Device drive control system and method

Abstract

The present invention discloses an instrument drive control system and method. The system includes a main controller and at least two degree-of-freedom drive modules, wherein the degree-of-freedom drive module includes a driver, a first encoder, a target motor, a reducer, and a second encoder, wherein the first motion information corresponding to the target motor is detected by the first encoder, and the current motion information of the target motor is converted by the reducer, and then the second motion information corresponding to the target motor output by the reducer is detected by the second encoder, and the second motion information is sent to the drivers of other degree-of-freedom drive modules, and the first motion information and the second motion information of the target motor are obtained from each driver through the main controller, and it is determined whether the degree-of-freedom drive module where the target motor is located has a fault, thereby realizing automatic fault detection of each degree-of-freedom drive module, and solving the technical problems in the prior art that the fault cannot be found in time and the time required to determine the fault location is long.

Description

Technical Field

[0001] The present invention relates to the field of instrument control technology, and in particular to an instrument drive control system and method. Background Art

[0002] When a surgical robot performs surgery, special surgical robotic instruments are usually required. Surgical robotic instruments are usually multi-degree-of-freedom medical instruments composed of multiple mechanical parts. For example, robotic Maryland forceps, fenestration grasping forceps, large needle holders and other instruments all contain multiple degrees of freedom. In the control of surgical robotic instruments, each degree of freedom requires a corresponding motion system for control.

[0003] However, existing surgical robot instrument drive systems do not have the ability to detect faults. When the driver of the mechanical parts itself is damaged, the driver will lose the ability to detect sensor information. Further, it will cause the motor controlled by the driver to malfunction, posing a safety hazard.

[0004] Traditional instrument drive systems require manual fault inspection after a fault occurs, which cannot promptly detect the fault in the instrument drive system and poses a safety hazard. In addition, manual troubleshooting of the fault location takes a long time and involves many steps. Summary of the invention

[0005] The present invention provides an instrument drive control system and method to solve the technical problems in the prior art that an instrument drive control system fault cannot be discovered in time and a long time is required to determine the fault location.

[0006] According to one aspect of the present invention, there is provided an instrument drive control system, the system comprising a main controller and at least two degrees of freedom drive modules, the degrees of freedom drive modules comprising a driver, a first encoder, a target motor, a reducer and a second encoder, wherein;

[0007] The first encoder is mechanically connected to the target motor and is used to detect first motion information corresponding to the target motor and send the first motion information to the driver;

[0008] The reducer is mechanically connected to the target motor and is used to convert current motion information of the target motor;

[0009] The second encoder is mechanically connected to the reducer, and is used to detect second motion information corresponding to the target motor output by the reducer, and send the second motion information to the drivers of other degree of freedom driving modules except the degree of freedom driving module where the target motor is located;

[0010] The main controller is connected to each of the drivers, and is used to obtain the first motion information and the second motion information corresponding to the target motor from each of the drivers, and determine whether there is a fault in the degree of freedom driving module where the target motor is located based on the first motion information and the second motion information.

[0011] Optionally, the main controller is also used to obtain first motion information corresponding to the target motor from the driver, obtain second motion information corresponding to the target motor from the drivers of at least two other degree-of-freedom driving modules except the degree-of-freedom driving module where the target motor is located, and determine whether the driver receiving the second motion information is faulty based on each second motion information.

[0012] Optionally, the main controller is also used to obtain a preset ratio range corresponding to the reducer, determine an actual deceleration ratio corresponding to the target motor based on the first motion information and the second motion information, and determine whether there is a fault in the degree of freedom driving module where the target motor is located based on the preset ratio range and the actual deceleration ratio.

[0013] Optionally, the main controller is further used to send a shutdown command to the driver of the freedom driving module where the target motor is located if it is determined that the freedom driving module where the target motor is located has a fault, or to send a shutdown command to all drivers in the system.

[0014] Optionally, the main controller is further used to determine the current operating degrees of freedom of each of the two freedom driving modules that have a freedom operating proportional relationship, and determine the operating state of the system based on each of the current operating degrees of freedom.

[0015] Optionally, the driver is further used to detect an actual operating current value of the target motor, and determine whether the system has a fault based on a preset operating threshold corresponding to the target motor and the actual operating current value.

[0016] Optionally, the system further comprises an apparatus identifier, the apparatus identifier being used to read apparatus association information corresponding to the apparatus to be controlled and stored in a tag unit of the apparatus to be controlled, and send the apparatus association information to the main controller;

[0017] The main controller is further used to determine whether the device to be controlled matches the system based on the device type identifier in the device association information.

[0018] Optionally, the main controller is further used to determine whether the device to be controlled matches the system based on the device usage identification in the device association information.

