Energy device control system and control method

Abstract

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 an interactive device. 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 vehicle and the second controller of the second vehicle, and the energy device host determines the first energy value based on the first energy information. The doctor can trigger the trigger 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. By adding an interactive device, the system allows the doctor to adjust the energy value at the doctor's end away from the energy device and the energy device host, which can improve the safety of the operation and the doctor's operating experience.

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 through the robotic arm of the surgical robot to perform surgical operations, 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 use the doctor's foot pedal to transfer the host's energy to the patient's energy device, thereby realizing the energy device's activation function. During use, existing energy devices can only be adjusted by the assistant doctor by pressing the energy level button set on the host. The doctor on the doctor's side needs to communicate frequently with the assistant doctor when controlling the surgical robot to complete 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 surgery and 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] upon 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 excited 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 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 extended options corresponding to the trigger switch control; the extended options are used to determine a triggering 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 trigger 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 primary optical fiber interface and at least one backup optical fiber interface associated with the primary optical fiber interface; when the primary optical fiber interface fails, the first controller is further configured to:

[0044] Upon receiving the first trigger signal, acquiring a backup optical fiber interface associated with the primary 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 to send the first trigger signal to the energy device host based on the main relay module 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 includes at least 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 device information, the first display is controlled to display the device information.

[0062] In some feasible embodiments, 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 to:

[0063] obtaining 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; and 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 sent 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 represent the first energy value is sent to a controller of the second vehicle, so that the controller of the second vehicle forwards the first energy information to an energy device host, causing the energy device host to determine the first energy value based on 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] As can be seen from the above technical content, 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 vehicle. 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 vehicle and the second controller of the second vehicle, and the energy device host determines the first energy value based on the first energy information. And the doctor can trigger the trigger set at the first vehicle 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 method between the doctor's end and the energy device by adding interactive devices, so that the doctor can adjust the energy value at the doctor's 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 following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0072] Figure 1 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 in 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 expanded system setting controls provided in some embodiments of the present application;

[0076] Figure 5 A schematic diagram of switching to a backup optical fiber interface when a primary 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 showing the partitioned display of surgical instrument information provided in some embodiments of the present application;

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

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

[0081] The following embodiments are described in detail, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numbers in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following embodiments are not intended to represent all possible implementations consistent with the present application. They are merely examples of systems and methods consistent with certain 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 some places in this specification, many specific technical details are described. 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 this application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstanding the main points of this application by the public.

[0084] In this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present application. However, the drawings are merely illustrative, and it should be understood that other embodiments or combinations may be utilized, and that changes in mechanical structure, physical composition, electrical components, and procedures may be made without departing from the spirit and scope of the present application.

[0085] The terms used herein below are intended only to describe specific embodiments and are not intended to limit this application. As used herein, "several," "a," "an," and "the" in the singular are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0086] The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe medical devices, including end effectors, that are 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 for the surgical tool (sometimes referred to as a "wrist") that allows the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. Instruments may also contain stored information (e.g., on a PCBA within the instrument) that is either permanent or updateable by the surgical system. Accordingly, the system can provide one-way or two-way information communication between the instrument and one or more system components.

[0087] The term "mating" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mating" can be interpreted as meaning a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled 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 would only occur if 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, a laparoscopic surgical robot typically consists of a surgeon's control platform, a patient operating platform, and an imaging platform. The surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body. The surgeon then controls the movements of a robotic arm on the patient operating platform, as well as the surgical instruments or laparoscope attached to it. The robotic arm simulates a human arm, and the surgical instruments simulate a human hand. Together, they provide the surgeon with a range of movements that mimic the human wrist while filtering out inherent hand tremors.

[0091] The imaging platform typically includes a video image capture function (most commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes optical devices that transmit 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. The video images are then transmitted to the imaging platform's host computer through steps such as photoelectric conversion. Subsequently, the processed images are displayed on the video display for observation by the assistant through image processing.

[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 degree of control. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arm and 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 robotic arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are 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 restricted by mechanical or software constraints to rotate the relevant surgical instrument around a center of motion on the surgical instrument that remains stationary relative to the patient. The center of motion is typically 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 through a transmission system, transferring the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device controlling the manipulator may be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, 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 that are compatible with the minimally invasive surgical robot. Then, when the robotic arm receives the control signal sent by the main console, it can drive the surgical instruments to perform surgical operations.

