Energy instrument control system and control method

Abstract

The invention provides an energy instrument control system and method. Based on the control system, the physician can adjust a first energy value for determining excitation energy of the energy instrument through the interaction device. The first controller of the first trolley and the second controller of the second trolley transmit first energy information used for representing the first energy value to the energy instrument host, and the energy instrument host determines the first energy value according to the first energy information. A doctor can trigger the trigger to enable the first controller to forward the trigger signal sent by the trigger to the energy instrument host through the second controller, and then the energy instrument host transmits the excitation energy corresponding to the first energy value to the energy instrument to enable the energy instrument to be in an excitation state. According to the system, by additionally arranging interaction equipment, a doctor can adjust the energy value at the doctor end far away from the energy instrument and the energy instrument host, and the operation safety and the operation experience of the doctor can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of surgical robots, and in particular, relates to an energy device control system and control method. Background Art

[0002] The laparoscopic surgical robot can control surgical instruments to perform surgical operations through the robotic arm of the surgical robot, thereby avoiding problems such as fatigue, tremors, and unclear vision that doctors may encounter during handheld operations, thereby improving the safety, stability, and efficiency of the surgical process.

[0003] During the operation, the doctor can transfer the host energy to the energy device on the patient side through the doctor's foot pedal, thereby realizing the excitation function of the energy device. During the use of existing energy devices, the energy of the energy device can only be adjusted by the assistant doctor by pressing the energy gear key set on the host. The doctor on the doctor's side needs to communicate frequently with the assistant doctor in the process of controlling the surgical robot to realize the energy adjustment process of the energy device. In other words, the interaction between the doctor and the energy device is insufficient, which will also reduce the safety of the operation and reduce the doctor's operating experience. Summary of the invention

[0004] The present application provides an energy device control system and control method to solve the problem of reduced surgical safety and doctor's operating experience due to insufficient interaction between the energy device and the doctor.

[0005] In a first aspect, the present application provides an energy device control system, comprising: a first vehicle and a second vehicle; the first vehicle comprises an interactive device and a first controller; the second vehicle comprises a second controller and an energy device host; the first controller and the second controller are connected via an optical fiber;

[0006] The interactive device is configured to: display a control interface; the control interface includes at least a first energy adjustment control;

[0007] The first controller is configured to:

[0008] In response to a first energy adjustment instruction input based on the first energy adjustment control, setting the excitation energy value of the energy device to a first energy value according to the first energy adjustment instruction;

[0009] sending first energy information representing the first energy value to the second controller;

[0010] The second controller is configured to:

[0011] forwarding the first energy information to the energy device host;

[0012] The energy device host is configured as follows:

[0013] The first energy value is determined according to the received first energy information.

[0014] In some feasible embodiments, the first vehicle further includes a first trigger; the first trigger is configured to send a first trigger signal to the first controller;

[0015] The first controller is further configured to:

[0016] When receiving a first trigger signal sent by the first trigger, forwarding the first trigger signal to the second controller;

[0017] The second controller is configured to:

[0018] forwarding the first trigger signal to the energy device host;

[0019] The energy device host is configured as follows:

[0020] In response to receiving the first trigger signal, excitation energy corresponding to the first energy value is transmitted to the energy device to put the energy device into an excitation state.

[0021] In some feasible embodiments, the trigger further includes a second trigger; and the first controller is further configured to:

[0022] If a second trigger signal sent by the second trigger is received, sending the second trigger signal to the second controller;

[0023] The second controller is configured to:

[0024] forwarding the second trigger signal to the energy device host;

[0025] The energy device host is configured as follows:

[0026] In response to the received second trigger signal, excitation energy corresponding to a second energy value is transmitted to the energy device to put the energy device into an excited state; the second energy value is an initial excitation energy value corresponding to the second trigger; the second energy value is greater than the first energy value.

[0027] In some feasible embodiments, the control interface of the interactive device further includes a second energy adjustment control; and the first controller is further configured to:

[0028] In response to a second energy adjustment instruction input based on the second energy adjustment control, adjusting the second energy value to a third energy value; the third energy value is greater than the first energy value;

[0029] sending second energy information for representing the third energy value to the second controller;

[0030] If a second trigger signal sent by the second trigger is received, sending the second trigger signal to the second controller;

[0031] The second controller is configured to:

[0032] sending the second energy information to the energy device host;

[0033] forwarding the second trigger signal to the energy device host;

[0034] The energy device host is configured as follows:

[0035] Determining the third energy value according to the received second energy information;

[0036] When the second trigger signal is received, the excitation energy corresponding to the third energy value is transmitted to the energy device, so that the energy device is in an excited state.

[0037] In some feasible embodiments, the control interface further includes a system setting control; and the first controller is further configured to:

[0038] In response to a first selection instruction input by a user for selecting the system setting control, controlling the first display to display a system setting interface; the system setting interface at least includes a trigger switch control;

[0039] In response to a second selection instruction input by a user for selecting the trigger switch control, controlling the first display to display an extended option corresponding to the trigger switch control; the extended option is used to determine a trigger mode of the energy device;

[0040] In response to a third selection instruction input by a user for selecting the extended option, changing a display state of the extended option;

[0041] When the display state of the extended option is the first state, starting the triggering mode corresponding to the extended option;

[0042] When the display state of the extended option changes from the first state to the second state, the triggering mode corresponding to the extended option is stopped.