[0019] Optionally, the system further comprises a return-to-zero control button, wherein the return-to-zero control button is used to generate a return-to-zero request signal and send it to the driver in each of the degree-of-freedom driving modules when a trigger action of the user is detected;

[0020] The driver is used to adjust the target motor in the degree of freedom driving module where the driver is located based on a preset initial zero position when the zero return request signal is obtained.

[0021] According to another aspect of the present invention, there is provided a device driving control method, the method comprising:

[0022] Based on a first encoder in a degree of freedom driving module where a target motor is located, detecting first motion information corresponding to the target motor, and sending the first motion information to a driver in the degree of freedom driving module;

[0023] Based on the reducer in the freedom driving module, the current motion information of the target motor is converted, and the second motion information corresponding to the target motor output by the reducer is detected by the second encoder in the freedom driving module, and the second motion information is sent to the drivers of other freedom driving modules except the freedom driving module;

[0024] Based on the main controller in the freedom driving module, the first motion information and the second motion information corresponding to the target motor are obtained from each of the drivers, and based on the first motion information and the second motion information, it is determined whether the freedom driving module where the target motor is located has a fault.

[0025] The instrument drive control system provided by the embodiment of the present invention includes a main controller and at least two degree-of-freedom drive modules, the degree-of-freedom drive module includes a driver, a first encoder, a target motor, a reducer and a second encoder, and detects first motion information corresponding to the target motor through the first encoder mechanically connected to the target motor, and sends the first motion information to the driver, and converts the current motion information of the target motor through the reducer mechanically connected to the target motor, and then detects second motion information corresponding to the target motor output by the reducer through the second encoder mechanically connected to the reducer, and sends the second motion information to the drivers of other degree-of-freedom drive modules except the degree-of-freedom drive module where the target motor is located, and obtains the first motion information and the second motion information corresponding to the target motor from each driver through the main controller, and judges whether the degree-of-freedom drive module where the target motor is located has a fault according to the first motion information and the second motion information, thereby realizing automatic detection of faults of each degree-of-freedom drive module in the instrument drive control system, solving the technical problems in the prior art that faults cannot be discovered in time and the long time required to determine the fault location, facilitating troubleshooting and fault repair, and improving the control safety of the system.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a structural schematic diagram of an instrument drive control system provided in Embodiment 1 of the present invention;

[0029] Figure 2 This is a connection diagram of some components in a degree of freedom driving module provided in the first embodiment of the present invention;

[0030] Figure 3 It is a connection diagram of some components in a multiple degree of freedom driving module provided in the first embodiment of the present invention;

[0031] Figure 4 is a structural schematic diagram of an instrument drive control system provided in Embodiment 1 of the present invention;

[0032] Figure 5is a schematic diagram of the structure of an instrument drive control system provided by Embodiment 3 of the present invention;

[0033] Figure 6 It is a flow chart of a device driving control method provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] Embodiment 1

[0037] Figure 1 is a schematic diagram of the structure of a device drive control system provided by the first embodiment of the present invention, such as Figure 1 As shown, the system includes a main controller 11 and at least two degrees of freedom driving modules 12 , and the degrees of freedom driving module 12 includes a driver 121 , a first encoder 122 , a target motor 123 , a reducer 124 and a second encoder 125 .

[0038] Among them, the first encoder 122 is mechanically connected to the target motor 123, used to detect the first motion information corresponding to the target motor 123, and send the first motion information to the driver 121; the reducer 124 is mechanically connected to the target motor 123, used to convert the current motion information of the target motor 123; the second encoder 125 is mechanically connected to the reducer 124, used to detect the second motion information corresponding to the target motor 123 output by the reducer 124, and send the second motion information to the drivers of other degree of freedom driving modules except the degree of freedom driving module 12 where the target motor 123 is located; the main controller 11 is connected to each driver 121, used to obtain the first motion information and the second motion information corresponding to the target motor 123 from each driver 121, and judge whether there is a fault in the degree of freedom driving module 12 where the target motor 123 is located based on the first motion information and the second motion information.

[0039] The instrument drive control system provided in this embodiment may be a system for controlling surgical robot instruments, such as Maryland forceps, fenestration grasping forceps, large needle holders, etc. The instrument drive control system includes a degree of freedom drive module 12 for controlling each mechanical part, and each degree of freedom drive module 12 is used to control the movement of the corresponding mechanical part.

