A surgical robot and safety torque off circuit therefor

Abstract

This invention discloses a surgical robot and its safety torque shutdown circuit. The circuit includes an interface module, a sub-control module, and a first safety switch. The first safety switch and a first switch unit in the interface module are connected in series in a loop. The first safety switch switches on and off according to user operation. The first switch unit determines whether the corresponding safety signal input interface is valid based on the signal from the sub-access signal interface, and switches on and off according to the signal from the valid safety signal input interface. The sub-control module controls the shutdown of the motor torque on the sub-surgical arms according to the loop on / off, thereby controlling the torque of the surgical robot. Each sub-surgical arm sends a safety signal to control the loop on / off according to the operation, improving the safety of the robot. The multiple sets of control signal output interfaces, safety signal input interfaces, and sub-access signal interfaces in the interface module, combined with the two control terminals of the first switch unit, enable the addition or removal of sub-surgical arms, improving the flexibility of the robot.

Description

Technical Field

[0001] This invention relates to robots, and more particularly to a surgical robot and its safe torque shut-off circuit. Background Technology

[0002] In recent years, with the rapid development of robotics technology, robots have become increasingly versatile, and their applications have expanded to various industries. Surgical robots, due to their safety and precision, have brought about new changes in the medical field and offered new hope to patients.

[0003] In the existing surgical robot's safety torque shutdown circuit (also known as the STO circuit), the STO circuit of the sub-operating arm is added to the STO circuit of the original operating arm, so that the entire STO loop is controlled by the doctor's console, the original operating arm, and the sub-operating arm.

[0004] However, this type of safety torque circuit is limited by a fixed connection relationship, and the surgical arm assembly method is fixed, resulting in poor safety and flexibility. Summary of the Invention

[0005] This invention provides a surgical robot and its safe torque shut-off circuit to improve the safety and flexibility of the surgical robot.

[0006] In a first aspect, embodiments of the present invention provide a safety torque shutdown circuit for a surgical robot, the safety torque shutdown circuit for the surgical robot comprising: an interface module, a sub-control module disposed on a sub-operating arm, and a first safety switch disposed on a doctor's console;

[0007] The interface module includes a first total voltage source, a first switching unit, a voltage signal output interface, a voltage signal input interface, multiple control signal output interfaces, a safety signal input interface corresponding to the control signal output interfaces, and a separate access signal interface. The first total voltage source is connected to the voltage signal output interface, and the first safety switch is connected in series between the voltage signal output interface and the voltage signal input interface. The first end of the first switching unit is connected to the voltage signal input interface, and the second end of the first switching unit is connected to the multiple control signal output interfaces. The first control end of the first switching unit is connected to the safety signal input interface, and the second control end of the first switching unit is connected to the separate access signal interface. The first switching unit is used to determine whether the safety signal input interface is valid based on the separate access signal of the separate access signal interface, and to switch its own on / off state based on the safety signal of the valid safety signal input interface.

[0008] The sub-control module includes a safety signal output interface, a controlled interface, and a sub-access status interface. The controlled interface is connected to the corresponding control signal output interface, the safety signal output interface is connected to the corresponding safety signal input interface, and the sub-access status interface is connected to the corresponding access signal interface. The sub-control module is used to output the sub-access signal through the sub-access status interface, output the safety signal through the safety signal output interface according to user operation, and control the torque of the motor in the sub-operating arm to be turned off when the controlled interface receives a preset disconnection signal.

[0009] Optionally, the safety torque shut-off circuit of the surgical robot also includes a main control module located in the original surgical arm;

[0010] The overall control module includes a second overall voltage source, a first overall reference potential, an overall controlled unit, a second safety switch, a first interface, a second interface, and an overall access status interface. The overall control module is located between the voltage signal output interface and the first safety switch connected in series. The first interface is connected to the voltage signal output interface, and the second interface is connected to the first safety switch connected in series. The first overall reference potential is connected to the first interface via the controlled unit. The second overall voltage source is connected to the second interface via the second safety switch. The overall control module is used to output an overall access signal from the overall access status interface. The overall controlled unit is used to control the torque of the motor in the original surgical arm based on the potentials at its two ends.

[0011] The interface module further includes a diode, a second switching unit, and a total access signal interface; the second end of the first switching unit is connected to the voltage signal output interface via the diode; the second switching unit is disposed between the first total voltage source and the voltage signal output interface, the control end of the second switching unit is connected to the total access signal interface, the total access signal interface is connected to the total access status interface, and the second switching unit is used to switch its on / off state according to whether the total access signal is connected to the total access signal interface.

