connected with the general control module, the master station acquires the first feedback information, and updates the general control instruction based on the first feedback information, so as to adjust the control of the general module.

[0074] In an optional embodiment, the master station 1 is also used to acquire second feedback information, the second feedback information being used to represent the running state of the motor actuator 6.

[0075] The master station 1 is also used to update the motion control instruction based on the second feedback information, so as to adjust the control of the motor actuator 6.

[0076] The master station sends a motion control instruction to the industrial computer, and the industrial computer triggers the motor control unit to drive the motor actuator to drive the medical robot to perform a corresponding motion operation based on kinematics and dynamics. Meanwhile, the industrial computer also sends second feedback information to the master station, the second feedback information being used to represent the running state of the motor actuator, the master station acquires the second feedback information, and updates the motion control instruction based on the second feedback information, so as to adjust the control of the motor actuator.

[0077] In an optional embodiment, the medical robot includes a plurality of motor actuators 6.

[0078] The motor control module 4 is used to receive different sub-motion control instructions, and send the sub-motion control instructions to corresponding motor actuators 6 to drive the corresponding motor actuators 6 to drive the medical robot to perform a corresponding motion operation.

[0079] The sub-motion control instruction includes at least one of a motor running mode, a motor running speed, a moving position and an output torque.

[0080] The sub-motion control instruction includes but is not limited to a motor running mode, a motor running speed, a moving position and an output torque.

[0081] The medical robot can include a plurality of motor actuators, the industrial computer decomposes the motion control instruction sent by the master station into a plurality of sub-motion control instructions, and sends the sub-motion control instructions to the corresponding motor actuators in real time under the condition of maintaining a high data refresh frequency, so as to drive the corresponding motor actuators to drive the medical robot to perform a corresponding motion operation, thereby realizing real-time and accurate control of the medical robot.

[0082] In an optional embodiment, the motor actuator includes a motor and a sensor.

[0083] The sensor is used to collect the position information of the medical robot and send it to the motor control module 4.

[0084] The motor control module 4 is used to receive the position information and drive the motor to move the medical robot.

[0085] The motor actuator is provided with a sensor which collects the position information of the medical robot and feeds it back to the motor control module to realize accurate driving of the medical robot during movement.

[0086] In an optional embodiment, as shown in Figure 1 The general module 5 includes a state display circuit 51 and a state collection circuit 52.

[0087] The state collection circuit 52 is used to collect the state information of the medical robot and send it to the general control module 3.

[0088] The general control module 3 is used to receive the state information and send it to the host station 1.

[0089] The host station 1 is used to receive the state information and send a state driving instruction to the general control module 3.

[0090] The general control module 3 is used to receive the state driving instruction and send it to the state display circuit 51.

[0091] The state display circuit 51 is used to receive the state driving instruction to display the corresponding working state of the medical robot.

[0092] The state collection circuit collects the state information of the medical robot, which is the readable state quantity including the indicator light signal and the alarm signal, and sends it to the general control module.

[0093] The general control module receives the state information of the robot system from the state collection circuit and feeds it back to the host station.

[0094] The host station sends a state driving instruction to the general control module according to the state information, and the general control module sends the state driving instruction to the state display circuit.

[0095] The state display circuit displays the corresponding working state of the medical robot according to the received state driving instruction, including the control of the state indicator light and the control of the sound alarm.

[0096] The general control module uses low-speed communication, which is more stable and occupies less host station resources.

[0097] The electric control system of the medical robot of the embodiment can control the state acquisition circuit and the state display circuit of the medical robot through the general control module, can acquire the working state of the robot in real time and accurately, and further realizes accurate driving of the robot.

[0098] In an optional embodiment, as shown in Figure 1 The general module 5 further includes a power management circuit 53.

[0099] The main station 1 is configured to send a first power management instruction to the general control module 3.

[0100] The general control module 3 is configured to receive the first power management instruction and send it to the power management circuit 53.

[0101] The power management circuit 53 is configured to receive the first power management instruction and drive power supply or power-off of a target module in the medical robot.

[0102] In order to make the power-on and power-off of each power module (i.e. target module) in the robot system controllable, the power management circuit is used to control the on-off of each power module. The general control module receives the first power management instruction sent by the main station and converts the first power management instruction of the main station into a control of the power management circuit.