[0040] First, the connection relationship between the various devices in the instrument drive control system provided in this embodiment is described. Among them, the main controller 11 can directly establish a communication connection or an electrical connection with each driver 121; or, the main controller 11 can establish a communication connection with one of the drivers 121, and the driver 121 establishes a communication connection with other drivers 121, and the driver 121 can forward the data that other drivers 121 need to send to the main controller 11 to the main controller 11. In each degree of freedom driving module 12, the driver 121 can be electrically connected to the first encoder 122 to obtain the first motion information of the target motor detected by the first encoder 122; the first encoder 122 can be mechanically connected to the target motor 123, the target motor 123 can be mechanically connected to the reducer 124, and the reducer 124 can be mechanically connected to the second encoder 125. The mechanical connection method includes but is not limited to coaxial connection and gear connection.

[0041] For example, Figure 2 As shown, a schematic diagram of the connection of some components in a degree of freedom driving module is shown, wherein the first encoder is coaxially connected to the target motor, the target motor is coaxially connected to the reducer, and the reducer is coaxially connected to the second encoder. Figure 3 As shown, taking the system including five degree-of-freedom driving modules 12 as an example, a connection schematic diagram of some components in multiple degree-of-freedom driving modules is shown.

[0042] Specifically, the driver 121 obtains the first motion information of the target motor 123 detected by the first encoder 122, and drives the target motor 123 to operate according to the first motion information. Further, the target motor 123 drives the reducer 124 to operate, and the output of the target motor 123 is proportionally reduced and the output torque of the motor is increased after passing through the reducer 124, that is, the reducer 124 converts the current motion information of the target motor 123; for example, the current speed of the target motor 123 is 1000 rpm, and the reduction ratio of the reducer 124 is 1:100, then the speed output by the reducer 124 is 10 rpm, and at the same time, the output torque is increased by 100 times.

[0043] Furthermore, the second encoder 125 can detect the motion information output by the reducer 124, that is, obtain the second motion information corresponding to the target motor output by the reducer 124. The second encoder 125 can also send the second motion information of the target motor 123 to any one or more other degree of freedom driving modules except the degree of freedom driving module 12 where the target motor 123 is located, so as to perform cross-verification based on the first motion information in the driver 121 corresponding to the target motor 123 (the driver 121 of the degree of freedom driving module 12 where the target motor 123 is located) and the second motion information in the driver that does not correspond to the target motor 123.

[0044] Specifically, the main controller 11 can obtain the first motion information of the target motor 123 from the driver 121 corresponding to the target motor 123, and obtain the second motion information of the target motor 123 from one or more drivers that do not correspond to the target motor 123. Since the second motion information should be the motion information of the first motion information after being processed by the reducer 124, if there is no fault in the degree of freedom driving module where the target motor 123 is located, the first motion information and the second motion information should satisfy the reduction ratio corresponding to the reducer 124.

[0045] Therefore, the main controller 11 can determine whether the relationship between the second motion information and the first motion information satisfies the reduction ratio corresponding to the reducer 124, and determine whether the freedom driving module is faulty. Of course, considering that there may be certain errors in the actual operation of the system, the main controller 11 can also be used to obtain a preset ratio range corresponding to the reducer 124, determine the actual reduction ratio corresponding to the target motor 123 based on the first motion information and the second motion information, and determine whether the freedom driving module 12 where the target motor 123 is located is faulty based on the preset ratio range and the actual reduction ratio.

[0046] The preset ratio range may be a preset allowable range of the reduction ratio corresponding to the reducer 124. For example, if the reduction ratio corresponding to the reducer 124 is 100, the preset ratio range may be [99.5, 100.5]. Specifically, the main controller 11 may automatically determine the preset ratio range according to the reduction ratio corresponding to the reducer 124, wherein the reduction ratio corresponding to the reducer 124 may be sent by the driver 121 to the main controller 11, or may be read by the main controller 11 from its internal storage unit. The actual reduction ratio may be calculated by the first operation information and the second motion information; wherein the first motion information and the second motion information include but are not limited to the position and speed of the target motor.

[0047] Further, after obtaining the preset ratio range and the actual deceleration ratio, if the actual deceleration ratio is within the preset ratio range, the main controller 11 can determine that there is no fault in the degree of freedom driving module 12; if the actual deceleration ratio is not within the preset ratio range, the main controller 11 can determine that there is a fault in the degree of freedom driving module 12. In this way, accurate detection of the fault of the degree of freedom driving module can be achieved.

[0048] It can be understood that when any one or more of the driver 121, the first encoder 122, the target motor 123, the reducer 124 and the second encoder 125 in the freedom driving module 12 fails, it may cause the actual deceleration ratio between the first motion information and the second motion information to be not within the preset ratio range, or the actual deceleration ratio between the first motion information and the second motion information is not equal to the corresponding deceleration ratio of the reducer 124.