[0096] When using a surgical robot to perform surgery, a doctor can control the master robotic arm on the doctor's control platform to drive the slave robotic arm on the patient's surgical platform, thereby moving the surgical instruments mounted on the slave robotic arm to a preset position. Furthermore, if the surgical instrument is an energy instrument, the doctor can trigger the energy instrument host by triggering the trigger on the doctor's control platform, causing the energy instrument host to transmit excitation energy to the energy instrument, thereby activating the energy instrument.

[0097] Taking the energy device as a monopolar device as an example, when the main body of the energy device transmits energy, it can transmit the excitation energy 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 sequence, 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 understood that before triggering the energy device, the doctor needs to pre-set the energy value 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 to determine the energy value of the excitation energy. Then, when the energy device receives the trigger signal, the energy device will transmit the excitation energy corresponding to the energy value to the energy device.

[0099] However, the above-mentioned method of adjusting the energy value has a single control mode, so 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, doctors 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 imaging platform. The doctor control platform may be provided with an interactive device, a first trigger, and a first controller.

[0102] Among them, the interactive device can be an operation panel that supports touch operation, and the doctor can remotely adjust the energy level of the energy device host through the interactive device. This 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 can be a foot pedal arranged at the lower end of the doctor's control platform. The doctor can step on the foot pedal to make the first trigger generate a first trigger signal. The first trigger can send the first trigger signal to the first controller, and the first controller will continue to process the first trigger signal.

[0104] The first controller can be an industrial computer and a programmable logic controller (PLC) installed in an electrical control box. The industrial computer and the PLC can be connected via a network cable, and the PLC and the first trigger can also be connected via a network cable. The industrial computer and the interactive device can be connected via a serial port to achieve interaction. The PLC can receive the first trigger signal and transmit the first trigger signal to the industrial computer in the doctor's control platform via the network cable.

[0105] The second controller in the imaging platform can include an industrial computer and an energy device control board. The industrial computer can be connected to the PLC in the physician control platform via an optical fiber. The energy device control board can be connected to the industrial computer in the physician control platform via a network cable. The energy device control board can then receive a trigger signal from the industrial computer in the physician control platform and transmit the trigger signal to the energy device host.

[0106] It is understandable that the subsequent interaction between the first and second controllers can be further broken down into the interaction between the PLC in the doctor control platform and the industrial computer in the imaging platform, and the interaction between the industrial computer in the doctor control platform and the energy device control board in the imaging platform. For ease of description, the interaction between the first and second controllers will be the main focus of the subsequent description.

[0107] It should be noted that the energy device host is detachably connected to the imaging platform. The imaging platform provided in some embodiments of this application does not support communication with only one type of energy device host. The imaging platform and the energy device host can be manufactured by different manufacturers. Based on the design of the control components such as the industrial computer and the energy device control board, the imaging platform can be compatible with a variety of energy device hosts from different manufacturers.

[0108] Based on the aforementioned energy device control system design, doctors can remotely adjust the energy level of the energy device through an interactive device. This saves doctors time communicating with assistants during surgery, improves the doctor's operating experience, and alleviates 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. A physician can adjust the energy value by touching the first energy adjustment control to remotely adjust the energy level of the energy device. The first energy adjustment control corresponds to adjusting the minimum excitation energy value.

[0110] The first controller is configured 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 represent 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 may only forward the information, and the energy device host will eventually parse 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, upon receiving the first energy information, the energy device host can parse the first energy information to determine a first energy value. The first energy information can be formatted for parsing by the energy device host. Therefore, 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. Furthermore, upon receiving the first trigger signal, the energy device host can transmit excitation energy to the energy device based on the first energy value, thereby placing the energy device in an excited state.

[0118] During surgery, doctors can remotely adjust the energy level of the energy device based on the settings of the interactive device in the doctor control platform. They can also use triggers to control the energy device to transmit excitation energy to the energy device. This eliminates the need for doctors to perform surgeries at the patient's bedside, improving the doctor's operating experience and enhancing surgical safety.

[0119] After setting the excitation energy value to the first energy value, the surgeon can step on the foot 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 energy value adjustment process occurs before excitation, which helps improve surgical safety. It is understood that the process of receiving the first trigger signal and then forwarding it to the second controller can also be done by a PLC receiving the first trigger signal and forwarding it to the industrial computer of the imaging trolley.

