Driver controlled by multi-axis linkage automatic water jet cutter, main control unit, system and method

Abstract

The invention provides a driver, a main control unit, a system and a method for multi-axis linkage automatic water jet control, and the driver comprises a main power circuit, a control circuit, a current detection unit and a position detection unit. The main power circuit, the current detection unit and the position detection unit are respectively connected with the control circuit; the main power circuit is used for generating energy for driving the motor to rotate; the motor is used for providing power for an action unit of the automatic water jet cutter; the current detection unit is used for detecting current information of the main power circuit and outputting the current information to the control circuit; the position detection unit is used for detecting position information of the motor and outputting the position information to the control circuit; and the control circuit is used for controlling the action of the motor through the inversion module.

Description

Technical Field

[0001] The present application relates to the field of water jet automation control, and in particular to a driver, a main control unit, a system and a method for multi-axis linkage automatic water jet control in a medical water jet surgical system. Background Art

[0002] The existing water jet robot control system usually directly uses the control system that comes with the robot system. This type of control system has two obvious defects: the control system that comes with the robot system realizes multi-axis linkage movement of the surgical instrument device clamped by the robot, and usually uses FPGA as the main control end to solve the synchronization / real-time problem of multi-axis linkage movement. However, this type of solution is costly and difficult to expand functions because it is integrated in the robot's own control system.

[0003] For medical water jet surgical systems, the ideal multi-axis motion includes not only the motion control of the surgical instrument end (i.e., the water jet body), but also the flow rate / flow / pressure control of the high-pressure water jet unique to the water jet, and / or the suction flow rate / flow / pressure control of the accumulated liquid sprayed by the high-pressure water jet in the surgical environment. Obviously, conventional robotic systems cannot meet the synchronization requirements of complex multi-axis linkage control. Summary of the invention

[0004] In order to solve the above problems, the present application provides a driver, a main control unit, a system and a method for multi-axis linkage automatic water jet control, which realizes multi-axis synchronous control and high real-time response of the automatic water jet.

[0005] On the one hand, the present application provides a driver for multi-axis linkage automatic water jet control, characterized in that the multi-axis linkage automatic water jet includes a linear motion action axis, a rotary motion action axis, a high-pressure jet pump action axis, and / or a suction pump action axis, and the driver is used for synchronous drive control between the linear motion action axis, the rotary motion action axis, the high-pressure jet pump action axis, and / or the suction pump action axis, and is respectively arranged in the action axis participating in the synchronous drive control, and the driver includes: a main power circuit, a control circuit, a current detection unit and a position detection unit; the main power circuit, the current detection unit and the position detection unit are respectively connected to the control circuit; the main power circuit is used to generate energy to drive the motor to rotate; the motor provides power for the action unit in the action axis participating in the synchronous drive control; the current detection unit is used to detect the current information of the main power circuit, and output the current information to the control circuit; the position detection unit is used to detect the position information of the motor, and output the position information to the control circuit; the control circuit is used to generate a PWM signal based on the captured time reference signal from the time reference bus and control the action of the motor.

[0006] Furthermore, the main power circuit includes a high-voltage switching power supply, an isolation drive circuit, a rectifier circuit and an inverter module. The control circuit is used to generate a control signal and output the control signal to the inverter module through the isolation drive circuit; the rectifier circuit is respectively connected to the high-voltage switching power supply and the inverter module, and the high-voltage switching power supply is also connected to the isolation drive circuit.

[0007] Furthermore, the driver for multi-axis linkage automatic water jet control is characterized in that it also includes an isolation circuit for receiving a time reference signal and decoding the time reference signal into time information and outputting it to the control circuit.

[0008] Furthermore, the driver for multi-axis linkage automatic water jet control is characterized in that it also includes a buffer for storing motion trajectories.

[0009] In the second aspect, the present application provides a main control unit for multi-axis linkage automatic water jet control, including: a time generator and an ARM / MCU unit, the main control unit is used to connect to the control circuit of the driver of the multi-axis linkage automatic water jet control as described above through a CAN bus, the time generator is used to generate a synchronous clock signal, and is connected to the driver of the multi-axis linkage automatic water jet control through a time reference bus.

[0010] In the third aspect, the present application provides a system for multi-axis linkage automatic water jet control, including the driver for multi-axis linkage automatic water jet control, and the main control unit for multi-axis linkage automatic water jet control as described above, and the driver is connected to the main control unit via a CAN bus and a time reference bus respectively.