[0049] For example, Figure 4As shown, taking the number of degree of freedom driving modules in the instrument drive control system as 5 as an example, a structural schematic diagram of an instrument drive control system is shown. Among them, the driver 1 is connected to the second encoder 2, the driver 2 is connected to the second encoder 1, the driver 4 is connected to the second encoder 3, the driver 5 is connected to the second encoder 3, and the driver 3 is connected to the second encoder 5. That is, each degree of freedom driving module realizes a cross connection, but it should be noted that the above connection is only an example of a cross connection method, and this embodiment does not limit it. Taking the degree of freedom driving module of the driver 1 as an example, the driver 1 obtains the running speed and position of the target motor 1 detected by the first encoder 1 (the first motion information of the target motor 1), and sends it to the main controller in the form of bus communication. The driver 2 obtains the running speed and position detected by the second encoder 1 (the second motion information of the target motor 1), and sends it to the main controller in the form of bus communication. After receiving the position and speed calculated by the driver 1 and the position and speed calculated by the driver 2, the main controller determines whether the proportional relationship between the two is within the preset proportional range. If so, it is considered that the system is running normally. If it is outside the threshold range, it is determined that the degree of freedom driving module of the driver 1 is abnormal.

[0050] It should be noted that, considering that if the actual deceleration ratio between the first motion information and the second motion information of the target motor 123 is not within the preset ratio range, there is a possibility that the degree of freedom driving module 12 where the target motor 123 is located is not faulty, but the driver receiving the second motion information is faulty. Therefore, in order to eliminate the possibility that the driver receiving the second motion information is faulty, the second motion information of the target motor 123 can be sent to the drivers of at least two other degree of freedom driving modules other than the degree of freedom driving module 12 where the target motor 123 is located, so that each driver receiving the second motion information performs cross-verification based on the received second motion information, thereby eliminating the possibility that the driver receiving the second motion information is faulty.

[0051] For example, optionally, the main controller 11 is also used to obtain the first motion information corresponding to the target motor 123 from the driver 121, obtain the second motion information corresponding to the target motor 123 from the drivers of at least two other freedom drive modules except the freedom drive module 12 where the target motor 123 is located, and determine whether the driver receiving the second motion information is faulty based on each second motion information. Specifically, the main controller 11 can compare each second motion information, and if each second motion information is consistent, it can be determined that the driver receiving the second motion information is not faulty. At this time, the main controller 11 eliminates the possibility that the driver receiving the second motion information is faulty, and can directly determine whether the freedom drive module 12 where the target motor 123 is located is faulty based on the first motion information and the second motion information, further improving the accuracy of fault detection of the freedom drive module.

[0052] Of course, the main controller 11 can also adopt another implementation to eliminate the possibility that the driver receiving the second motion information has a fault. For example, for the driver receiving the second motion information, the main controller 11 obtains the first motion information and the second motion information of the target motor in the freedom drive module where the driver is located. If it is determined that the freedom drive module where the driver is located has no fault based on the first motion information and the second motion information, the possibility that the driver has a fault can be eliminated.

[0053] In this embodiment, after determining that the freedom drive module has a fault, the main controller 11 can send a shutdown command to stop the motor operation of the system to protect the patient's safety. Optionally, the main controller 11 is also used to send a shutdown command to the driver of the freedom drive module 12 where the target motor 123 is located if it is determined that the freedom drive module 12 where the target motor 123 is located has a fault, or send a shutdown command to all drivers in the system.

[0054] That is, the main controller 11 can stop the operation of the motor in the faulty freedom drive module through the driver in the faulty freedom drive module, or stop the operation of all motors through the drivers in all freedom drive modules in the system, thereby achieving timely control to ensure safe operation when an abnormality occurs in the freedom drive module in the system.

[0055] The instrument drive control system provided in this embodiment includes a main controller and at least two degree-of-freedom drive modules, wherein the degree-of-freedom drive module includes a driver, a first encoder, a target motor, a reducer and a second encoder. The first motion information corresponding to the target motor is detected by the first encoder mechanically connected to the target motor, and the first motion information is sent to the driver. The current motion information of the target motor is converted by the reducer mechanically connected to the target motor, and then the second motion information corresponding to the target motor output by the reducer is detected by the second encoder mechanically connected to the reducer, and the second motion information is sent to the drivers of other degree-of-freedom drive modules except the degree-of-freedom drive module where the target motor is located. The first motion information and the second motion information corresponding to the target motor are obtained from each driver through the main controller, and whether the degree-of-freedom drive module where the target motor is located is judged based on the first motion information and the second motion information. Automatic fault detection of each degree-of-freedom drive module in the instrument drive control system is realized, and the technical problems of the prior art that the fault cannot be discovered in time and the long time required to determine the fault location are solved, which is convenient for troubleshooting and fault repair, and improves the control safety of the system.