[0012] Optionally, the second switching unit includes a first relay; the two ends of the controlled contacts of the first relay serve as the two ends of the second switching unit; the control coil of the first relay serves as the control terminal of the second switching unit and is connected to the main access signal interface.

[0013] Optionally, the sub-control module further includes a third safety switch, a sub-voltage source, a sub-reference potential, and a sub-controlled unit;

[0014] The third safety switch is located between the voltage source and the safety signal output interface, and is used to generate the safety signal according to user operation; the controlled unit is connected between the reference potential and the controlled interface, and is used to control the torque of the motor in the surgical arm to be turned off when the preset disconnection signal is received.

[0015] Optionally, the first safety switch, the second safety switch, and the third safety switch all include a safety button.

[0016] Optionally, the first switching unit includes a second relay and a third relay that correspond one-to-one with the control signal output interface;

[0017] The controlled contact of the second relay is connected in series between the first and second terminals of the first switching unit; the control coil of the second relay serves as the first control terminal of the first switching unit and is connected to the safety signal input interface corresponding to the second relay.

[0018] The controlled contact of the third relay is connected in parallel with the controlled contact of the corresponding second relay; the control coil of the third relay serves as the second control terminal of the first switching unit and is connected to the corresponding input signal interface of the third relay.

[0019] Optionally, the corresponding control signal output interface, safety signal input interface, and sub-access signal interface are located in the same area but are distinct from each other.

[0020] Optionally, the interface shapes of the control signal output interface, the safety signal input interface, and the sub-access signal interface are different from the interface shapes of the voltage signal output interface and the voltage signal input interface.

[0021] Secondly, embodiments of the present invention also provide a surgical robot, which includes: a doctor's console, a separate surgical arm, and a safety torque shutdown circuit for the surgical robot as described in the first aspect.

[0022] Optionally, the surgical robot may also include the original surgical arm.

[0023] The surgical robot and its safety torque shutdown circuit provided in this embodiment of the invention include an interface module, a sub-control module disposed on the sub-operating arms, and a first safety switch disposed on the doctor's console. The first safety switch and the first switch unit in the interface module are connected in series in the same circuit. The first safety switch switches on and off according to the user's operation. The first switch unit determines whether the corresponding safety signal input interface is valid according to the sub-access signal input interface, and switches on and off according to the safety signal of the valid safety signal input interface. The sub-control module can control whether the motor torque of the motor on the sub-operating arm is turned off according to the on and off of the circuit, realizing the torque shutdown control of the surgical robot. Each sub-operating arm can send a safety signal to control the on and off of the circuit according to the operation, which improves the safety of the surgical robot. The setting of multiple control signal output interfaces, safety signal input interfaces and sub-access signal interfaces in the interface module, together with the setting of two control terminals of the first switch unit, allows the circuit to expand and shrink the sub-operating arms according to user needs, improving the flexibility of the surgical robot. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the composition of a safety torque shutdown circuit for a surgical robot in the prior art;

[0025] Figure 2 A circuit diagram of a safety torque shutdown circuit for a surgical robot is provided as an embodiment of the present invention;

[0026] Figure 3 A circuit diagram of another safety torque shutdown circuit for a surgical robot provided in an embodiment of the present invention;

[0027] Figure 4 A circuit diagram of a safety torque shut-off circuit for a surgical robot provided in an embodiment of the present invention;

[0028] Figure 5 A circuit diagram of a safety torque shut-off circuit for a surgical robot provided in an embodiment of the present invention;

[0029] Figure 6 A schematic diagram illustrating the composition of the outer surface of an interface module provided in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the composition of a surgical robot provided in an embodiment of the present invention. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0032] As described in the background section... Figure 1 This is a schematic diagram of the composition of a safety torque shutdown circuit for a surgical robot in the prior art, combined with... Figure 1 In the existing safety torque shutdown circuit of surgical robots, the corresponding relay K of the surgical arm is used. 分 In the STO circuit of the original surgical arm, pressing any safety button S on the original surgical arm or the doctor's console shuts off the torque of the corresponding motors in all surgical arms, thus controlling the entire STO circuit via the doctor's console and the safety button on any surgical arm. However, this setup results in the secondary surgical arm and the original surgical arm sharing the same safety button S, leading to lower safety. Furthermore, the fixed connection method of the STO circuit means that if the user needs to remove or add surgical arms, the connection relationship of the STO circuit must be changed to meet the requirements, resulting in poor flexibility.