[0043] In some feasible embodiments, the first controller includes a main optical fiber interface and at least one backup optical fiber interface associated with the main optical fiber interface; when the main optical fiber interface fails, the first controller is further configured to:

[0044] Upon receiving the first trigger signal, acquiring a spare optical fiber interface associated with the main optical fiber interface;

[0045] The first trigger signal is sent to the second controller based on the backup optical fiber interface.

[0046] In some feasible embodiments, the second controller includes a main relay module and at least one backup relay module associated with the main relay module; the second controller is connected to the energy device host through the main relay module; the energy device host is connected to the energy interface of the energy device through an energy device wiring harness;

[0047] The second controller is configured to:

[0048] Upon receiving the first trigger signal, triggering the main relay module, so as to send the first trigger signal to the energy device host based on the main relay module, so as to start the energy device host;

[0049] sending the first energy information to the energy device host;

[0050] Wherein, when the main relay module fails, the second controller is further configured to:

[0051] Upon receiving the first trigger signal, acquiring a backup relay module associated with the main relay;

[0052] The backup relay module is triggered to send the first trigger signal to the energy device host based on the backup relay module to start the energy device host.

[0053] In some feasible embodiments, a third vehicle is further included; the third vehicle includes a third controller and surgical instruments; the surgical instruments include energy instruments and non-energy instruments;

[0054] The third controller is configured to:

[0055] Acquiring instrument information of the surgical instrument; the instrument information at least includes the instrument type, operating status and output power of the surgical instrument;

[0056] The device information is sent to the second controller.

[0057] In some feasible embodiments, the first vehicle further includes a first display, and the second vehicle further includes a second display;

[0058] The second controller is configured to:

[0059] In response to the received device information, forwarding the device information to the first controller, and controlling the second display to display the device information;

[0060] The first controller is further configured to:

[0061] In response to the received equipment information, the first display is controlled to display the equipment information.

[0062] In some feasible embodiments, the instrument information includes first instrument information and second instrument information; the surgical instruments corresponding to the first instrument information and the second instrument information are different; and the second controller is further configured as:

[0063] Acquire the first device information and the second device information;

[0064] The second display is controlled to display the first device information in a first display partition, and to display the second device information in a second display partition.

[0065] In some feasible embodiments, the surgical instrument includes at least a first energy device and a second energy device; the first trolley includes at least a first trigger group corresponding to the first energy device and a second trigger group corresponding to the second energy device; the first trigger group includes a first trigger and a second trigger; the second trigger group includes a third trigger and a fourth trigger; when the first energy device is in an excited state, the first controller is further configured to:

[0066] Stop receiving the third trigger signal, or stop forwarding the third trigger signal to the second controller; the third trigger signal is a trigger signal issued by the third trigger or the fourth trigger.

[0067] In a second aspect, the present application provides an energy device control method, comprising:

[0068] In response to the received first energy adjustment instruction, an energy value used to determine the excitation energy is set to a first energy value, and first energy information used to characterize the first energy value is sent to a controller of a second vehicle, so that the controller of the second vehicle forwards the first energy information to an energy device host, so that the energy device host determines the first energy value according to the first energy information; the first energy adjustment instruction is an instruction input by a user through an interactive device in the first vehicle; the interactive device is used to display a control interface, and display a first energy adjustment control on the control interface;

[0069] In response to the received first trigger signal, the first trigger signal is forwarded to the controller of the second vehicle, so that the controller of the second vehicle forwards the first trigger signal to the energy device host; when the energy device receives the first trigger signal, the energy device transmits the excitation energy corresponding to the first energy value to the energy device, so that the energy device is in an excited state.

[0070] It can be seen from the above technical content that the present application provides an energy device control system and control method. Based on the control system, the doctor can adjust the first energy value used to determine the excitation energy of the energy device through the interactive device set at the first car. And the first energy information used to characterize the first energy value is transmitted to the energy device host through the first controller of the first car and the second controller of the second car, and the energy device host determines the first energy value according to the first energy information. And the doctor can trigger the trigger set at the first car so that the first controller forwards the trigger signal emitted by the trigger to the energy device host through the second controller, and then the energy device host transmits the excitation energy corresponding to the first energy value to the energy device, so that the energy device is in an excited state. The system enriches the interaction mode between the doctor end and the energy device by adding interactive devices, so that the doctor can also adjust the energy value at the doctor end far away from the energy device and the energy device host, which can improve the safety of the operation and the doctor's operating experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0072] Figure 1 A schematic diagram of a surgical robot system provided for some embodiments of the present application;

[0073] Figure 2 A system architecture diagram of an energy device control system provided for some embodiments of the present application;

[0074] Figure 3 A schematic diagram of a control interface of an interactive device provided in some embodiments of the present application;

[0075] Figure 4 A schematic diagram of the expansion of the system setting control provided in some embodiments of the present application;

[0076] Figure 5 A schematic diagram of switching a backup optical fiber interface when a main optical fiber interface fails provided in some embodiments of the present application;

[0077] Figure 6A schematic diagram of switching a backup relay module when a main relay module fails provided in some embodiments of the present application;

[0078] Figure 7 A schematic diagram of displaying surgical instrument information in partitions provided in some embodiments of the present application;

[0079] Figure 8 A schematic diagram of shielding trigger signals corresponding to other energy devices when an energy device is running, provided in some embodiments of the present application;

[0080] Fig. 9 A schematic diagram of stopping forwarding trigger signals corresponding to other energy devices when an energy device is running, provided in some embodiments of the present application. DETAILED DESCRIPTION

[0081] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0082] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0083] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0084] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0085] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. As used herein, "several", the singular forms "one", and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of the features, steps, operations, elements and / or parts, without excluding the presence of one or more other features, steps, operations, elements, parts and / or groups thereof.