[0056] In the prior art, if the driver is damaged, the encoder will lose the ability to be detected, which will cause the motor to run away and other abnormal phenomena. At this time, the system cannot know that the driver is faulty. The system provided by this embodiment can realize the fault detection of the freedom drive module, and then realize the fault detection of the driver, solving the technical problem of being unable to detect the driver fault. The system provided by this embodiment can support surgical robot instruments with multiple degrees of freedom, and use a multi-channel signal verification method to ensure system safety. At the same time, it can accurately detect the degree of freedom drive module that has a fault, which is convenient for troubleshooting and maintenance, saving troubleshooting time.

[0057] Embodiment 2

[0058] In this embodiment and on the basis of the above embodiments, optionally, the main controller 11 can also determine the operating state of the system by detecting the current operating degrees of freedom of each degree of freedom driving module.

[0059] Specifically, the main controller 11 is also used to determine the current operating degrees of freedom of each degree of freedom driving module for two degrees of freedom driving modules having a proportional relationship between the degrees of freedom, and determine the operating state of the system based on each current operating degree of freedom.

[0060] Among them, the two DOF driving modules with a degree of freedom operation proportional relationship may refer to the degree of freedom driving modules with a dependent relationship between the degrees of freedom operated when the system drives the device to operate. For example, the degree of freedom of the degree of freedom driving module 1 is 200 degrees, and the degree of freedom driving module 2 is -200 degrees, then the degree of freedom driving module 1 and the degree of freedom driving module 2 have a degree of freedom operation proportional relationship; or, the degree of freedom driving module 3 slides up 10 mm, and the degree of freedom driving module 4 slides down 10 mm, then the degree of freedom driving module 3 and the degree of freedom driving module 4 have a degree of freedom operation proportional relationship.

[0061] The main controller 11 can store the degree of freedom operation proportional relationship between two degree of freedom driving modules that have a degree of freedom operation proportional relationship. Then, when the system drives the device to move, the main controller 11 can monitor the current operation degrees of freedom of each degree of freedom driving module in real time, and verify the degree of freedom driving modules that have a degree of freedom operation proportional relationship according to each current operation degree of freedom. If the current operation degree of freedom satisfies the preset degree of freedom operation proportional relationship, it can be determined that the degree of freedom driving module is operating normally and the operating state of the system is normal operation.

[0062] In the technical solution of the present embodiment, the current operating degrees of freedom of two degree-of-freedom driving modules that have a degree-of-freedom operating proportional relationship are detected through the main controller, and the operating states of the two degree-of-freedom driving modules that have a degree-of-freedom operating proportional relationship are judged based on the detected current operating degrees of freedom; if the current operating degrees of freedom of the two degree-of-freedom driving modules that have a degree-of-freedom operating proportional relationship meet the degree-of-freedom operating proportional relationship, it can be determined that the operating state of the system is normal, thereby realizing the detection of the system operating state and further ensuring the operating safety of each degree-of-freedom driving module in the system.

[0063] It should be noted that, in this embodiment, if two DOF driving modules with a DOF operation proportional relationship are described as a DOF driving module pair, the number of DOF driving module pairs with a DOF operation proportional relationship may be one or more, which may be specifically determined by the structural relationship between the mechanical parts corresponding to each DOF driving module. If there are multiple DOF driving module pairs in a system, the main controller may determine that the operating state of the system is normal when it is determined that the current operating degrees of freedom between each DOF driving module pair satisfy the DOF operation proportional relationship.

[0064] In an optional embodiment, the driver 121 can also determine whether a mechanical jam occurs when the system controls the device by detecting the actual operating current value of the target motor 123. For example, the driver 121 is also used to detect the actual operating current value of the target motor 123, and determine whether the system has a fault based on the preset operating threshold value and the actual operating current value corresponding to the target motor 123.

[0065] Among them, the preset operation threshold value can be a preset standard maximum current value of the target motor 123. Specifically, the driver 121 can obtain the current value of the corresponding target motor 123 when it is running, that is, the actual operating current value, and judge the actual operating current value. If the actual operating current value exceeds the preset operation threshold value, it can be determined that there is a fault in the system. The cause of the fault may be that a mechanical part is stuck during the process of the system controlling the movement of the device. In this way, the detection of the operating faults of each target motor in the system is realized, and the safe operation of the system is further guaranteed.