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

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

[0123] Furthermore, during the activation of the energy device, the energy device host is configured to:

[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 control platform to transmit excitation energy to the energy device to put the energy device into an excited state.

[0126] It is understood that the triggers provided in the doctor's control console cart also include a second trigger. The second trigger corresponds to the maximum excitation energy value. That is, each energy device can correspond to a trigger group comprising two triggers, one of which is used to determine the minimum excitation energy value of the energy device, such as the first trigger; and the other trigger is used to determine the maximum 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, excitation energy corresponding to the second energy value is transmitted to the energy device to put the energy device into an excited state.

[0133] In some embodiments, the physician depresses a foot pedal corresponding to the second trigger, causing the second trigger to generate a second trigger signal and transmit it to the first controller. Upon receiving the second trigger signal, the first controller transmits the second trigger signal to the second controller, which then forwards the second trigger signal to the energy device. The energy device can then transmit excitation energy to the energy device based on the second trigger signal.

[0134] It should be noted that the second energy value may be the initial excitation energy value corresponding to the second trigger, which is used to determine the maximum excitation energy value, i.e., the second energy value is greater than the first energy value. If the doctor presses 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 a third energy value by touching the second energy adjustment control. Upon detecting the doctor's touch operation, the interactive device can send second energy information representing the third energy value to the first controller. The first controller then forwards the second energy information to the second controller, which then forwards the second energy information to the energy device host. The energy device host can then determine the third energy value based on the second energy information and, upon receiving the second trigger signal, transmit excitation energy corresponding to the third energy value to the energy device.

[0136] By integrating interactive devices into the doctor control platform, the doctor can now interact with the energy device in a variety of ways. This allows the doctor to adjust the energy level of the energy device solely on the doctor control platform, without having to communicate with an assistant. This improves the doctor's experience during surgery and thus increases surgical safety.

[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 operation by the doctor. The system setting control can be a bar and set in another area 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 to:

[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 the 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 triggering mode of the energy device.

[0140] In response to a third selection instruction input by the 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 settings interface can 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 settings interface will also display the corresponding extended options, allowing the doctor to adjust the relevant functions of the energy device control system based on the extended options.

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

[0146] For example, when a doctor taps a trigger switch control, extended options appear in the display area outside the sub-controls: trigger only the hand switch; trigger only the foot switch; and trigger both the hand switch and the foot switch. A selection indicator is also placed before the extended option, allowing the doctor to select the function corresponding to the extended option by touching it.

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

[0148] In other embodiments, when the display state of the selection indicator changes from the first state to the second state based on the doctor's touch operation, 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 via optical fiber, that is, both the first controller and the second controller are provided with an optical fiber interface. 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 to:

[0151] When the first trigger signal is received, a backup optical fiber interface associated with the primary 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 primary fiber optic interface is associated with a backup fiber optic interface, which is configured identically to the primary fiber optic interface so that, in the event of a failure of the primary fiber optic interface, the backup fiber optic interface can replace the primary fiber optic interface for communication with the energy device. In some embodiments, when establishing a communication connection using an optical fiber to connect the primary fiber optic interface, the functioning of the primary fiber optic interface can be determined by observing whether the primary fiber optic interface responds. For example, the indicator light on the primary fiber optic interface can be observed to determine whether it is functioning properly. If the indicator light is abnormal, this indicates that the primary fiber optic interface is abnormal, and a fiber optic connection to the backup fiber optic interface is required to establish a communication connection.

[0154] In other embodiments, when a controller uses a primary optical fiber interface to communicate with an energy device, if the primary optical fiber interface fails, the controller may receive a fault message and, based on the fault message, mark the primary optical fiber interface that generated the fault message to locate a backup optical fiber interface associated with the primary optical fiber interface. Once the backup optical fiber interface is located, a communication connection may be established between the backup optical fiber interface and the energy device via optical fiber. This allows maintenance of the failed controller by simply replacing the optical fiber connection on the controller where the primary optical fiber interface failed, thereby reducing controller maintenance time and the likelihood of surgical delays. The failed primary optical fiber interface can be repaired after the surgical procedure is completed.