[0086] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0087] The term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require a direct connection (e.g., a direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched using object C. In addition, the terms "removably connected" or "removably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are removably connected can be unconnected and separated so that they no longer operate in conjunction.

[0088] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0089] Overview of master-slave teleoperated laparoscopic surgical robots.

[0090] like Figure 1As shown, the laparoscopic surgical robot usually includes a doctor control platform, a patient surgical platform and an image platform. The surgeon sits on the doctor control platform to watch the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and controls the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0091] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on the video display for observation by the assistant.

[0092] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0093] The patient surgical platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. Surgical instruments and / or laparoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0094] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located remotely from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol, and telepresence surgery will be familiar with such systems and their components.

[0095] Among them, an instrument box can be set on the robotic arm of the patient's surgical platform, and the instrument box can be equipped with surgical instruments matching the minimally invasive surgical robot. Then, when the robotic arm receives the control signal sent by the main control console, it can drive the surgical instruments to perform surgical operations.

[0096] When the doctor uses the surgical robot to perform surgery, he can control the main robotic arm set on the doctor's control platform to drive the slave robotic arm of the patient's surgical platform to move, so as to drive the surgical instrument set on the slave robotic arm to a preset position. In addition, when the surgical instrument is an energy instrument, the doctor can trigger the trigger set on the doctor's control platform to trigger the energy instrument host, thereby causing the energy instrument host to transmit the excitation energy to the energy instrument, so that the energy instrument is in an excited state.

[0097] Taking the energy device as a monopolar device as an example, when the main body of the energy device transmits energy, the excitation energy can be transmitted to the high-frequency generator set on the device box, and then the high-frequency generator modulates the excitation energy, and then transmits the modulated high-frequency current to the monopolar device. When one pole of the stand-alone device is a monopolar arc shear, one pole of the execution end of the monopolar device that reaches the preset position is attached to the electrode plate outside the patient's body. Then, after the stand-alone device receives the high-frequency current, the high-frequency current can pass through the monopolar device, the patient's tissue, and the electrode plate partially located in the patient's body in turn, and then flow back to the high-frequency generator to form a closed loop. In this way, during the transmission of high-frequency current, the stand-alone device can perform cutting, tissue sealing, or hemostasis based on the heat energy generated by the high-frequency current to complete the surgical operation.

[0098] It is understandable that the doctor needs to pre-set the energy value before triggering the energy device host to determine the excitation energy. When adjusting the energy value, the doctor or the doctor's assistant usually needs to manually adjust the energy button on the energy device host to determine the energy value of the excitation energy, so that the energy device host transmits the excitation energy corresponding to the energy value to the energy device when receiving the trigger signal.

[0099] However, the above-mentioned method of adjusting the energy value has a single control mode, so that doctors or doctor assistants can only perform surgical operations in front of the operating bed. In addition, during the long operation, the risk of doctor's misoperation will increase, that is, the doctor may easily confuse the energy buttons and cause incorrect energy settings, posing a safety hazard.

[0100] In order to solve the above problems, the present application provides an energy device control system, such as Figure 2 As shown, the energy device control system includes: a first vehicle and a second vehicle; the first vehicle includes an interactive device, a first trigger and a first controller; the second vehicle includes a second controller and an energy device host; the first controller and the second controller are connected via an optical fiber.

[0101] In some embodiments, the first vehicle may be a doctor control platform, and the second vehicle may be an image platform. An interactive device, a first trigger, and a first controller may be provided in the doctor control platform.

[0102] Among them, the interactive device can be an operation panel that supports touch operation, and then the doctor can remotely adjust the energy level of the energy device host through the interactive device, which enriches the interaction method between the doctor and the energy device host, so that the doctor can completely remotely operate the surgical robot to perform surgical actions.

[0103] The first trigger may be a foot pedal disposed at the lower end of the doctor's control platform. The doctor may step on the foot pedal to cause the first trigger to generate a first trigger signal. The first trigger may send the first trigger signal to the first controller, and the first controller may continue to process the first trigger signal.

[0104] The first controller may be an industrial computer and a PLC (Programmable Logic Controller) arranged in an electric control box. The industrial computer and the PLC may be connected via a network cable, and the PLC and the first trigger may be connected via a network cable. The industrial computer and the interactive device may be connected via a serial port to achieve interaction. The PLC may receive the first trigger signal and transmit the first trigger signal to the industrial computer in the doctor control platform via a network cable.

[0105] The second controller in the image platform may include an industrial computer and an energy device control board. The industrial computer may be connected to the PLC in the doctor control platform via an optical fiber. The energy device control board may be connected to the industrial computer in the doctor control platform via a network cable. The energy device control board may receive a trigger signal sent by the industrial computer in the doctor control platform, and then send the trigger signal to the energy device host.

[0106] It is understandable that the subsequent interaction process between the first controller and the second controller can be subdivided into the interaction process between the PLC in the doctor control platform and the industrial computer in the image platform, and the interaction between the industrial computer in the doctor control platform and the energy device control board in the image platform. For the convenience of description, the interaction between the first controller and the second controller is used as the main description in the subsequent description process.