[0103] For example, the first power management instruction can be a power-on instruction or a power-off instruction. When the general control module receives the power-on instruction sent by the main station for a certain target module, the power-on instruction is sent to the power management circuit to realize power supply of the target module.

[0104] In an optional embodiment, the main station 1 is configured to receive power information and send a second power management instruction to the general control module 3.

[0105] The general control module 3 is configured to receive the second power management instruction and send it to the power management circuit 53.

[0106] The power management circuit 53 is configured to receive the second power management instruction and drive power supply or power-off of a target module in the medical robot.

[0107] The state acquisition circuit can acquire the power information and feed it back to the general control module. The general control module feeds the power information back to the main station. The main station receives the power information, sends a second power management instruction to the general control module, the general control module receives the second power management instruction and sends it to the power management circuit, and the power management circuit receives the second power management instruction and drives power supply or power-off of a target module in the medical robot.

[0108] For example, the second power management instruction can be a power-on instruction or a power-off instruction. If the power information collected by the state collection circuit indicates that a target module is in a power-on state, when the general control module receives a power-off instruction sent by the host station and directed to the target module, the general control module sends the power-off instruction to the power management circuit to achieve power-off of the target module.

[0109] When the general control module receives a power-on instruction sent by the host station and directed to the target module, since the target module is currently in a power-on state, the general control module does not need to send the power-on instruction to the power management circuit, thereby avoiding repeated power-on operations.

[0110] In an optional embodiment, the host station 1 and the industrial computer 2 are communicatively connected by wired and / or wireless means.

[0111] For example, the host station and the industrial computer transmit and receive data through Ethernet. The host station and the industrial computer communicate through a general network protocol such as Ethernet, which is compatible with more flexible networking forms, has less restrictions on the layout of the electrical control system of the medical robot, and supports various distributed layouts of the medical robot product.

[0112] The host station and the industrial computer can also communicate through Ethernet, which facilitates seamless switching to a wireless solution, supports separate arrangement of different components of the medical robot, and is compatible with remote surgery. For example, the wireless means includes a Wi-Fi (mobile hotspot) mode, and the host station and the industrial computer transmit and receive data through a Wi-Fi communication protocol.

[0113] The host station and the industrial computer can communicate wirelessly through wireless means, so that the medical robot can support remote surgery without any modification to the software and hardware.

[0114] In an optional embodiment, the industrial computer 2 is communicatively connected to the motor control module 4 through an industrial field bus and / or an Ethernet connection.

[0115] The industrial computer includes an Ethernet interface and can be communicatively connected to the motor control unit through an Ethernet connection.

[0116] The industrial field bus includes but is not limited to EtherCAT (Ethernet for Control Automation Technology), CANopen (a high-level communication protocol based on CAN application protocol), and Modbus (a serial communication protocol). The industrial computer and the motor control module communicate at high speed and in real time through the industrial field bus, support a standard motor control protocol to match various types of motor control modules, and send standard motor control instructions (i.e., sub-motion control instructions) to each motor control module. The motor control module executes the instructions to drive the motor to move, thereby achieving motion control of the medical robot.

[0117] According to the requirements of high-speed control and low-speed control, different communication protocols are adopted, and different protocols are isolated in hardware and do not interfere with each other, so that high-speed signals and low-speed signals are separated, and the reliability of the overall network topology of the medical robot system is enhanced.

[0118] In an optional embodiment, the master station 1 includes several types of communication interfaces; the master station 1 receives target processing information through the communication interfaces.

[0119] Since the master station is equipped with various types of communication interfaces, such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DP (DisplayPort), Ethernet, and RS485 (a standard communication protocol) interfaces, various forms of external operating devices (such as keyboards, mice, remote sensing, master operating hands, and buttons) can be connected through the communication interfaces, so that the electrical system has strong expandability and compatibility, forming a rich and diverse human-machine interaction form. Therefore, the same electrical control system platform can be used for the research and development of various types of medical robot products, greatly saving the research and development resources.

[0120] At the same time, the image data of external devices (such as cameras, medical imaging devices, and endoscopes) can also be collected and processed in real time through the communication interfaces, and the image data can be fused into the human-machine interface to provide a more intuitive human-machine interaction interface.

[0121] Embodiment 2

[0122] The embodiment provides an electrical control method of a medical robot, and the electrical control method is based on the electrical control system of the medical robot in embodiment 1, as shown in Figure 2 The electrical control method includes the following steps:

[0123] S101, acquiring target processing information, generating general control instructions and motion control instructions.