[0066] Embodiment 3

[0067] Figure 5 is a schematic diagram of the structure of a device drive control system provided by Embodiment 3 of the present invention, such as Figure 5 As shown, the system includes a main controller 51 , at least two degrees of freedom driving modules 52 and an instrument identifier 53 . The degrees of freedom driving module 52 includes a driver 521 , a first encoder 522 , a target motor 523 , a reducer 524 and a second encoder 525 .

[0068] Among them, the first encoder 522 is mechanically connected to the target motor 523, used to detect the first motion information corresponding to the target motor 523, and send the first motion information to the driver 521; the reducer 524 is mechanically connected to the target motor 523, used to convert the current motion information of the target motor 523; the second encoder 525 is mechanically connected to the reducer 524, used to detect the second motion information corresponding to the target motor 523 output by the reducer 524, and send the second motion information to the freedom driving modules other than the freedom driving module 52 where the target motor 523 is located. Driver; an instrument identifier 53, used to read the instrument-related information corresponding to the instrument to be controlled and stored in the tag unit of the instrument to be controlled, and send the instrument-related information to the main controller 51; the main controller 51, connected to each driver 521, used to obtain the first motion information and the second motion information corresponding to the target motor 523 from each driver 521, based on the first motion information and the second motion information, determine whether the degree of freedom driving module 52 where the target motor 523 is located has a fault, and, based on the instrument type identification in the instrument-related information, determine whether the instrument to be controlled matches the system.

[0069] In this embodiment, the device identifier 53 can detect a label unit in the device to be controlled, wherein the label unit stores device association information corresponding to the device to be controlled. When the label unit is detected, the device identifier 53 can read the device association information stored in the label unit to determine whether the device to be controlled matches the system.

[0070] Specifically, the device identifier 53 can send the device-related information to the main controller 51, wherein the device identifier 53 can directly send the device-related information to the main controller 51 based on communication, or a signal processing unit can be set in the system, and the device identifier 53 sends the identified device-related information to the signal processing unit, and the signal processing unit forwards the device-related information to the main controller 51.

[0071] Furthermore, after obtaining the device association information, the main controller 51 can determine the device type corresponding to the device to be controlled according to the device type identifier in the device association information, and then determine whether the device to be controlled matches the system according to the device type. Exemplarily, the main controller 51 can compare the device type of the device to be controlled with each pre-stored matching type, and if they are consistent, it can be determined that the device to be controlled matches the system.

[0072] Alternatively, the main controller 51 can maintain a relationship table internally, in which the identification of each device matching the system is stored. The main controller 51 can query in the relationship table whether there is an equipment identification consistent with the equipment type identification of the device to be controlled. If so, it can be determined that the device to be controlled matches the system.

[0073] Optionally, the main controller 51 may also determine whether the device to be controlled matches the system based on the device usage identification in the device association information, wherein the device usage identification may include at least one of the number of times the device is used, the device production time, the device expiration time, and the number of times the device is repaired.

[0074] Exemplarily, the main controller 51 can determine whether the device to be controlled matches the system based on the number of times the device to be controlled is used and a preset threshold of the number of times used. Alternatively, the main controller 51 can determine whether the device to be controlled matches the system based on the device production time of the device to be controlled and a preset production time range. Alternatively, the main controller 51 can determine whether the device to be controlled is expired based on the device expiration time of the device to be controlled and the current time, and determine whether the device to be controlled matches the system based on whether it is expired. Alternatively, the main controller 51 can determine whether the device to be controlled matches the system based on the number of times the device to be controlled is repaired and a preset threshold of the number of times of repaired. Through the device use identification in the device association information of the device to be controlled, the verification of the device to be controlled is achieved, the installation of unqualified devices and equipment is avoided, and the safety of system operation is further guaranteed.

[0075] Of course, the main controller 51 can also determine whether the device to be controlled matches the system based on the device type identification and the device usage identification. In this embodiment, if the main controller 51 determines that the device to be controlled does not match the system, the main controller 51 can send an instruction to reject the device to be controlled, so that the various degrees of freedom drive modules cannot drive the motor to operate.

[0076] The system provided in this embodiment may also include a signal display, wherein the signal display may be a display screen of an electronic device, such as a computer display interface, or may be a light display, a voice alarm, etc. Specifically, when the main controller determines that there is a fault in the degree of freedom drive module, the system is operating abnormally, or the operating current of the target motor is abnormal, it may generate a corresponding type of alarm signal and send it to the signal display for display, so as to realize an alarm for the fault.