[0033] To address the aforementioned problems, embodiments of the present invention propose a safe torque shutdown circuit for surgical robots. Figure 2 This invention provides a circuit diagram of a safety torque shutdown circuit for a surgical robot, as shown in the embodiment of the invention. Figure 2 The safety torque shut-off circuit 200 of the surgical robot includes: an interface module 201, a sub-control module 202 set on the sub-operating arm, and a first safety switch S1 set on the doctor's console.

[0034] The interface module 201 includes a first total voltage source V1, a first switching unit 203, a voltage signal output interface a, a voltage signal input interface b, multiple control signal output interfaces c, a safety signal input interface d corresponding to each of the control signal output interfaces c, and a sub-access signal interface e. The first total voltage source V1 is connected to the voltage signal output interface a, and the first safety switch S1 is connected in series between the voltage signal output interface a and the voltage signal input interface b. The first end of the first switching unit 203 is connected to the voltage signal input interface b, and the second end of the first switching unit 203 is connected to each of the multiple control signal output interfaces c. Each first control terminal M of the first switching unit 203 is connected to a different safety signal input interface d, and each second control terminal N of the first switching unit 203 is connected to a different sub-access signal interface e. The first switching unit 203 is used to determine whether the corresponding safety signal input interface d is valid based on the sub-access signal received by the sub-access signal interface e, and to switch its own on / off state based on the safety signal of the valid safety signal input interface d.

[0035] The sub-control module 202 includes a safety signal output interface f, a controlled interface g, and a sub-access status interface h. The controlled interface g is connected to the corresponding control signal output interface c, the safety signal output interface f is connected to the corresponding safety signal input interface d, and the sub-access status interface h is connected to the corresponding access signal interface e. The sub-control module 202 is used to output the sub-access signal through the sub-access status interface h, and to output the safety signal through the safety signal output interface f according to user operation. Furthermore, when the controlled interface g receives a preset disconnect signal, it controls the torque shutdown of the sub-motor in the sub-operating arm. It should be noted that the numbers (1, 2, ... n) following the reference numerals c, d, e, f, g, or h in the figures are interface numbers. Interfaces with the same number belong to the same group and can correspond to the same sub-control module 202.

[0036] Specifically, a surgical robot refers to a robot that performs corresponding surgical operations based on the doctor's operation signals. It may include a doctor's console, an imaging carriage, and a surgical arm system. The doctor's console is a signal input device that generates operation signals based on the doctor's actions, and may include a screen and an operation panel. The imaging carriage is a movable device that can display the patient's optical images, such as CT images, MRI images, or ultrasound images. The surgical arm system refers to a surgical arm assembly that can perform corresponding surgical operations through the coordinated mechanical movements of different surgical arms based on operation signals. The surgical arm system can include any combination of the main surgical arm and individual surgical arms. The main surgical arm is a combined arm comprising multiple individual surgical arms. The multiple individual surgical arms in the main surgical arm cooperate to enable the entire main surgical arm to complete preset actions. The safety torque shutdown circuit of these multiple individual surgical arms shares the same safety button. Each individual surgical arm consists of only a single individual surgical arm.

[0037] The first safety switch S1 is a safety control device installed on the doctor's console. During the operation of the surgical robot, if the doctor determines that the robot needs to stop urgently, they can operate the first safety switch S1 to disconnect the safety torque shutdown circuit of the entire surgical robot, thereby stopping the motor torque of all surgical arms connected to the interface module 201. The sub-control module 202 is a safety torque shutdown component installed on the sub-surgery arm. If the operator observes that the sub-surgery arm needs to stop urgently, they can operate the sub-control module 202 on the sub-surgery arm to disconnect the safety torque shutdown circuit of the entire surgical robot, thereby stopping the motor torque of all surgical arms connected to the interface module 201.