[0107] It should be noted that the energy device host is detachably connected to the image platform, and the image platform provided in some embodiments of the present application does not only support communication with one type of energy device host, and the image platform and the energy device host can be produced by different manufacturers. Based on the design of the control parts such as the industrial computer and the energy device control board, the image platform can adapt to various types of energy device hosts produced by different manufacturers.

[0108] Based on the system design of the energy device control system, doctors can remotely adjust the energy level of the energy device host through the interactive device. This saves the doctor's time communicating with assistants during the operation, and is also conducive to improving the doctor's operating experience during the operation, thereby alleviating the problem of reduced surgical safety due to doctor fatigue.

[0109] The steps performed by the energy device control system during the doctor's operation are as follows, among which, Figure 3 As shown, the interactive device is configured to: display a control interface. The control interface includes at least a first energy adjustment control, and the doctor can adjust the energy value by touching the first energy adjustment control to achieve the function of remotely adjusting the energy level of the energy device host. The first energy adjustment control corresponds to the minimum value adjustment of the excitation energy value.

[0110] The first controller is configured during the physician's adjustment of energy to:

[0111] In response to a first energy adjustment instruction input based on the first energy adjustment control, the excitation energy value of the energy device is set to a first energy value according to the first energy adjustment instruction.

[0112] The first energy information representing the first energy value is sent to the second controller.

[0113] In some embodiments, the doctor adjusts the excitation energy value to the first energy value by touching the first energy adjustment control, and the interactive device sends the first energy information used to characterize the first energy value to the first controller, and the first controller forwards the first energy information to the second controller, so that the second controller forwards the first energy information to the energy device host.

[0114] The second controller plays the role of information transfer in the process of energy regulation. The second controller is configured to forward the first energy information to the energy device host.

[0115] It should be noted that the first controller and the second controller may not parse the first energy information during the process of forwarding the first energy information, but only play a forwarding role, and the energy device host finally parses the first energy information.

[0116] During the energy regulation process, the energy device host is configured to determine a first energy value according to the received first energy information.

[0117] In some embodiments, when receiving the first energy information, the energy device host can parse the first energy information to determine the first energy value. The first energy information can be set to a format suitable for parsing by the energy device host. On this basis, even if the energy device host is replaced, the replaced energy device host can still parse the first energy information and determine the first energy value based on the first energy information for transmitting excitation energy. Moreover, when receiving the first trigger signal, the energy device host can transmit the excitation energy to the energy device based on the first energy value, so that the energy device is in an excitation state.

[0118] In this way, during the operation, the doctor can remotely adjust the energy value of the energy device host based on the settings of the interactive device in the doctor control platform, and can control the energy device host to transmit excitation energy to the energy device through the trigger. In this way, the doctor does not need to perform the operation in front of the bed, which is conducive to improving the doctor's operating experience and improving the safety of the operation.

[0119] After setting the excitation energy value to the first energy value, the doctor can step on the pedal to generate a first trigger signal, which is received by the first controller and then forwarded to the second controller. This ensures that the process of adjusting the energy value is before the excitation, which is conducive to improving the safety of the operation. It can be understood that the process of receiving and forwarding the first trigger signal to the second controller can be that the PLC receives the first trigger signal and forwards it to the industrial computer of the imaging trolley.

[0120] During the process of energizing the energy device, the first controller is configured to forward the first trigger signal to the second controller upon receiving the first trigger signal sent by the first trigger.

[0121] The second controller can still play the role of information transfer during the excitation process of the energy device. The second controller is configured to forward the first trigger signal to the energy device host.

[0122] In some embodiments, when the second controller receives the first trigger signal, it can forward the first trigger signal to the energy device host.

[0123] And, during the activation of the energy device, the energy device host is configured as follows:

[0124] When the first trigger signal is received, the excitation energy corresponding to the first energy value is transmitted to the energy device, so that the energy device is in an excited state.

[0125] In this way, based on the transmission order of the trigger signal in the first trigger, the first controller, the second controller, and the energy device host, the doctor can remotely control the energy device host on the doctor's control platform to transmit excitation energy to the energy device to put the energy device in an excited state.

[0126] It is understandable that the trigger set in the doctor's control console cart also includes a second trigger. The second trigger corresponds to the maximum value of the excitation energy value. That is, each energy device can correspond to a trigger group including two triggers, one of which is used to determine the minimum value of the excitation energy value of the energy device, such as the first trigger; and the other trigger is used to determine the maximum value of the excitation energy value of the energy device, such as the second trigger.

[0127] In some embodiments, during the surgical procedure, the first controller is further configured to:

[0128] If the second trigger signal sent by the second trigger is received, the second trigger signal is sent to the second controller.

[0129] The second controller is configured to:

[0130] The second trigger signal is forwarded to the energy device host.

[0131] The energy device host is configured as follows:

[0132] In response to the received second trigger signal, the excitation energy corresponding to the second energy value is transmitted to the energy device to put the energy device into an excitation state.

[0133] In some embodiments, the doctor steps on the foot pedal corresponding to the second trigger, so that the second trigger generates a second trigger signal and sends it to the first controller. After receiving the second trigger signal, the first controller sends the second trigger signal to the second controller, and the second controller forwards the second trigger signal to the energy device host. In this way, the energy device host can send excitation energy to the energy device based on the second trigger signal.