[0124] The target processing information includes image information and / or human-machine interaction information.

[0125] S102, controlling the general module in the medical robot based on the general control instructions.

[0126] S103, performing motion control on the motor executive mechanism in the medical robot based on the motion control instructions.

[0127] The electrical control method of the medical robot of the embodiment is implemented based on the electrical control system of the medical robot in Embodiment 1, wherein step S101 can be implemented based on the master station in the electrical control system, step S102 can be implemented based on the general control module in the electrical control system, and step S103 can be implemented based on the industrial computer in the electrical control system.

[0128] In an optional embodiment, the above step S103 further includes:

[0129] S1031, for decomposing the motion control instruction into a plurality of sub-motion control instructions based on a preset algorithm, and sending the sub-motion control instructions to the motor control module, so that the motor control module controls the motor actuator to drive the medical robot to perform corresponding motion operations based on the sub-motion control instructions.

[0130] Among them, step S1031 can be implemented based on the industrial computer in the electrical control system.

[0131] In an optional embodiment, the electrical control method further includes:

[0132] S104, sending first feedback information to the master station.

[0133] S105, updating the general control instruction based on the first feedback information to adjust the control of the general module.

[0134] Among them, step S104 can be implemented based on the general control module in the electrical control system, and step S105 can be implemented based on the master station in the electrical control system.

[0135] In an optional embodiment, the electrical control method further includes:

[0136] S106, sending second feedback information to the master station.

[0137] S107, updating the motion control instruction based on the second feedback information to adjust the control of the motor actuator.

[0138] Among them, step S106 can be implemented based on the industrial computer in the electrical control system, and step S107 can be implemented based on the master station in the electrical control system.

[0139] The electrical control method of the medical robot of the embodiment is realized based on the electrical control system of the medical robot in the embodiment 1, and the electrical control efficiency of the medical robot is higher and the electrical control is more reasonable by setting the double host computer architecture composed of the master station and the industrial computer, the two host computers work in cooperation and interact information, different host computers correspond to different operation types and communication protocols, have rich communication interfaces, can modularize the hardware of the host computer, and at the same time, facilitate the modular design of the software code, facilitate the transplantation of software and hardware, provide a good research and development platform for the electrical control system of the medical robot. In addition, the communication connection between different host computers can arrange different host computers in different positions, facilitate the hardware expansion of different components, reduce the wiring between components, can be compatible with more flexible networking form, the layout of the electrical control system of the medical robot is less limited, supports various distributed layouts of the medical robot product, without any modification of the software and hardware, can realize remote communication and support remote surgery; at the same time, according to the demand of high-speed control and low-speed control, different communication protocols are adopted, different protocols are isolated on the hardware and do not interfere with each other, the high-speed signal and the low-speed signal are separated, and the reliability of the overall network topology structure of the surgical robot system is enhanced.

[0140] Embodiment 3

[0141] The embodiment provides an electrical management platform of a medical robot, as shown in Figure 3 The electrical management platform includes a medical robot and the electrical control system of the medical robot in the embodiment 1.

[0142] Those skilled in the art can set the related components of the medical robot based on the electrical control system of the medical robot, such as the robot shell, the display device, the alarm module, the mechanical hand and the like.

[0143] The electrical management platform of the medical robot of the embodiment is based on the electrical control system of the medical robot in the embodiment 1, controls the medical robot, sets up the double host computer framework composed of the master station and the industrial computer, the two host computers work in cooperation and carry out information interaction, the electrical control efficiency of the medical robot is higher, the electrical control is more reasonable, different host computers correspond to different operation types and communication protocols, has rich communication interface, can modularize the hardware of the host computer, at the same time, it is convenient to modularize the software code, facilitates the transplantation of software and hardware, provides a good research and development platform for the electrical control system of the medical robot. In addition, the communication connection between different host computers can not be arranged at different positions, which is convenient for hardware expansion in different components, reduces the wiring between components, can be compatible with more flexible networking form, the layout of the electrical control system of the medical robot is less limited, supports various distributed layouts of the medical robot product, without any modification of software and hardware, remote communication can be realized, and remote surgery is supported. At the same time, according to the demand of high-speed control and low-speed control, different communication protocols are adopted, different protocols are isolated on the hardware, do not interfere with each other, realize the separation of high-speed signal and low-speed signal, enhance the reliability of the overall network topology structure of the surgical robot system.