[0038] Interface module 201 refers to an interface component that can realize different combinations of surgical arms. Users can connect the required sub-surgical arms to interface module 201 according to actual needs. When it is necessary to add sub-surgical arms to the surgical robot, the safety signal output interface f, controlled interface g, and sub-access status interface h in the sub-control module 202 of the sub-surgical arm to be added can be respectively connected to the safety signal input interface d, control signal output interface c, and sub-access signal interface e in the same group on interface module 201. After the second control terminal N of the first switch unit 203 detects the sub-access signal connected to sub-access signal interface e, it can determine that the safety signal input interface d in the same group as sub-access signal interface e is valid, and then switch the on / off state of the first switch unit 203 according to the safety signal connected to safety input interface d. When both the first safety switch S1 and the first switch unit 203 are on, each control signal output interface c outputs a high-level safety signal to control the motors in each sub-surgical arm to maintain normal operation. When at least one of the first safety switch S1 and the first switch unit 203 is turned off, each control signal output interface c outputs a low-level signal to control the torque shutdown of the motor in each sub-operating arm.

[0039] The safety torque shutdown circuit for a surgical robot provided in this embodiment of the invention includes an interface module, a sub-control module disposed on a sub-operating arm, and a first safety switch disposed on a doctor's console. The first safety switch and the first switch unit in the interface module are connected in series in the same circuit. The first safety switch switches on and off according to the user's operation. The first switch unit determines whether the corresponding safety signal input interface is valid based on the sub-access signal input through the sub-access signal interface, and switches on and off according to the safety signal of the valid safety signal input interface. The sub-control module can control whether the motor torque of the motor on the sub-operating arm is turned off according to the on / off state of the circuit, thereby realizing the torque shutdown control of the surgical robot. Each sub-operating arm can send a safety signal to control the on / off state of the circuit according to the operation, which improves the safety of the surgical robot. The multiple sets of control signal output interfaces, safety signal input interfaces, and sub-access signal interfaces in the interface module, together with the two control terminals of the first switch unit, allow the circuit to expand and shrink the sub-operating arms according to user needs, thereby improving the flexibility of the surgical robot.

[0040] Optionally, Figure 3 A circuit diagram of another safety torque shutdown circuit for a surgical robot provided in an embodiment of the present invention, based on the foregoing embodiments, with reference to... Figure 3 The surgical robot's safety torque shut-off circuit also includes the main control module 301 located in the original surgical arm.

[0041] The overall control module 301 includes a second overall voltage source V2, a first overall reference potential GND1, an overall controlled unit T1, a second safety switch S2, a first interface i, a second interface j, and an overall access status interface k. The overall control module 301 is disposed between the voltage signal output interface a and the first safety switch S1 connected in series. The first interface i is connected to the voltage signal output interface a, and the second interface j is connected to the first safety switch S1 connected in series. The first overall reference potential GND1 is connected to the first interface i via the controlled unit T1. The second overall voltage source V2 is connected to the second interface j via the second safety switch S2. The overall control module 301 is used to output an overall access signal from the overall access status interface k. The overall controlled unit T1 is used to control the torque of the overall motor in the original surgical arm according to the potential at its two ends.

[0042] The interface module further includes a diode 302, a second switching unit 303, and a total access signal interface L; the second end of the first switching unit 303 is connected to the voltage signal output interface a via the diode 302; the second switching unit 303 is disposed between the first total voltage source V1 and the voltage signal output interface a, the control end of the second switching unit 303 is connected to the total access signal interface L, the total access signal interface L is connected to the total access status interface k, and the second switching unit 303 is used to switch its on / off state according to whether the total access signal is connected to the total access signal interface L.

[0043] Specifically, the first total voltage source V1 in the interface module 201 can be configured as an selectable voltage source. A second switching unit 303 is provided between the first total voltage source V1 and the voltage signal output interface a. The control terminal of the second switching unit 303 is connected to one of the sub-interfaces of the total access signal interface L, and the other sub-interface of the total access signal interface L is connected to the first total voltage source V1. A diode 302 for controlling unidirectional conduction is also provided between the voltage signal output interface a and the first switching unit 203. When the original surgical arm needs to be added to the surgical robot, the total control module 301 corresponding to the original surgical arm is connected between the first safety switch S1 connected in series and the voltage signal output interface a in the safety torque shutdown circuit 200, and the two sub-interfaces of the total access signal interface L are respectively connected to the two sub-interfaces of the total access status interface k in the total control module 301. Within the main control module 301, the two sub-interfaces of the main access status interface k are directly connected. Therefore, when the two sub-interfaces of the main access signal interface L are respectively connected to the two sub-interfaces of the main access status interface k in the main control module 301, the control terminal of the second switch unit 303 can detect a high level, thereby turning off both ends of the second switch unit 303, cutting off the connection between the first main voltage source V1 and the voltage signal output interface a, and the safety circuit is powered by the second main voltage source V2 in the main control module 301.