[0011] Furthermore, the system for multi-axis linkage automatic water jet control comprises a host computer, multiple motors, multiple action units and multiple drivers; the host computer is connected to the main control unit, the main control unit is connected to the multiple drivers, the multiple drivers are connected to the multiple motors one by one, and the multiple motors are connected to the multiple action units one by one.

[0012] Furthermore, the host computer is connected to the ARM / MCU unit via Ethernet; the multiple action units include a linear motion action unit, a rotational motion action unit, a high-pressure jet pump action unit and / or a suction pump action unit.

[0013] In a fourth aspect, the present application provides a method for multi-axis linkage automatic water jet control, which is applied to the multi-axis linkage automatic water jet control system, and the method comprises: The host computer receives the surgical information and transmits the surgical information to the main control unit; the main control unit generates a synchronous clock signal, outputs the synchronous clock signal to the driver through a time reference bus, and outputs the surgical information to the driver through a CAN bus; The driver decodes the synchronous clock signal to obtain time information, and based on the time information and the driver controls the multiple action units one by one through the multiple motors.

[0014] Furthermore, the main control unit is also used to receive surgery enabling information for starting the work; the surgery information includes surgery planning path information and medical monitoring information.

[0015] Compared with the prior art, the driver, main control unit, system and method of the multi-axis linkage automatic water jet control of the present application can realize precise, efficient and high real-time multi-axis synchronous control, improve the real-time performance and control accuracy of the system, significantly improve the accuracy and efficiency of surgery, and at the same time reduce the cost and risk of electrical interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the present application, the drawings of the specification of the present application will be described and illustrated below. Obviously, the drawings in the following description only illustrate certain aspects of some exemplary embodiments of the present application, and it is possible for a person of ordinary skill in the art to obtain other drawings based on these drawings without creative work.

[0017] Figure 1 It is a first architecture diagram of a system for multi-axis linkage automatic water jet control according to an embodiment of the present disclosure.

[0018] Figure 2 It is a design architecture diagram of a driver for multi-axis linkage automatic water jet control according to an embodiment of the present disclosure.

[0019] Figure 3 It is a second architecture diagram of a system for multi-axis linkage automatic water jet control according to an embodiment of the present disclosure.

[0020] Figure 4 It is a time base bus hardware and software design architecture diagram of a system for multi-axis linkage automatic water jet control according to an embodiment of the present disclosure.

[0021] Figure 5 It is a schematic diagram of the architecture of the data transmission direction and the source of the control signal during water jet robot surgery in a system for multi-axis linkage automatic water jet control according to an embodiment of the present disclosure.

[0022] Figure 6It is a schematic diagram of a specific signal flow of a water jet robot surgery process in a method for multi-axis linkage automatic water jet control according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] Various exemplary embodiments of the present application are described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is by no means intended to limit the present application and its application or use. The present application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present application thorough and complete and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise stated, the relative arrangement of the components and steps, numerical expressions, and numerical values, etc., described in these embodiments should be interpreted as being merely exemplary, rather than as limitations.

[0024] The words “include” or “comprising” and the like used in this application mean that the elements preceding the words include the elements listed after the words, and do not exclude the possibility of also including other elements.

[0025] All terms (including technical terms or scientific terms) used in this application have the same meaning as those understood by ordinary technicians in the field to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be understood to have the same meaning as their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined in this article.

[0026] Components not described in detail in this section, parameters such as specific models of components, relationships between components, and control circuits may be considered as technologies, methods, and equipment known to ordinary technicians in the relevant fields, but in appropriate circumstances, such technologies, methods, and equipment should be considered as part of the specification.

[0027] In order to better understand the present application, its specific implementation method will be described in detail below, including hardware design, software design and functional design.

[0028] The solution proposed in this application is suitable for a water jet robot control system.