[0077] The technical solution of this embodiment uses an instrument identifier to read the instrument association information corresponding to the instrument to be controlled stored in the tag unit of the instrument to be controlled, and sends the instrument association information to the main controller. Then, the main controller verifies whether the instrument to be controlled matches the system based on the instrument association information, thereby realizing the verification of the instrument to be controlled, avoiding the installation of unqualified instruments and equipment, and further ensuring the safety of system operation.

[0078] In an optional embodiment, the system provided in this embodiment may also include a zeroing control button, which is used to generate a zeroing request signal and send it to the driver 521 in each degree of freedom driving module 52 when a user's trigger action is detected. The driver 521 is also used to adjust the target motor 523 in the degree of freedom driving module 52 where the driver 521 is located based on a preset initial zero position when the zeroing request signal is obtained.

[0079] The zeroing control button may directly send the zeroing request signal to each driver 521 , or may first send the zeroing request signal to the main controller 51 , and the main controller 51 forwards the zeroing request signal to each driver 521 .

[0080] Furthermore, when each driver 521 obtains the zeroing request signal, it can adjust the target motor 523 according to the preset initial zero position, so that the target motor 523 runs to the preset initial zero position. In this optional embodiment, by detecting the action of the user triggering the zeroing control button, all motors are set to the preset initial zero position, and the one-key zeroing of the instrument operation angle is realized, which is convenient for the disassembly of the surgical instrument and can be applied to the scenes of installing, disassembling or replacing the instrument.

[0081] Embodiment 4

[0082] Figure 6 is a flow chart of a device drive control method provided in a fourth embodiment of the present invention. The method can be applied to the case of controlling a device with multiple degrees of freedom, and can be executed by the device drive control system provided in the above embodiments, such as Figure 6 As shown, the method includes:

[0083] S610 , detecting first motion information corresponding to the target motor based on a first encoder in a degree of freedom driving module where the target motor is located, and sending the first motion information to a driver in the degree of freedom driving module.

[0084] S620. Based on the reducer in the degree of freedom driving module, the current motion information of the target motor is converted, and the second motion information corresponding to the target motor output by the reducer is detected through the second encoder in the degree of freedom driving module, and the second motion information is sent to the drivers of other degree of freedom driving modules except the degree of freedom driving module.

[0085] S630. Based on the main controller in the degree of freedom driving module, obtain the first motion information and the second motion information corresponding to the target motor from each of the drivers, and determine whether there is a fault in the degree of freedom driving module where the target motor is located based on the first motion information and the second motion information.

[0086] Optionally, the method further includes:

[0087] Through the main controller, first motion information corresponding to the target motor is obtained from the driver, and second motion information corresponding to the target motor is obtained from the drivers of at least two other degree of freedom driving modules except the degree of freedom driving module where the target motor is located, and based on each second motion information, it is determined whether the driver receiving the second motion information has a fault.

[0088] Optionally, judging whether a degree of freedom driving module where the target motor is located has a fault based on the first motion information and the second motion information includes:

[0089] Obtain a preset ratio range corresponding to the reducer, determine an actual deceleration ratio corresponding to the target motor based on the first motion information and the second motion information, and determine whether a degree of freedom driving module where the target motor is located has a fault based on the preset ratio range and the actual deceleration ratio.

[0090] Optionally, the method further includes:

[0091] Through the main controller, if it is determined that the freedom driving module where the target motor is located has a fault, a shutdown command is sent to the driver of the freedom driving module where the target motor is located, or a shutdown command is sent to all drivers in the system.

[0092] Optionally, the method further includes:

[0093] The main controller determines the current operating degrees of freedom of each of the two freedom driving modules having a proportional relationship of freedom operation, and determines the operating state of the system based on each of the current operating degrees of freedom.

[0094] Optionally, the method further includes:

[0095] The actual operating current value of the target motor is detected by the driver, and based on a preset operating threshold corresponding to the target motor and the actual operating current value, it is determined whether the system has a fault.

[0096] Optionally, the method further includes:

[0097] Reading the device-related information corresponding to the device to be controlled and stored in the tag unit of the device to be controlled through the device identifier, and sending the device-related information to the main controller;

[0098] The main controller determines whether the device to be controlled matches the system based on the device type identifier in the device association information.

[0099] Optionally, the method further includes:

[0100] Through the main controller, based on the device usage identification in the device association information, it is determined whether the device to be controlled matches the system.

[0101] Optionally, the method further includes:

[0102] When a user's triggering action is detected through the zeroing control button, a zeroing request signal is generated and sent to the driver in each of the freedom degree driving modules;

[0103] When the return-to-zero request signal is obtained through the driver, the target motor in the degree-of-freedom driving module where the driver is located is adjusted based on the preset initial zero position.