[0044] The second safety switch S2 in the main control module 301 is a safety switch installed on the original surgical arm. In the event that the original surgical arm needs to stop urgently, the operator can operate the second safety switch S2 to cut off the safety circuit, so that the output electrical signals of all control signal output interfaces c and voltage signal output interfaces a are low-level signals. This causes the sub-controlled units in the scoring control module 202 and the main controlled unit T1 in the main control module 301 to control the torque of the motor on the corresponding surgical arm to shut off after receiving the low-level signal.

[0045] For example, during the normal operation of the surgical robot, the safety signal output interface f of the sub-control module 202 outputs a high level, controlling the first switch unit 203 to remain on, and the first safety switch S1 and the second safety switch S2 also remain on even without being triggered. In this case, on the one hand, the high level provided by the second total voltage source V2 in the main control module 301 can be transmitted sequentially through the second safety switch S2, each of the first safety switches S1, the first switch unit 203, and each sub-access signal interface e to each sub-control module 202. The sub-controlled unit in the sub-control module 202 can ensure the normal operation of the motor on the sub-operating arm upon receiving the high-level safety signal. On the other hand, the high level provided by the second total voltage source V2 in the main control module 301 can be transmitted sequentially through the second safety switch S2, each of the first safety switches S1, the first switch unit 203, the diode 302, and the voltage signal output interface a to the main control module 301. The main controlled unit T1 in the main control module 301 can ensure the normal operation of the motor on the original operating arm upon receiving the high-level safety signal.

[0046] However, if at least one of the first safety switch S1 on each doctor's console and the second safety switch S2 on the original surgical arm is triggered and turned off, then the second total voltage source V2 and the voltage signal input interface b are disconnected, and the safety circuit is broken. On the one hand, the sub-controlled unit in the sub-control module 202 receives a high-level safety signal interruption and controls the torque of the motor on the sub-surgical arm to be turned off. On the other hand, the total controlled unit T1 in the total control module 301 also receives a high-level safety signal interruption and controls the torque of the motor on the original surgical arm to be turned off.

[0047] If the safety switches on each sub-operating arm are triggered and turned off, the high-level output of the safety signal output interface f of the sub-control module 202 will be interrupted, causing the first switch unit 203 to open and the safety circuit to be turned off. On the one hand, the sub-controlled unit in the sub-control module 202 will receive the high-level safety signal interruption and control the torque of the motor on the sub-operating arm to be turned off. On the other hand, the total controlled unit T1 in the total control module 301 will also receive the high-level safety signal interruption and control the torque of the motor on the original operating arm to be turned off.

[0048] The safety torque shutdown circuit for the surgical robot provided in this embodiment also includes a main control module located in the original surgical arm. After the main control module is connected to the safety circuit, it can provide a voltage source, control the on / off state of the safety circuit according to the user's operation, and control the torque of the motor on the original surgical arm according to the on / off state of the safety circuit. This realizes safe control of the motor torque on the surgical robot according to the user's operation on the doctor's console, the original surgical arm, and the sub-surgical arms. After being connected to the main control module, it also enables the combination of the original surgical arm and any sub-surgical arm in the surgical robot, further improving the flexibility of the surgical robot.

[0049] Optionally, Figure 4 A circuit diagram of a safety torque shut-off circuit for a surgical robot provided in another embodiment of the present invention is shown below, based on the foregoing embodiments and referring to... Figure 4 The first switching unit 203 includes a second relay (including a controlled contact x2 and a control coil y2 of the second relay) corresponding one-to-one with the control signal output interface c, and a third relay (including a controlled contact x3 and a control coil y3 of the third relay) corresponding one-to-one with the control signal output interface c. The controlled contacts x2 of each of the second relays are connected in series between the first and second terminals of the first switching unit 203; the control coil y2 of the second relay serves as the first control terminal of the first switching unit 203 and is connected to the safety signal input interface d corresponding to the second relay. The controlled contact x3 of the third relay is connected in parallel with the controlled contact x2 of its corresponding second relay. The control coil y3 of the third relay serves as the second control terminal of the first switching unit 203 and is connected to the access signal interface e corresponding to the third relay.