[0029] The water jet robot control system usually involves multi-axis linkage motion. The multi-axis linkage motion of the water jet robot includes the following actions: The motion of the water jet cutter body in each axis, which refers to the motion of the water jet cutter body in different dimensions in a spatial environment, such as linear motion along the axial direction of the instrument axis, rotational motion around the axial direction of the instrument axis; and / or, The action of the water jet spraying a high-pressure water jet refers to that the high-pressure water jet is sprayed out from the knife hole through the inner cavity defined by the water jet body, and the sprayed high-pressure water jet cuts / ablates the target tissue in the target area. The range of the cutting / ablation effect formed after the high-pressure water jet is sprayed is related to the flow rate / flow control of the water jet and the pressure applied by the pump that provides high pressure for the water jet. Therefore, by adjusting the flow rate or flow of the water jet, the cutting / ablation length of the water jet can be adjusted, and by adjusting the pump pressure of the high-pressure water jet, the effect of adjusting the cutting / ablation length of the water jet can also be achieved; and / or, The action of sucking the liquid in the operating environment refers to that when a high-pressure water jet is sprayed to perform intracavitary surgery (for example, in a surgical environment of transurethral water jet cutting of prostate hyperplasia), the sprayed water jet will achieve cutting / ablation. If it is not extracted in time, undesirable liquid accumulation will form in the cavity. Therefore, a suction pump is required to suck the sprayed liquid out of the body through a suction pipe. Usually, the suction flow rate / flow rate is roughly equal to the flow rate / flow rate of the water jet, or in some cases the former is slightly larger than the latter; accordingly, the working parameters such as the pump pressure of the suction pump can be determined according to the required suction flow rate / flow rate.

[0030] In high-precision automatic water jet surgery scenarios, especially automatic water jet robot surgery scenarios based on surgical planning or surgical navigation, it is necessary to accurately control the aforementioned actions of the water jet. This is because, on the one hand, by controlling the movements of the axes of the water jet body, the movement position of the water jet body can be determined, and then the physical position of the knife hole that sprays the water jet can be determined. In addition, by controlling the spraying action of the water jet high-pressure pump, the position of the point of action formed by the sprayed water jet can be determined. Furthermore, in an immersion high-pressure water jet environment, the size of the surrounding water pressure directly affects the range of action formed by the water jet, and then affects the position of the water jet point of action. Therefore, by controlling the liquid suction action of the suction pump, it can be jointly affected and determined with the spraying action of the water jet high-pressure pump. As the point of action for ablation / resection of tissue, the position of the water jet point of action is the most critical information for controlling the automatic water jet system to perform surgery according to the planned path, so it is necessary to accurately control the aforementioned actions.

[0031] However, due to the differences between the various control units, the coordination of the various motion control units may have errors during the actual working process. The closed-loop control mechanism of monitoring and feedback can solve this error to a certain extent, but this solution is usually delayed. In order to further improve the control accuracy, it is also necessary to ensure that the aforementioned motion control units can achieve synchronous and high-real-time collaborative work.

[0032] See also Figure 1, is a system for multi-axis linkage automatic water jet control proposed in this application, including a driver for multi-axis linkage automatic water jet control and a main control unit for multi-axis linkage automatic water jet control, wherein the driver is connected to the main control unit via a CAN bus and a time reference bus respectively. The multi-axis linkage control unit includes one (embedded) main control unit and multiple drivers, each of which is connected to a motor to control the motor movement, and the motor movement then drives the specific movement of each action unit. Among them, the embedded main control unit and multiple dedicated driver parts are a multi-axis linkage control unit, which converts the command information of the host computer into motor execution parameters, controls each motor, and then controls the respective movements and coordinated movements of each action unit. Dedicated drivers 1, 2, 3, and 4 are four identical motor drivers that control four different motors, and each motor provides power for different action units.

[0033] exist Figure 1 In the multi-axis linkage automatic water jet control system shown, the linear motion action unit, motor 1, and dedicated driver 1 constitute a motion control and action unit from one "axis"; the rotational motion action unit, motor 2, and dedicated driver 2 constitute a motion control and action unit from one "axis"; the high-pressure jet pump action unit, motor 3, and dedicated driver 3 constitute a motion control and action unit from one "axis"; the suction pump action unit, motor 4, and dedicated driver 4 constitute a motion control and action unit from one "axis". Although the field of mechanical control usually defines an axis as a direction of motion that can be independently controlled in a machine tool or mechanical device (such as a linear motion axis or a rotational motion axis), in this article, the concept of an axis is not limited to this. This is because the specific actions of the high-pressure jet pump and the suction pump in the automatic water jet are also independently controllable movements that affect the position of the water jet action point. Therefore, Figure 1 As shown, the high-pressure jet pump action unit and the corresponding motor and driver also form a motion control and action unit of an axis, and the suction pump action unit and the corresponding motor and driver also form a motion control and action unit of an axis. It should be understood that the present application expands the definition of the control axis of the automatic water jet and proposes an improved multi-axis linkage control unit based on this. This expansion is not limited to Figure 1 The four-axis linkage shown can also be included in the multi-axis linkage range if there are other controllable dimensions that may affect the surgical effect (such as the position of the action point), such as expanding to a five-axis linkage or a six-axis linkage solution.