[0104] The technical solution of this embodiment detects first motion information corresponding to the target motor through a first encoder mechanically connected to the target motor, and sends the first motion information to the driver, and converts the current motion information of the target motor through a reducer mechanically connected to the target motor, and then detects second motion information corresponding to the target motor output by the reducer through a second encoder mechanically connected to the reducer, and sends the second motion information to the drivers of other degree-of-freedom drive modules except the degree-of-freedom drive module where the target motor is located, and obtains the first motion information and the second motion information corresponding to the target motor from each driver through the main controller, and determines whether the degree-of-freedom drive module where the target motor is located has a fault based on the first motion information and the second motion information, thereby realizing automatic fault detection of each degree-of-freedom drive module in the instrument drive control system, solving the technical problems in the prior art that the fault cannot be discovered in time and the long time required to determine the fault location, facilitating troubleshooting and fault repair, and improving the control safety of the instrument.

[0105] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0106] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An apparatus drive control system, characterized in that: The system includes a main controller and at least two degrees of freedom driving modules, each of which includes a driver, a first encoder, a target motor, a reducer and a second encoder, wherein the components inside each of the degrees of freedom driving modules are connected and operated as follows: The first encoder is mechanically connected to the target motor and is used to detect first motion information corresponding to the target motor and send the first motion information to the driver; The reducer is mechanically connected to the target motor and is used to convert current motion information of the target motor; The second encoder is mechanically connected to the reducer, and is used to detect second motion information corresponding to the target motor output by the reducer, and send the second motion information to the drivers of other degree of freedom driving modules except the degree of freedom driving module where the target motor is located; The main controller is connected to each of the drivers, and is used to obtain the first motion information and the second motion information corresponding to the target motor from each of the drivers, and determine whether there is a fault in the degree of freedom driving module where the target motor is located based on the first motion information and the second motion information.

2. The system according to claim 1, characterized in that The main controller is also used to obtain first motion information corresponding to the target motor from the driver, obtain second motion information corresponding to the target motor from the drivers of at least two other degree of freedom driving modules except the degree of freedom driving module where the target motor is located, and determine whether the driver receiving the second motion information is faulty based on each second motion information.

3. The system according to claim 1, characterized in that The main controller is also used to obtain a preset ratio range corresponding to the reducer, determine an actual deceleration ratio corresponding to the target motor based on the first motion information and the second motion information, and determine whether there is a fault in the degree of freedom driving module where the target motor is located based on the preset ratio range and the actual deceleration ratio.

4. The system according to claim 1, characterized in that The main controller is further configured to send a shutdown command to a driver of the freedom driving module where the target motor is located, or to send a shutdown command to all drivers in the system if it is determined that the freedom driving module where the target motor is located has a fault.

5. The system according to claim 1, characterized in that The main controller is also used to determine the current operating degrees of freedom of each of the two freedom driving modules that have a freedom operating proportional relationship, and determine the operating state of the system based on each of the current operating degrees of freedom.

6. The system according to claim 1, characterized in that The driver is further used to detect an actual operating current value of the target motor, and determine whether the system has a fault based on a preset operating threshold corresponding to the target motor and the actual operating current value.

7. The system according to claim 1, characterized in that The system further comprises an apparatus identifier, the apparatus identifier being used to read apparatus-related information corresponding to the apparatus to be controlled and stored in the tag unit of the apparatus to be controlled, and send the apparatus-related information to the main controller; The main controller is further used to determine whether the device to be controlled matches the system based on the device type identifier in the device association information.

8. The system according to claim 7, characterized in that The main controller is further used to determine whether the device to be controlled matches the system based on the device usage identifier in the device association information.

9. The system according to claim 1, characterized in that The system further comprises a return-to-zero control button, wherein the return-to-zero control button is used to generate a return-to-zero request signal and send it to the driver in each of the degree-of-freedom driving modules when a trigger action of a user is detected; The driver is used to adjust the target motor in the degree of freedom driving module where the driver is located based on a preset initial zero position when the zero return request signal is obtained.

10. A device driving control method, characterized in that: The method comprises: Based on a first encoder in a degree of freedom driving module where a target motor is located, detecting first motion information corresponding to the target motor, and sending the first motion information to a driver in the degree of freedom driving module; Based on the reducer in the freedom driving module, the current motion information of the target motor is converted, and the second motion information corresponding to the target motor output by the reducer is detected by the second encoder in the freedom driving module, and the second motion information is sent to the drivers of other freedom driving modules except the freedom driving module; Based on the main controller in the freedom driving module, the first motion information and the second motion information corresponding to the target motor are obtained from each of the drivers, and based on the first motion information and the second motion information, it is determined whether the freedom driving module where the target motor is located has a fault.

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