[0050] The sub-control module 202 further includes a third safety switch S3, a sub-voltage source V3, a sub-reference potential GND3, and a sub-controlled unit T2. The third safety switch S3 is located between the sub-voltage source V3 and the safety signal output interface f, and is used to generate the safety signal according to user operation; the sub-controlled unit T2 is connected between the sub-reference potential GND3 and the controlled interface g1, and is used to control the torque shutdown of the sub-motor in the sub-operating arm when the preset disconnection signal is received. Figure 4 The dashed line connecting the control coil and the controlled contact indicates the control relationship and correspondence between the control coil and the controlled contact.

[0051] Specifically, the controlled contact x2 of the second relay in the first switching unit 203 can be a normally closed contact. Both the first safety switch S1 and the third safety switch S3 can include safety buttons. In the event of an emergency stop of the surgical robot, the user can press any available safety button. For example, the safety button can be set to either turn on or off when pressed. If the safety button of the first safety switch S1 is pressed, the first safety switch S1 is turned off, causing the safety circuit to disconnect and each control signal output interface c to output a preset disconnect signal with a low level. This allows each sub-controlled unit in the sub-control module 202 to control the torque cut-off of the motor on its respective sub-operating arm according to the preset disconnect signal with a low level. If the safety button of the third safety switch S3 is pressed, the third safety switch S3 is turned on, causing the low-level safety signal received by the control coil y2 of the second relay to be converted to a high level. As a result, the control coil y2 of the second relay controls the controlled contact x2 of the second relay to turn off, causing the safety circuit to be disconnected and each control signal output interface c to output a preset disconnect signal with a low level. Thus, each sub-controlled unit in the sub-control module 202 controls the torque of the motor on its sub-operating arm to be turned off according to the preset disconnect signal with a low level.

[0052] The access state interface h can include two short-circuited sub-interfaces, and the corresponding access signal interface e can also include two sub-interfaces. One sub-interface of the access signal interface e is connected to the first total voltage source V1, and the other sub-interface of the access signal interface e is connected to the control coil y3 of the third relay corresponding to the access signal interface e. When the access signal interface e is connected to the corresponding access state interface h, the two sub-interfaces of the access signal interface e are short-circuited. When the two sub-interfaces of the access signal interface e are short-circuited, the control coil y3 of the third relay corresponding to the access signal interface e can detect a high-level access signal. The control coil y3 of the third relay can control the corresponding controlled contact x3 to remain open based on the high-level access signal, so that the second relay connected in parallel with the controlled contact x3 of the third relay can take effect. On the other hand, when a certain sub-access signal interface e and its corresponding control signal output interface c and safety signal input interface are all disconnected from their corresponding sub-control module 202, the controlled contact x3 of the third relay connected to the sub-access signal interface e remains closed, causing the second relay connected in parallel with the third relay to fail and not to be connected to the safety circuit. This enables the addition or removal of surgical arms in the surgical robot as needed, avoids affecting other surgical arms, and improves the safety and flexibility of the surgical robot.

[0053] Optionally, Figure 5 A circuit diagram of a safety torque shut-off circuit for a surgical robot provided in another embodiment of the present invention is shown below, based on the foregoing embodiments and referring to... Figure 5 The second switching unit 303 includes a first relay (including a controlled contact x1 of the first relay and a control coil y1 of the first relay); the two ends of the controlled contact x1 of the first relay serve as the two ends of the second switching unit 303; the control coil y1 of the first relay serves as the control terminal of the second switching unit 303 and is connected to the total access signal interface L.

[0054] Specifically, the second safety switch S2 may include a safety button, which can be configured to turn off when pressed. When the safety button at the second safety switch S2 is pressed, the safety circuit will be disconnected, and each control signal output interface c and voltage signal output interface a will output a preset disconnect signal with a low level. As a result, the sub-controlled unit T2 in each sub-control module 202 controls the torque of the motor on its respective sub-operating arm to turn off according to the preset disconnect signal with a low level. The total controlled unit T1 in the total control module 301 controls the torque of the motor on its original operating arm to turn off according to the preset disconnect signal with a low level.

[0055] The controlled contact x1 of the first relay is a normally closed contact. The first relay refers to a controlled switching device located between the first total voltage source V1 and the voltage signal output interface a. Its on / off state is controlled by whether the total access signal interface L is correctly connected to the total access status interface k of the total control module 301. Specifically, when the total access signal interface L is correctly connected to the total access status interface k of the total control module 301, the total access signal interface L provides a total access signal to the control coil of the first relay, causing the controlled contact of the first relay to close. When the controlled contact of the first relay is closed, the second total voltage source V2 in the total control module supplies power to the safety circuit.