[0134] It should be noted that the second energy value may be an initial excitation energy value corresponding to the second trigger, and is used to determine the maximum value of the excitation energy value, that is, the second energy value is greater than the first energy value. In the scenario where the doctor steps on the pedal without adjusting the energy value, the energy device host may transmit excitation energy to the energy device according to the initial excitation energy value.

[0135] In some embodiments, the doctor can also adjust the second energy value through the interactive device. Figure 3As shown, the control interface of the interactive device also includes a second energy adjustment control. The doctor can adjust the second energy value to the third energy value by touching the second energy adjustment control. When the interactive device detects the doctor's touch operation, it can send second energy information used to characterize the third energy value to the first controller, and the first controller forwards the second energy information to the second controller, and then forwards the second energy information to the energy device host through the second controller. Then, the energy device host can determine the third energy value based on the second energy information, and when receiving the second trigger signal, transmit the excitation energy corresponding to the third energy value to the energy device.

[0136] In this way, by setting up interactive devices on the doctor control platform, the doctor can have more interactive ways with the energy device host on the doctor control platform. In addition, the doctor can adjust the energy value of the energy device host only on the doctor control platform without communicating with the assistant, which can enhance the doctor's experience during the operation and thus improve the safety of the operation.

[0137] like Figure 4 As shown, the control interface of the interactive device also includes a system setting control. In the normal display state of the control interface, the first energy adjustment control and the second energy adjustment control can occupy most of the display area to facilitate the doctor's operation. The system setting control can be a bar and set in other areas of the control interface. The doctor can adjust the setting options of the energy device control system by triggering the system setting control. That is, the first controller is also configured as:

[0138] In response to a first selection instruction input by a user for selecting the system setting control, the interactive device is controlled to display a system setting interface; the system setting interface at least includes a trigger switch control.

[0139] In response to a second selection instruction input by a user for selecting the trigger switch control, the interactive device is controlled to display extended options corresponding to the trigger switch control; the extended options are used to determine the trigger mode of the energy device.

[0140] In response to a third selection instruction input by a user for selecting the extended option, a display state of the extended option is changed.

[0141] When the display state of the extended option is the first state, a triggering mode corresponding to the extended option is started.

[0142] When the display state of the extended option changes from the first state to the second state, the triggering mode corresponding to the extended option is stopped.

[0143] In some embodiments, the system setting control may be provided with an expansion button, and the user may expand the system setting control by touching or clicking the expansion button. That is, after receiving the doctor's touch or click operation, the first controller may control the interactive device to display the system setting interface.

[0144] The system setting interface may include multiple sub-controls, such as a trigger switch control, a handle test control, a brightness adjustment control, a language selection control, and a system information control. When the doctor clicks on one of the sub-controls, the system setting interface will also display the extended options corresponding to the sub-control, so that the doctor can adjust the relevant functions of the energy device control system according to the extended options.

[0145] It is understandable that when the doctor does not click on a sub-control, the extended options of the sub-control in the first position may be displayed by default. When setting the order of the sub-controls, the frequency may be set in combination with the doctor's options, and the sub-controls may be sorted according to the importance of the corresponding functions.

[0146] For example, when the doctor clicks on the trigger switch control, the extended options will be displayed in the display area outside the sub-control: only the hand switch is activated; only the foot switch is activated; both the hand switch and the foot switch are activated. A selection mark will also be set in front of the extended option, and the doctor can then determine which extended option to activate by touching the extended option.

[0147] In some embodiments, the selection mark is used to indicate whether the function corresponding to the extended option is activated. And the doctor can confirm whether the extended option is selected by the display state of the selection mark. That is, when the display state of the selection mark is the first state, it indicates that the doctor has selected the extended option corresponding to the selection mark, and the first controller will activate the function corresponding to the extended option.

[0148] In other embodiments, based on the doctor's touch operation, when the display state of the selection mark changes from the first state to the second state, the first controller stops the function corresponding to the extended option.

[0149] In this way, based on the enrichment of the control interface of the interactive device, the doctor can adjust the function of the energy device control system based on the interactive device, which is conducive to simplifying the doctor's operating steps and thus improving the doctor's operating experience.

[0150] In some embodiments, the first controller is connected to the second controller through optical fiber, that is, both the first controller and the second controller are provided with optical fiber interfaces. In order to improve the stability of optical fiber transmission, a backup optical fiber interface can also be provided in the first controller. That is, the first controller includes a main optical fiber interface and at least one backup optical fiber interface associated with the main optical fiber interface. Figure 5 As shown, when the main optical fiber interface fails, the first controller is further configured as follows:

[0151] When the first trigger signal is received, a spare optical fiber interface associated with the main optical fiber interface is acquired.

[0152] The first trigger signal is sent to the second controller based on the backup optical fiber interface.

[0153] In some embodiments, each main optical fiber interface has a backup optical fiber interface associated therewith, and the configuration of the backup optical fiber interface is completely consistent with the main optical fiber interface, so that when the main optical fiber interface fails, the backup optical fiber interface can replace the main optical fiber interface to communicate with the energy device. In some embodiments, when using optical fiber to connect the main optical fiber interface to establish a communication connection, it can be determined whether the main optical fiber interface is normal by observing whether the main optical fiber interface responds. For example, it can be observed whether the indicator light at the main optical fiber interface is operating normally. If the indicator light is abnormal, it indicates that the main optical fiber interface is abnormal, and it is necessary to use optical fiber to connect the backup optical fiber interface to establish a communication connection.