[0034] According to an embodiment of the present application, a driver for multi-axis linkage automatic water jet control is provided, characterized in that the multi-axis linkage automatic water jet includes a linear motion action axis, a rotary motion action axis, a high-pressure jet pump action axis, and / or a suction pump action axis, and the driver is used for synchronous drive control between the linear motion action axis, the rotary motion action axis, the high-pressure jet pump action axis, and / or the suction pump action axis, and is respectively arranged in the action axis participating in the synchronous drive control, and the driver includes: a main power circuit, a control circuit, a current detection unit and a position detection unit; the main power circuit, the current detection unit and the position detection unit are respectively connected to the control circuit; the main power circuit is used to generate energy to drive the motor to rotate; the motor provides power for the action unit in the action axis participating in the synchronous drive control; the current detection unit is used to detect the current information of the main power circuit, and output the current information to the control circuit; the position detection unit is used to detect the position information of the motor, and output the position information to the control circuit; the control circuit is used to control the action of the motor through a PWM signal and a time reference signal.

[0035] By adopting ARM / MCU as the embedded main control unit and using product-level dedicated driver design, linkage control is achieved by improving the operating speed and synchronization performance of the control end. At the same time, multiple drivers are used in parallel, which can effectively solve the synchronous high real-time control and scalability of the multi-axis linkage motion of the water jet robot system.

[0036] like Figure 2 As shown, the hardware part of the dedicated driver includes a control circuit, a main power circuit, a current detection unit and a position detection unit; the main power circuit, the current detection unit and the position detection unit are connected to the control circuit respectively; the main power circuit is used to generate energy to drive the motor to rotate; the motor is used to provide power for the action unit of the automatic water knife; the current detection unit is used to detect the current information of the main power circuit and output the current information to the control circuit; the position detection unit is used to detect the position information of the motor and output the position information to the control circuit; the control circuit is used to control the action of the motor through the inverter module. Among them, the high-voltage switching power supply, the rectifier circuit and the inverter module are the main power circuit of the dedicated driver, which serve as the energy to drive the motor to rotate; the position detection signal, the current detection signal and the time reference signal are the input signals of the control circuit, and PWM is the output signal output by the control circuit for controlling the speed of the motor.

[0037] Among them, the control circuit is based on DSP / MCU, and DSP / MCU is selected as the main control chip of the driver. The specific model of DSP or MCU can be selected according to the motor type and control requirements. Among them, DSP is mainly used in high-performance real-time control occasions, especially suitable for the motor drive control scenario of water jet surgical robot, and is preferred.

[0038] The time reference signal is sent to the control circuit of the dedicated driver through the isolation circuit; accordingly, the control circuit sets 1~2 common IO signals or communication signals, corresponding to the time reference bus signal of the main control unit, for receiving the time reference bus signal from the main control unit to achieve synchronous control of the motion motors of each axis of the water jet surgical robot. The control circuit can also obtain the time reference signal through the IO interface, input capture module, or other communication module set on the DSP / MCU. It should be noted that Figure 2 The isolation circuit in Figure 5 The time receiver is also Figure 4 The decoding unit in has substantially the same functions.

[0039] The control circuit is provided with a PWM signal interface for outputting an output signal for controlling the rotation speed of the motor to each axis motion motor of the water jet surgical robot. The PWM signal interface adopts a high-resolution (at least 12-bit) PWM controller to achieve high-precision motor speed control. The control circuit generates a PWM signal based on the captured time reference signal from the time reference bus and controls the action of the motor.

[0040] The control circuit is also provided with an RS-485 communication interface for parameter configuration and status feedback of the driver unit, so as to monitor the working status of each axis of the water jet by tracking the status feedback signal.

[0041] The main power circuit part of the dedicated driver uses ADI digital isolation as the core device. The DSP / ARM outputs PWM signals to isolate and drive the IGBT (i.e., the isolation drive circuit) to achieve control of the power circuit.

[0042] The dedicated driver also has a current detection unit and a position detection unit. Considering that in the water jet surgical robot, the working current of the motor and the feedback of the motor position are the core parameters for implementing the motor drive control algorithm, the collection of these parameters is crucial.