[0056] The doctor's console can also be equipped with other controlled units T3. When the corresponding first safety switch S1 is detected to be off, other controlled units T3 can also control other devices (which can be operating devices) on the doctor's console to shut down. The safety circuit can also pass through the imaging carriage, which can display the patient's imaging data, such as CT scans and MRI scans. With the imaging carriage, doctor's console, and all surgical arms connected and forming a conductive safety circuit, the surgical arms can operate normally, realizing all the functions of the surgical robot and ensuring the safety of the surgery.

[0057] It should be noted that, in combination Figure 4 and Figure 5In this embodiment of the invention, the voltage levels of the first total voltage source V1, the second total voltage source V2, and the sub-voltage source V3 can be equal, all equal to 24V. Similarly, the voltage levels of the first total reference potential GND1, the second total reference potential GND2, and the sub-reference potential GND3 in this embodiment of the invention can also be equal, all equal to the ground voltage.

[0058] In the safety torque shutdown circuit of the surgical robot provided in this embodiment, the second switching unit uses a first relay, and the first switching unit uses a second relay and a third relay, which realizes the electrical control of the on and off of the safety circuit. In the operating room, there is often interference from other signals. Compared with communication signal control, the electrical control used in this embodiment has a higher anti-interference capability and improves the environmental adaptability of the surgical robot.

[0059] Optionally, Figure 6 This is a schematic diagram of the composition of the outer surface of an interface module provided in an embodiment of the present invention. Based on the foregoing embodiments, refer to... Figure 6 The corresponding control signal output interface c, safety signal input interface d, and sub-access signal interface e are located in the same area but are distinct from each other. The interface shapes of the control signal output interface c, safety signal input interface d, and sub-access signal interface e are different from the interface shapes of the voltage signal output interface a and the voltage signal input interface b.

[0060] For example, the control signal output interface c, the safety signal input interface d, and the branch access signal interface e can all be circular DC interfaces, while the voltage signal output interface a and the voltage signal input interface b can both be square or irregularly circular DC interfaces. The interface shapes of the control signal output interface c, the safety signal input interface d, and the branch access signal interface e are different from the interface shapes of the voltage signal output interface a and the voltage signal input interface b, reducing the probability of user wiring errors.

[0061] This invention also provides a surgical robot. Figure 7 This is a schematic diagram of the composition of a surgical robot provided in an embodiment of the present invention. Based on the foregoing embodiments, refer to... Figure 7 The surgical robot 700 includes: a doctor's console 701, a separate surgical arm 702, and a safety torque shutdown circuit 200 for the surgical robot as described above. Optionally, the surgical robot 700 may also include an imaging carriage 703 and the original surgical arm 704.

[0062] The surgical robot and its safety torque shutdown circuit provided in this embodiment of the invention include an interface module, a sub-control module disposed on the sub-operating arms, and a first safety switch disposed on the doctor's console. The first safety switch and the first switch unit in the interface module are connected in series in the same circuit. The first safety switch switches on and off according to the user's operation. The first switch unit determines whether the corresponding safety signal input interface is valid according to the sub-access signal input interface, and switches on and off according to the safety signal of the valid safety signal input interface. The sub-control module can control whether the motor torque of the motor on the sub-operating arm is turned off according to the on and off of the circuit, realizing the torque shutdown control of the surgical robot. Each sub-operating arm can send a safety signal to control the on and off of the circuit according to the operation, which improves the safety of the surgical robot. The setting of multiple control signal output interfaces, safety signal input interfaces and sub-access signal interfaces in the interface module, together with the setting of two control terminals of the first switch unit, allows the circuit to expand and shrink the sub-operating arms according to user needs, improving the flexibility of the surgical robot.