[0154] In other embodiments, when the controller uses the main optical fiber interface to communicate with the energy device, the main optical fiber interface fails, and the controller can receive fault information and mark the main optical fiber interface that generates the fault information according to the fault information to find a spare optical fiber interface associated with the main optical fiber interface. After finding the spare optical fiber interface, a communication connection can be established between the spare optical fiber interface and the energy device through optical fiber. It only takes one optical fiber connection to replace the controller where the main optical fiber interface fails to maintain the failed controller, which reduces the maintenance time of the controller and the probability of delaying the operation. The failed main optical fiber interface can be repaired after the operation is completed.

[0155] It is understandable that the controller may be provided with not only a spare fiber optic interface but also other redundant interfaces, which may be used to connect temporarily added energy devices so as not to affect the configuration of existing energy devices and fiber optic interfaces.

[0156] In some embodiments, the second controller and the energy device host send a trigger signal to the energy device host through a relay corresponding to the currently running energy device. In order to improve the fault tolerance of the relay during operation, the second controller includes a main relay module and at least one backup relay module associated with the main relay. The second controller is connected to the energy device host through the main relay module, and the energy device host is connected to the energy interface of the energy device through the energy device wiring harness. Figure 6 As shown, the second controller is configured as:

[0157] When the first trigger signal is received, the main relay module is triggered to send the first trigger signal to the energy device host based on the main relay module to start the energy device host.

[0158] The first trigger signal is sent to the energy device host.

[0159] Wherein, when the main relay module fails, the second controller is further configured to.

[0160] Upon receiving the first trigger signal, acquiring a backup relay module associated with the main relay;

[0161] The backup relay module is triggered to send the first trigger signal to the energy device host based on the backup relay module to start the energy device host.

[0162] In some embodiments, when a main relay module fails, the controller can detect corresponding fault information, mark the failed main relay module according to the fault information, and simultaneously start the backup relay module to communicate with the energy device host so that the energy device host receives the first trigger signal.

[0163] Among them, in an embodiment where the second controller includes an energy device control board, the main relay module can be set on the energy device control board, and the energy device control board receives the first trigger signal sent by the industrial computer in the doctor control platform and forwards it to the energy device host.

[0164] In this way, by setting up a backup relay module on the controller, there is no need to replace the controller when the main relay fails, saving debugging and maintenance time, which is conducive to reducing the preparation time for surgery. In addition, by setting up redundant optical fiber interfaces and redundant relay modules, the emergency response capability of the energy device control system can be improved. When there is a failure in the optical fiber interface or relay, only the optical fiber interface or relay needs to be replaced to complete the maintenance and restore the energy device control system to normal use.

[0165] In some embodiments, the energy instrument control system further comprises a third vehicle. The third vehicle comprises a third controller and a surgical instrument. The surgical instrument may comprise an energy instrument and a non-energy instrument. The third controller is configured as follows:

[0166] Obtain instrument information of the surgical instrument; the instrument information at least includes the instrument type, operating status and output power of the surgical instrument.

[0167] The device information is sent to the second controller.

[0168] In some embodiments, the third vehicle is a patient surgical platform, which is provided with a slave robotic arm. The slave robotic arm can move with the master robotic arm set on the doctor control platform, thereby driving the surgical instruments connected to the slave robotic arm to reach the target position.

[0169] The surgical instrument can be mounted on an instrument box set on the robotic arm, and an RFID board can be built into the instrument box. When the surgical instrument is mounted on the instrument box, the instrument box can read the instrument information of the surgical instrument through the RFID board and send the instrument information to the third controller.

[0170] After acquiring the instrument information of the surgical instrument, the third controller can forward the instrument information to the second controller, and the instrument information can also be further forwarded by the second controller to the first controller, so that the instrument information can be displayed on the image trolley and the doctor control platform.

[0171] Furthermore, after acquiring the instrument information, the first controller and the second controller can also determine the type of surgical instrument currently in operation. When the surgical instrument is an energy instrument, the second controller can determine which surgical instrument on the robot arm is to be activated to achieve accurate activation of the energy instrument.

[0172] In some embodiments, the first vehicle further includes a first display, and the second vehicle further includes a second display, wherein the second controller is configured to: in response to the received device information, forward the device information to the first controller, and control the second display to display the device information.

[0173] The first controller is further configured to: in response to the received equipment information, control the first display to display the equipment information.

[0174] It is understandable that a display can be set on both the doctor control platform and the image platform to display instrument information, so that the doctor can know the key information such as the type, power, and number of times the surgical instrument is used, which is conducive to improving the doctor's operating experience and the safety of the operation.

[0175] In some embodiments, during the operation, the doctor can use his left and right hands to control the main robot arm to drive the two slave robot arms to move. In addition, the surgical instruments on the two slave robot arms can be different surgical instruments. Usually, one of the surgical instruments can be an energy instrument, such as a monopolar arc scissors; and the other surgical instrument is an instrument that does not require energy excitation, such as an endoscope. In this way, in order to facilitate the display of instrument information of different surgical instruments, such as Figure 7 As shown, the second controller is further configured as:

[0176] The first device information and the second device information are obtained.

[0177] The second display is controlled to display the first device information in a first display partition, and to display the second device information in a second display partition.

[0178] In some embodiments, the partition display may refer to displaying image data captured by an endoscope, for example, in a designated partition, and displaying surgical instrument information in the surrounding area of ​​the image data display area. The surgical instrument information may include various information such as the operating power, device model, and operating parameters of the surgical instrument. Taking energy instruments as an example, the color and function of the pedal corresponding to the energy instrument may also be displayed.