[0043] Furthermore, in the current detection unit, the collection of current requires control loop isolation. For the water jet surgical robot scenario, the general Hall acquisition method may no longer be applicable due to its large size, low precision, and difficulty in achieving higher precision requirements. Preferably, the collected current signal is modulated and converted at high speed. For example, ADI's ADuM7703 isolated Σ-Δ modulator is used to convert the analog input signal into a high-speed (maximum frequency is 20 MHz) single-bit data stream; the average time for the modulator to output each bit of data is directly proportional to the input signal. In this way, it is beneficial to obtain the detection signal in high real time and use it for feedback control.

[0044] In the motor position detection unit, in order to detect the motor rotor position, a photoelectric encoder can be used to detect the movement position of the rotor.

[0045] The driver unit software design can be designed using C language or Verilog language. Preferably, the underlying driver is written in C language to ensure the efficiency of direct exchange with the hardware. The MCU / DSP control circuit includes a software module for realizing the reception and transmission of CAN messages by the MCU / DSP control circuit and parsing the CAN messages transmitted by the embedded main control unit. The CAN controller area network (CANopen) protocol stack is implemented to support communication with the main control unit. The MCU / DSP control circuit also includes a software module for capturing time reference bus messages, decoding and using them as control references. By designing an event scheduler based on the time reference bus, accurate scheduling of motor control tasks is achieved. The MCU / DSP control circuit also includes a software module for realizing PWM and PID linkage motor control, as well as queue data management and timer interrupt functions, wherein a PID controller or an ADRC (adaptive dynamic robust control) algorithm is implemented, and the PWM and PID linkage motor control based on the time reference bus scheduling can achieve further optimization of motor synchronization and linkage control performance.

[0046] Based on the hardware circuit and software module design of the dedicated driver of the present application, further, a method for driver parsing control instructions is specially designed. Taking the execution of automatic water jet surgery as an example, the driver parses the surgical control method as a specially designed check and compensate control mode, which is different from the traditional interpolation control mode. When the traditional check and compensate control mode is controlled, the embedded main control unit configures the motor position and gives the motor a rotation signal through the CAN bus. The embedded main control unit can only write one position to one rotation signal at a time. In actual control, the CAN bus needs to configure the target position of each axis and provide a rotation signal to each axis. The driver plans the movement according to the timer. When multiple axes require high real-time synchronous rotation, they are limited by the read and write speed of the CAN bus of the embedded main control unit and the internal time of each driver cannot be unified, so the conditions cannot be met. Different from this, in the present application, the time corresponding to each position in the driver interpolation control method is the time parsed by the time reference bus, rather than controlling the position of the motor according to the time generated by the internal clock of the driver. The specific control is realized by controlling the motor to reach different designated positions at different time points according to the trajectory information sent to the driver by the embedded main control unit and the time reference bus. The embedded main control unit can synchronously control the rotation of motors on different axes as long as it encodes the time point and outputs it to the time reference bus.

[0047] Combine the following Figure 3 The specific hardware and software design of the embedded main control unit in the multi-axis linkage control unit of the present application is described in detail.

[0048] The hardware circuit of the embedded main control unit preferably uses ARM / MCU as the main control chip, and the peripheral circuit around the ARM / MCU chip includes a reset circuit, a real-time clock circuit, an SDRAM memory, a FLASH storage module, and various other input and output IO interfaces, CAN, and a network port; wherein, CAN and Ethernet interfaces are designed for communication with the host computer and other devices. In some embodiments, a communication circuit including CAN 2.0B and Ethernet 100Base-TX interfaces is designed to meet the communication requirements of the field bus and the local area network. The Ethernet network port is used for communication with the host computer software, receiving information from, for example, a human-machine interface and trajectory information based on image planning. The CAN data configuration bus adopts the standard CAN hardware protocol. In the system provided in the present application, a new driver time reference bus routed to the ARM / MCU output needs to be set up in the embedded main control unit, and the time reference bus can be realized by a common IO port, a universal communication interface, or a differential signal output by the ARM / MCU; in order to ensure the stability of the output, it can also be realized by two or more of the aforementioned interface methods.

[0049] A reset circuit is also designed in the embedded main control unit to ensure stable operation of the system. In some embodiments, a multi-level reset circuit including a power-on reset and a watchdog reset is included to ensure system stability. Furthermore, the real-time clock circuit is used to provide an accurate time reference. In some embodiments, the real-time clock circuit uses a temperature compensated crystal oscillator to provide a high-precision time reference. SDRAM memory and FLASH storage module are used for data storage and program storage. In some embodiments, the SDRAM memory is at least 256MB, and the FLASH storage module is at least 512MB, which are used to store operating systems, applications and data. A storage area dedicated to motion trajectory planning needs to be set in the FLASH storage module as a motion trajectory storage buffer.