[0063] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A safety torque shutdown circuit for a surgical robot, characterized in that, include: The interface module, the sub-control module set on the sub-operating arm, and the first safety switch set on the doctor's console; The interface module includes a first total voltage source, a first switching unit, a voltage signal output interface, a voltage signal input interface, multiple control signal output interfaces, a safety signal input interface corresponding to the control signal output interfaces, and a separate access signal interface. The first total voltage source is connected to the voltage signal output interface, and the first safety switch is connected in series between the voltage signal output interface and the voltage signal input interface. The first end of the first switching unit is connected to the voltage signal input interface, and the second end of the first switching unit is connected to the multiple control signal output interfaces. The first control end of the first switching unit is connected to the safety signal input interface, and the second control end of the first switching unit is connected to the separate access signal interface. The first switching unit is used to determine whether the safety signal input interface is valid based on the separate access signal of the separate access signal interface, and to switch its own on / off state based on the safety signal of the valid safety signal input interface. The sub-control module includes a safety signal output interface, a controlled interface, and a sub-access status interface. The controlled interface is connected to the corresponding control signal output interface, the safety signal output interface is connected to the corresponding safety signal input interface, and the sub-access status interface is connected to the corresponding sub-access signal interface. The sub-control module is used to output the sub-access signal through the sub-access status interface, and to output the safety signal through the safety signal output interface according to user operation. It also controls the torque of the motor in the sub-operating arm to be turned off when the controlled interface receives a preset disconnection signal. The first switching unit includes a second relay and a third relay, each corresponding to a control signal output interface; the controlled contact of the second relay is connected in series between the first terminal and the second terminal of the first switching unit; the control coil of the second relay serves as the first control terminal of the first switching unit and is connected to the safety signal input interface corresponding to the second relay; the controlled contact of the third relay is connected in parallel with the controlled contact of its corresponding second relay; the control coil of the third relay serves as the second control terminal of the first switching unit and is connected to the branch access signal interface corresponding to the third relay. In the case where the corresponding sub-control module is not connected to the sub-access signal interface, the controlled contact of the third relay connected to the sub-access signal interface remains closed, causing the second relay connected in parallel with the third relay to fail and not be connected to the safety circuit.

2. The safety torque shutdown circuit for the surgical robot according to claim 1, characterized in that, It also includes the main control module located in the original surgical arm; The main control module includes a second main voltage source, a first main reference potential, a main controlled unit, a second safety switch, a first interface, a second interface, and a main access status interface; The main control module is located between the voltage signal output interface and the first safety switch connected in series. The first interface is connected to the voltage signal output interface, and the second interface is connected to the first safety switch connected in series. The first total reference potential is connected to the first interface via the total controlled unit; The second main voltage source is connected to the second interface via the second safety switch; The overall control module is used to output an overall access signal from the overall access status interface; the overall controlled unit is used to control the torque of the motor in the original surgical arm according to the potential at its two ends; The interface module further includes a diode, a second switching unit, and a total access signal interface; the second end of the first switching unit is connected to the voltage signal output interface via the diode; the second switching unit is disposed between the first total voltage source and the voltage signal output interface, the control end of the second switching unit is connected to the total access signal interface, the total access signal interface is connected to the total access status interface, and the second switching unit is used to switch its on / off state according to whether the total access signal is connected to the total access signal interface.

3. The safety torque shutdown circuit for the surgical robot according to claim 2, wherein the second switching unit includes a first relay; the two ends of the controlled contacts of the first relay serve as the two ends of the second switching unit; the control coil of the first relay serves as the control terminal of the second switching unit and is connected to the main access signal interface.

4. The safety torque shutdown circuit for the surgical robot according to claim 2, characterized in that, The sub-control module also includes a third safety switch, a sub-voltage source, a sub-reference potential, and a sub-controlled unit; The third safety switch is located between the voltage source and the safety signal output interface, and is used to generate the safety signal according to user operation; the controlled unit is connected between the reference potential and the controlled interface, and is used to control the torque of the motor in the surgical arm to be turned off when the preset disconnection signal is received.

5. The safety torque shutdown circuit for the surgical robot according to claim 4, characterized in that, The first safety switch, the second safety switch, and the third safety switch all include a safety button.

6. The safety torque shutdown circuit for the surgical robot according to any one of claims 1-5, characterized in that, The corresponding control signal output interface, safety signal input interface, and sub-access signal interface are located in the same area but are distinct from each other.

7. The safety torque shutdown circuit for the surgical robot according to any one of claims 1-5, characterized in that, The interface shapes of the control signal output interface, the safety signal input interface, and the sub-access signal interface are different from the interface shapes of the voltage signal output interface and the voltage signal input interface.

8. A surgical robot, characterized in that, include: The doctor's control console, the sub-operating arm, and the safety torque shutdown circuit of the surgical robot according to any one of claims 1-7.

9. The surgical robot according to claim 8, characterized in that: It also includes the original surgical arm.

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