[0179] In other embodiments, the second controller may receive the first device information and the second device information sent by the third controller, and the second controller may control the second display to divide the display area of ​​the device information so as to display the first device information in the first display partition and the second device information in the second display partition.

[0180] The second display may be a stereoscopic monitor, which can facilitate doctors to observe the instrument information of the operating surgical instruments through partitioned display, thereby improving the doctor's operating experience.

[0181] It should be noted that different slave manipulators in the patient surgical platform can be equipped with different energy devices. During the operation, the doctor can switch the control of the slave manipulators by operating the switch on the doctor control platform to use different energy devices. However, for different energy devices, multiple trigger groups can be provided in the doctor control platform to achieve corresponding control of the energy devices. That is, the surgical instrument can include a first energy device and a second energy device. The first trolley includes at least a first trigger group corresponding to the first energy device and a second trigger group corresponding to the second energy device. The first trigger group includes a first trigger and a second trigger. The second trigger group includes a third trigger and a fourth trigger.

[0182] In this way, the doctor can trigger the excitation state of the first energy device through the first trigger group, and trigger the excitation state of the second energy device through the second trigger group. However, when the first energy device is in the excitation state, since the pedal setting position is not easy to observe with the naked eye, it only depends on the doctor's memory and operating habits to trigger, which is easy to cause the pedal to be triggered by mistake, and then cause the energy device to be triggered by mistake, posing a safety hazard. In particular, when the first energy device and the second energy device have the same execution action, it is easier to confuse the pedal and cause the pedal to be triggered by mistake. Therefore, in order to improve the safety of surgery, Figure 8 and Fig. 9 As shown, when the first energy device is in an excited state, the first controller is further configured to:

[0183] Stop receiving the third trigger signal, or stop forwarding the third trigger signal to the second controller. The third trigger signal is a trigger signal sent by the third trigger or the fourth trigger.

[0184] In some embodiments, the first energy device is in an excited state. When the first controller receives the third trigger signal, it can suspend processing the third trigger signal, that is, stop forwarding the third trigger signal to the second controller, thereby preventing the doctor from accidentally touching the pedal and posing a safety threat to the patient.

[0185] In other embodiments, the first controller can shield the trigger data interaction interface outside the first trigger group when the first energy device is in an excited state, so that even if the doctor accidentally touches the pedal, the first controller will not receive other trigger signals, and will not accidentally touch other energy devices on the patient's surgical platform end.

[0186] In this way, by shielding other trigger signals or stopping forwarding other trigger signals when an energy device is in an excited state, it is possible to prevent the doctor from accidentally touching the pedal and posing a safety threat to the patient, which is conducive to improving the safety of the operation.

[0187] Some embodiments of the present application also provide an energy device control method, including:

[0188] In response to the received first energy adjustment instruction, the energy value used to determine the excitation energy is set to the first energy value, and the first energy information used to characterize the first energy value is sent to the controller of the second vehicle, so that the controller of the second vehicle forwards the first energy information to the energy device host, so that the energy device host determines the first energy value according to the first energy information; the first energy adjustment instruction is an instruction input by the user through the interactive device in the first vehicle; the interactive device is used to display a control interface, and display a first energy adjustment control on the control interface.

[0189] It is understandable that the energy device control method can be applied to a surgical robot system including a doctor control platform, an image platform, and a patient surgical platform, and is used to control the activation and deactivation of the energy device on the patient surgical platform. The doctor can remotely control the energy device host to adjust the energy level on the doctor control platform side, and can remotely control the energy device host to transmit activation energy to the energy device. This is conducive to improving the doctor's operating experience and surgical safety.

[0190] It can be seen from the above technical content that the present application provides an energy device control system and control method. Based on the control system, the doctor can adjust the first energy value used to determine the excitation energy of the energy device through the interactive device set at the first car. And the first energy information used to characterize the first energy value is transmitted to the energy device host through the first controller of the first car and the second controller of the second car, and the energy device host determines the first energy value according to the first energy information. And the doctor can trigger the trigger set at the first car so that the first controller forwards the trigger signal emitted by the trigger to the energy device host through the second controller, and then the energy device host transmits the excitation energy corresponding to the first energy value to the energy device, so that the energy device is in an excited state. The system enriches the interaction mode between the doctor end and the energy device by adding interactive devices, so that the doctor can also adjust the energy value at the doctor end far away from the energy device and the energy device host, which can improve the safety of the operation and the doctor's operating experience.

[0191] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. An energy device control system, characterized in that: include: A first vehicle and a second vehicle; the first vehicle comprises an interactive device and a first controller; the second vehicle comprises a second controller and an energy device host; The first controller is connected to the second controller via an optical fiber; The interactive device is configured to: display a control interface; the control interface includes at least a first energy adjustment control; The first controller is configured to: In response to a first energy adjustment instruction input based on the first energy adjustment control, setting the excitation energy value of the energy device to a first energy value according to the first energy adjustment instruction; sending first energy information representing the first energy value to the second controller; The second controller is configured to: forwarding the first energy information to the energy device host; The energy device host is configured as follows: The first energy value is determined according to the received first energy information.