[0050] For the embedded master control unit software design, it is used to cooperate with the hardware circuit to realize the command parsing from the host computer, and send the parsed control instructions and time reference signals to the dedicated drivers of each axis. On the embedded master control unit side, you can use C++, QT, Python and other languages ​​to write software. Adopt modular design, use C++ to write the core control algorithm, QT for graphical user interface, Python for script processing and rapid prototyping. Implement multi-task scheduling based on TROS to ensure the real-time and stability of the system. Implement the underlying architecture such as GRPC, queues, data structures, and device trees. Process messages across threads and processes to realize command line debugging and network communication. Drive development to enable the application layer to call hardware interfaces. Use GRPC to achieve efficient and secure communication with the host computer. Design CAN communication protocol stack to realize real-time data exchange with the drive unit. Implement a data storage mechanism based on the file system to ensure the security and reliability of the motion path.

[0051] In order to provide more accurate real-time and synchronous control, the solution proposed in this application also includes a synchronous clock line. Figure 4 , a specific design example of the synchronous clock line is described: Hardware implementation of synchronous clock line: In this embodiment, through two ordinary IO outputs, these two ordinary IOs are used to generate time reference signals. After the signal is output, the transmitted single-ended signal is converted into a differential signal through the AD3138 chip, which can more effectively ensure the stability of the time transmission signal. Therefore, although the aforementioned ordinary or universal communication interface can be used to realize the transmission of the time reference signal, the solution of converting it into a differential signal is still preferred. The main control unit sends the differential signal through the bus, and at the driver end, the received differential signal is converted into a single-ended signal through AD3138.

[0052] Accordingly, the driver unit is provided with a synchronous clock interface, and each driver unit is designed to include a synchronous clock receiver for receiving and locking the clock signal from the main control unit; the receiver for receiving the clock signal is designed to have high anti-interference capability, and can quickly lock and track the clock signal to ensure synchronization accuracy.

[0053] Considering the synchronous characteristics of the synchronous clock signal, the main power circuit is configured to synchronize the generation of the PWM signal with the received and resolved clock signal to achieve precise motor control.

[0054] Preferably, digital isolation technology, such as ADI's iCoupler, is used to ensure the isolation of the synchronous clock signal between the master control unit and the driver unit to prevent potential electrical interference.

[0055] The software design of the synchronous clock line includes the following aspects: Software management of synchronous clock signals: The software design of the main control unit includes a clock management module for generating and managing synchronous clock signals; the clock management module is responsible for adjusting the frequency and phase of the clock signal according to system requirements to adapt to different control scenarios.

[0056] Synchronous clock processing of the drive unit: The software design of the drive unit includes a clock synchronization module, which is used to receive, lock and track the synchronous clock signal sent by the main control unit; the clock synchronization module ensures that the control algorithm of the drive unit is strictly aligned with the synchronous clock signal to achieve precise timing control.

[0057] In terms of control algorithm, the synchronous clock signal is considered to ensure that the triggering and execution of the motor control task are synchronized with the clock signal; preferably, the updating of the PWM signal and the sending of the motor control command are based on a specific phase or period of the synchronous clock signal.

[0058] According to a preferred embodiment, the synchronous clock in the present application can be dynamically adjusted. In the software design of the main control unit, the driver unit, and the control algorithm, the synchronous clock signal is allowed to be dynamically adjusted to adapt to the real-time feedback and control demand changes during the operation. This dynamic adjustment can be local or systematic. For example, the driver unit and the control algorithm can perform local negative feedback adjustment on the received clock signal based on the feedback of the driver unit; the main control unit can adjust the clock signal parameters in real time based on the system status and performance feedback to optimize the system performance.

[0059] in, Figure 4 The coding unit and Figure 5 The time generator functions are consistent with the Figure 4 The decoding unit in Figure 5 The time receiver functions are the same as in .

[0060] The message logic of the multi-axis linkage control unit provided in this application is as follows Figure 5 As shown: The embedded main control unit receives control requests from the host computer and input devices, parses and outputs them to the driver unit. Specifically, the embedded main control unit receives surgical planning specifications or motion instructions from the host computer, parses and converts them into specific motor control commands, and sends the control commands to each motor driver control unit through the CAN bus, and encodes the time. The time generator of the embedded main control unit sends the encoded time signal to the time receiver of the motor driver control unit through a dedicated time reference bus. The time receiver of the motor driver control unit decodes the time signal into time information after receiving it and sends it to the ARM / MCU control unit of the driver to form a synchronous control signal for the motor.