[0144] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an illustration, the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, and these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. An electrical control system of a medical robot, characterized by, The electrical control system comprises a master station and an industrial computer connected in communication, and a general control module and a motor control module; The master station, the general control module and the general module of the medical robot are sequentially connected in communication, and the industrial computer, the motor control module and the motor executing mechanism of the medical robot are sequentially connected in communication; The master station is configured to acquire target processing information, generate general control instructions and motion control instructions, send the motion control instructions to the industrial computer, and send the general control instructions to the general control module; The target processing information comprises image information and / or human-computer interaction information; The general control module is configured to receive the general control instructions and control the general module based on the general control instructions; The industrial computer is configured to receive the motion control instructions and control the motor control module to perform motion control on the motor executing mechanism based on the motion control instructions; The communication speed between the industrial computer and the motor control module is higher than the communication speed between the master station and the general control module.

2. The electrical control system of claim 1, wherein, The master station is further configured to acquire first feedback information, which is used to represent the running state of the general module; The master station is further configured to update the general control instructions based on the first feedback information, so as to adjust the control on the general module; The master station is further configured to acquire second feedback information, which is used to represent the running state of the motor executing mechanism; The master station is further configured to update the motion control instructions based on the second feedback information, so as to adjust the control on the motor executing mechanism.

3. The electrical control system of claim 1, wherein, The industrial computer is configured to decompose the motion control instructions into a plurality of sub-motion control instructions based on a preset algorithm, and send the sub-motion control instructions to the motor control module; The motor control module controls the motor executing mechanism to drive the medical robot to perform corresponding motion operations based on each of the sub-motion control instructions.

4. The electrical control system of claim 3, wherein, The medical robot comprises a plurality of motor executing mechanisms; The motor control module is configured to receive different sub-motion control instructions, and send the sub-motion control instructions to corresponding motor executing mechanisms to drive the corresponding motor executing mechanisms to drive the medical robot to perform corresponding motion operations; The sub-motion control instructions comprise at least one of a motor running mode, a motor running speed, a moving position and an output torque.

5. The electrical control system of claim 1, wherein, The motor executing mechanism comprises a motor and a sensor; The sensor is configured to collect position information of the medical robot and send the position information to the motor control module; The motor control module is configured to receive the position information and drive the motor to drive the medical robot to move.

6. The electrical control system of claim 1, wherein, The general module comprises a state display circuit and a state acquisition circuit; The state acquisition circuit is configured to acquire state information of the medical robot and send the state information to the general control module; The general control module is configured to receive the state information and send the state information to the master station; The master station is configured to receive the state information and send a state driving instruction to the general control module; The universal control module is configured to receive the state driving instruction and send the state driving instruction to the state display circuit. The state display circuit is configured to receive the state driving instruction and display the working state corresponding to the medical robot.

7. The electrical control system of claim 6, wherein, The universal module further comprises a power management circuit. The master station is configured to send a first power management instruction to the universal control module. The universal control module is configured to receive the first power management instruction and send the first power management instruction to the power management circuit. The power management circuit is configured to receive the first power management instruction and drive power supply or power-off of a target module in the medical robot. And / or, the master station is configured to receive power information and send a second power management instruction to the universal control module. The universal control module is configured to receive the second power management instruction and send the second power management instruction to the power management circuit. The power management circuit is configured to receive the second power management instruction and drive power supply or power-off of a target module in the medical robot.

8. The electrical control system of claim 2, wherein, The master station and the industrial computer are connected in communication through wired and / or wireless modes. And / or, the industrial computer is connected in communication with the motor control module through an industrial field bus and / or Ethernet connection mode. And / or, the master station comprises several types of communication interfaces. The master station receives the target processing information through the communication interfaces.

9. An electrical control method of a medical robot, characterized by, The electrical control method is based on the electrical control system of the medical robot according to any one of claims 1-8, and the electrical control method comprises: acquiring target processing information, generating universal control instructions and motion control instructions; The target processing information comprises image information and / or human-computer interaction information. The universal module in the medical robot is controlled based on the universal control instructions. The motor executive mechanism in the medical robot is controlled based on the motion control instructions.

10. An electrical management platform for a medical robot, characterized in that, The medical robot comprises the electrical control system of the medical robot according to any one of claims 1-8.

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