2. The energy device control system according to claim 1, characterized in that: The first vehicle further includes a first trigger; the first trigger is configured to send a first trigger signal to the first controller; The first controller is further configured to: When receiving a first trigger signal sent by the first trigger, forwarding the first trigger signal to the second controller; The second controller is configured to: forwarding the first trigger signal to the energy device host; The energy device host is configured as follows: In response to receiving the first trigger signal, excitation energy corresponding to the first energy value is transmitted to the energy device to put the energy device into an excitation state.

3. The energy device control system according to claim 1, characterized in that: The first vehicle further includes a second trigger; and the first controller is further configured to: If a second trigger signal sent by the second trigger is received, sending the second trigger signal to the second controller; The second controller is configured to: forwarding the second trigger signal to the energy device host; The energy device host is configured as follows: In response to the received second trigger signal, transmitting excitation energy corresponding to a second energy value to the energy device so that the energy device is in an excitation state; the second energy value is an initial excitation energy value corresponding to the second trigger; The second energy value is greater than the first energy value.

4. The energy device control system according to claim 3, characterized in that: The control interface of the interactive device further includes a second energy adjustment control; the first controller is further configured to: In response to a second energy adjustment instruction input based on the second energy adjustment control, adjusting the second energy value to a third energy value; the third energy value is greater than the first energy value; sending second energy information for representing the third energy value to the second controller; If a second trigger signal sent by the second trigger is received, sending the second trigger signal to the second controller; The second controller is configured to: sending the second energy information to the energy device host; forwarding the second trigger signal to the energy device host; The energy device host is configured as follows: Determining the third energy value according to the received second energy information; When the second trigger signal is received, the excitation energy corresponding to the third energy value is transmitted to the energy device, so that the energy device is in an excited state.

5. The energy device control system according to claim 1, characterized in that: The control interface also includes a system setting control; the first controller is further configured to: In response to a first selection instruction input by a user for selecting the system setting control, controlling the first display to display a system setting interface; the system setting interface at least includes a trigger switch control; In response to a second selection instruction input by a user for selecting the trigger switch control, controlling the first display to display an extended option corresponding to the trigger switch control; the extended option is used to determine a trigger mode of the energy device; In response to a third selection instruction input by a user for selecting the extended option, changing a display state of the extended option; When the display state of the extended option is the first state, starting the triggering mode corresponding to the extended option; When the display state of the extended option changes from the first state to the second state, the triggering mode corresponding to the extended option is stopped.

6. The energy device control system according to claim 1, characterized in that: The first controller includes a main optical fiber interface and at least one backup optical fiber interface associated with the main optical fiber interface; when the main optical fiber interface fails, the first controller is further configured to: Upon receiving the first trigger signal, acquiring a spare optical fiber interface associated with the main optical fiber interface; The first trigger signal is sent to the second controller based on the backup optical fiber interface.

7. The energy device control system according to claim 1, characterized in that: The second controller includes a main relay module and at least one backup relay module associated with the main relay module; the second controller is connected to the energy device host through the main relay module; the energy device host is connected to the energy interface of the energy device through an energy device wiring harness; The second controller is configured to: Upon receiving the first trigger signal, triggering the main relay module, so as to send the first trigger signal to the energy device host based on the main relay module, so as to start the energy device host; Sending the first trigger signal to the energy device host; Wherein, when the main relay module fails, the second controller is further configured to: Upon receiving the first trigger signal, acquiring a backup relay module associated with the main relay; The backup relay module is triggered to send the first trigger signal to the energy device host based on the backup relay module to start the energy device host.

8. The energy device control system according to claim 1, characterized in that: Also includes a third vehicle; the third vehicle includes a third controller and surgical instruments; the surgical instruments include energy instruments and non-energy instruments; The third controller is configured to: Acquiring instrument information of the surgical instrument; the instrument information at least includes the instrument type, operating status and output power of the surgical instrument; The device information is sent to the second controller.

9. The energy device control system according to claim 8, characterized in that: The first vehicle further includes a first display, and the second vehicle further includes a second display; The second controller is configured to: In response to the received device information, forwarding the device information to the first controller, and controlling the second display to display the device information; The first controller is further configured to: In response to the received equipment information, the first display is controlled to display the equipment information.

10. The energy device control system according to claim 8, characterized in that: The instrument information includes first instrument information and second instrument information; the first instrument information and the second instrument information correspond to different surgical instruments; and the second controller is further configured as follows: Acquire the first device information and the second device information; The second display is controlled to display the first device information in a first display partition, and to display the second device information in a second display partition.

11. The energy device control system according to claim 8, characterized in that: The surgical instrument comprises at least a first energy device and a second energy device; the first trolley comprises at least a first trigger group corresponding to the first energy device and a second trigger group corresponding to the second energy device; the first trigger group comprises a first trigger and a second trigger; the second trigger group comprises a third trigger and a fourth trigger; when the first energy device is in an excited state, the first controller is further configured as follows: Stop receiving the third trigger signal, or stop forwarding the third trigger signal to the second controller; the third trigger signal is a trigger signal issued by the third trigger or the fourth trigger.

12. A method for controlling an energy device, characterized in that: include: In response to the received first energy adjustment instruction, an energy value used to determine the excitation energy is set to a first energy value, and first energy information used to characterize the first energy value is sent to a controller of a second vehicle, so that the controller of the second vehicle forwards the first energy information to an energy device host, so that the energy device host determines the first energy value according to the first energy information; The first energy adjustment instruction is an instruction input by the user through an interactive device in the first vehicle; the interactive device is used to display a control interface and display a first energy adjustment control on the control interface.

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