[0061] In the process of performing surgery using the automatic water jet control system provided by this application, the specific process is as follows: Figure 6 As shown: The host computer plans the motion path of each axis and sends data to the main control unit.

[0062] The main control unit configures the motion path data of the dedicated driver to generate control instructions corresponding to the motor position and time. Specifically, the main control unit parses and stores the motion path data in FLASH (driver motion trajectory storage buffer), and calculates the start time and position of each axis.

[0063] At the beginning of the operation, the main control unit synchronizes all drivers through the time reference bus to ensure that each axis moves at the predetermined time point. The driver accurately controls the motor to reach the specified position or speed based on the time reference bus and the stored motion path data. During the operation, the main control unit monitors the status of each axis in real time to ensure the smooth progress of the operation.

[0064] In a more detailed surgical implementation process, the following steps may also be included: After the system is powered on, the main control unit performs a self-check and initializes all hardware devices, including the configuration of the synchronous clock line. The driver unit receives the initialization instruction from the main control unit, completes its own initialization process, and prepares to receive the synchronous clock signal.

[0065] The main control unit is equipped with a dedicated IO port or communication interface to generate and distribute synchronous clock signals. All drive units receive the synchronous clock signal from the main control unit through a dedicated clock line to ensure the consistency of the clock signal.

[0066] The host computer generates G code using CAD / CAM software according to surgical requirements and sends it to the main control unit.

[0067] The main control unit receives the G code, parses and converts it into motor control instructions, and stores it in FLASH. The main control unit calculates the start time and position of each axis and sends it to the drive unit through the CAN bus. At the same time, the main control unit generates a synchronous clock signal to ensure that all drive units can operate based on a unified time base.

[0068] At the beginning of the operation, the main control unit sends a start command and synchronizes all driver units. The driver unit receives the start command and the time reference bus and controls the motor movement according to the preset motion path data. Specifically, the main control unit sends a synchronization signal through the synchronization timeline. After all drivers receive the synchronization signal, they start to execute the motion control task according to the preset time reference. The driver unit controls the motor to accurately reach the specified position based on the received synchronization clock signal and the stored motion path data, realizing multi-axis synchronous motion.

[0069] The main control unit monitors the operating status of each axis in real time and feeds back to the operator through the human-machine interface. If necessary, the main control unit can adjust the motion path or control parameters based on the feedback information. Specifically, the main control unit dynamically adjusts the motion path or control parameters based on the feedback information and the synchronous clock signal to cope with any changes during the operation. If necessary, the main control unit can dynamically adjust the frequency or phase of the synchronous clock signal to adapt to different requirements during the operation and ensure the synchronization and real-time performance of each axis.

[0070] After completing all the scheduled movements, the main control unit issues an end command, and all drive units stop moving. The system enters standby mode, waiting for the next operation command. The end command can be notified to all drive units through the synchronous clock line.

[0071] Through the above implementation, the automatic water jet system of the present application can provide stable and reliable multi-axis synchronous control while ensuring high precision and high real-time performance. The application of the synchronous clock line ensures that all drive units can be accurately controlled based on a unified time reference, thereby achieving efficient collaborative work during complex surgical procedures.

[0072] This application can achieve precise synchronization between multiple drivers by using a synchronous clock line based on ARM / MCU, which is crucial for water jet robots that require high-precision cutting paths; the synchronous clock line ensures that all motor drivers can receive control signals at the same time, thereby reducing control delays and improving the response speed of the system; through the collaborative design of hardware and software, the system can remain stable under various operating conditions, reducing the probability of system failures due to synchronization errors; the use of digital isolation technology and differential signal transmission reduces the impact of electromagnetic interference on control signals and improves the reliability of the system; and can support the execution of more complex and sophisticated surgical operations and improve the success rate of surgery.

[0073] By integrating CAN communication and Ethernet interfaces, the integration of the water jet robot with the host computer and other peripheral devices is simplified, making it easier to implement more complex automated control processes. Compared with more expensive solutions such as FPGA, the ARM / MCU-based control system can significantly reduce costs while maintaining high performance.