[0155] It is understandable that the controller can be provided with not only a spare fiber optic interface but also other redundant interfaces. The redundant interfaces can 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 follows:

[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] In an embodiment where the second controller includes an energy device control board, the main relay module can be arranged 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] By installing a backup relay module on the controller, the controller doesn't need to be replaced when the main relay fails, saving debugging and maintenance time and reducing surgical preparation time. Furthermore, the redundant fiber optic interface and relay modules improve the emergency response capabilities of the energy device control system. In the event of a fiber optic interface or relay failure, maintenance can be completed by simply replacing the fiber optic interface or relay, restoring the energy device control system to normal operation.

[0165] In some embodiments, the energy instrument control system further includes a third vehicle. The third vehicle includes a third controller and surgical instruments. The surgical instruments may include energy instruments and non-energy instruments. The third controller is configured to:

[0166] Obtain instrument information of the surgical instrument; the instrument information includes at least 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 assembled on an instrument box set on the robotic arm. The instrument box can have an RFID board built into it. When the surgical instrument is assembled 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 obtaining 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 robotic arm to activate, so as to accurately activate the energy instrument.

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

[0174] It is understandable that displays can be set up on both the doctor control platform and the image platform to display instrument information, thereby making it easier for doctors to understand key information such as the type, power, and number of uses of surgical instruments. This is conducive to improving the doctor's operating experience and the safety of the surgery.

[0175] In some embodiments, during the operation, the doctor can use his left and right hands to control the master robotic arm to drive the two slave robotic arms to move. In addition, the surgical instruments on the two slave robotic 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 to:

[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, zoned display can mean displaying image data, such as that captured by an endoscope, in a designated zone, while also displaying surgical instrument information in the surrounding area. This information can include various information, such as the instrument's operating power, device model, and operating parameters. For example, for energy instruments, the color and function of the corresponding foot pedal can 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 area and the second device information in the second display area.

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

[0181] It should be noted that different slave robotic arms in the patient surgical platform can be equipped with different energy devices. During the operation, the surgeon can switch control of the slave robotic arms by operating the switch on the surgeon's control platform, thereby using different energy devices. However, for different energy devices, the surgeon's control platform can be equipped with multiple trigger groups to achieve corresponding control of the energy devices. That is, the surgical instruments 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 depends only on the doctor's memory and operating habits to trigger, which may easily cause the pedal to be triggered by mistake, thereby causing the energy device to be triggered by mistake and 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 it to be triggered by mistake. Therefore, in order to improve the safety of surgery, Figure 8 and Figure 9 As shown, when the first energy device is in the 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 the 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 surgical safety.

[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 the first energy adjustment control on the control interface.

[0189] It is understood that the described energy device control method can be applied to a surgical robot system comprising a physician control platform, an imaging platform, and a patient surgical platform, and can be used to control the activation and deactivation of energy devices on the patient surgical platform. This allows the physician, from the physician control platform, to remotely control the energy device host to adjust the energy level and transmit excitation energy to the energy device. This improves the physician's operating experience and surgical safety.

[0190] As can be seen from the above technical content, 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 vehicle. 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 vehicle and the second controller of the second vehicle, and the energy device host determines the first energy value based on the first energy information. And the doctor can trigger the trigger set at the first vehicle 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 method between the doctor's end and the energy device by adding interactive devices, so that the doctor can adjust the energy value at the doctor's 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 overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without expending creative work shall fall within the scope of protection of this application.

Claims

1. An energy device control system, characterized in that: include: 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 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: determining the first energy value according to the received first energy information; The first controller is further configured to: Upon 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 excited state.

2. 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 as 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.

3. The energy device control system according to claim 2, 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 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.

4. 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 interactive device 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 interactive device to display extended options corresponding to the trigger switch control; the extended options are used to determine a triggering 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 trigger 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.

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

6. 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 to send the first trigger signal to the energy device host based on the main relay module 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 module; 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.

7. The energy device control system according to claim 1, characterized in that: Also included is 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 includes at least the instrument type, operating status, and output power of the surgical instrument; The device information is sent to the second controller.

8. The energy device control system according to claim 7, 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 device information, the first display is controlled to display the device information.

9. 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 to: obtaining 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.

10. The energy device control system according to claim 7, characterized in that: 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: 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.

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