[0074] In addition, the solution provided in this application supports multi-axis control, and the dedicated driver design allows adjustment of control parameters according to specific application requirements, such as the frequency and phase of the PWM signal, which increases the flexibility of the control strategy; it facilitates future system expansion and increases the control capability of more axes to adapt to more complex surgical or monitoring requirements.

[0075] It should be understood that the specific embodiments described above are only used to explain the present application, and the protection scope of the present application is not limited thereto. Any technical personnel familiar with the technical field can make changes, substitutions, and combinations within the technical scope disclosed in the present application according to the technical solution and concept of the present application, which should be covered by the protection scope of the present application.

Claims

1. A driver for multi-axis linkage automatic water jet control, characterized in that: The multi-axis linkage automatic water jet includes a linear motion action axis, a rotary motion action axis, a high-pressure jet pump action axis, and / or a suction pump action axis. The driver is used for synchronous drive control between the linear motion action axis, the rotary motion action axis, the high-pressure jet pump action axis, and / or the suction pump action axis, and is respectively arranged in the action axes participating in the synchronous drive control. The driver includes: a main power circuit, a control circuit, a current detection unit, and a position detection unit; the main power circuit, the current detection unit, and the position detection unit are respectively connected to the control circuit; The main power circuit is used to generate energy to drive the motor to rotate; the motor provides power for the action unit in the action shaft participating in the synchronous drive control; The current detection unit is used to detect the current information of the main power circuit and output the current information to the control circuit; The position detection unit is used to detect the position information of the motor and output the position information to the control circuit; The control circuit is used for generating a PWM signal based on a captured time reference signal from a time reference bus and controlling the action of the motor.

2. The driver for multi-axis linkage automatic water jet control according to claim 1, characterized in that: The main power circuit includes a high-voltage switching power supply, an isolation drive circuit, a rectifier circuit and an inverter module. The control circuit is used to generate a control signal and output the control signal to the inverter module through the isolation drive circuit; the rectifier circuit is connected to the high-voltage switching power supply and the inverter module respectively, and the high-voltage switching power supply is also connected to the isolation drive circuit.

3. The driver for multi-axis linkage automatic water jet control according to claim 2, characterized in that: The device also includes an isolation circuit for receiving a time reference signal and decoding the time reference signal into time information and outputting the time information to the control circuit.

4. The driver for multi-axis linkage automatic water jet control according to claim 3, characterized in that: A buffer for storing the motion trajectory is also included.

5. A main control unit for multi-axis linkage automatic water jet control, characterized in that: include: A time generator and an ARM / MCU unit, wherein the main control unit is used to be connected to the control circuit of the driver of the multi-axis linkage automatic water jet control as described in any one of claims 1 to 4 through a CAN bus, and the time generator is used to generate a synchronous clock signal and be connected to the driver of the multi-axis linkage automatic water jet control through a time reference bus.

6. A system for multi-axis linkage automatic water jet control, characterized in that: It comprises a driver for multi-axis linkage automatic water jet control as described in any one of claims 1-4, and a main control unit for multi-axis linkage automatic water jet control as described in claim 5, wherein the driver is connected to the main control unit via a CAN bus and a time reference bus respectively.

7. The system for multi-axis linkage automatic water jet control according to claim 6, comprising a host computer, a plurality of motors, a plurality of action units and a plurality of drivers; The host computer is connected to the main control unit, the main control unit is connected to the multiple drivers, the multiple drivers are connected to the multiple motors in a one-to-one correspondence, and the multiple motors are connected to the multiple action units in a one-to-one correspondence.

8. The system for multi-axis linkage automatic water jet control according to claim 7, characterized in that: The host computer is connected to the ARM / MCU unit via Ethernet; the multiple action units include a linear motion action unit, a rotational motion action unit, a high-pressure jet pump action unit, and / or a suction pump action unit.

9. A method for controlling a multi-axis linkage automatic water jet, characterized in that: Applied to the system for multi-axis linkage automatic water jet control as claimed in claim 7, the method comprising: The host computer receives the surgical information and transmits the surgical information to the main control unit; The main control unit generates a synchronous clock signal, and outputs the synchronous clock signal to the driver via a time reference bus, and outputs the surgical information to the driver via a CAN bus; The driver decodes the synchronous clock signal to obtain time information, and based on the time information and the driver controls the multiple action units one by one through the multiple motors.

10. The method for controlling a multi-axis linkage automatic water jet according to claim 8, characterized in that: The main control unit is also used to receive surgery enabling information for starting the operation; the surgery information includes surgery planning path information and medical monitoring information.

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