Scram control circuit and surgical system

Abstract

The invention discloses an emergency stop control circuit and a surgical system, and belongs to the technical field of medical instruments. The emergency stop control circuit is applied to a surgical system. The surgical system comprises an arm system and at least one console; the arm system comprises at least one mechanical arm. The emergency stop control circuit comprises a plurality of emergency stop switches and switch control units arranged corresponding to the mechanical arms respectively. The emergency stop switches are correspondingly arranged in the arm system and the consoles respectively and are connected in series between the power supply end and the grounding end of the emergency stop control circuit to form an emergency stop control loop; the switch control unit comprises a control part and an action part; for any switch control unit, the control part is connected in series in the sudden stop control loop, and the action part is connected with the mechanical arm corresponding to the switch control unit; and the control part is used for controlling the action part to act when the at least one emergency stop switch is switched off, so that the mechanical arm connected with the action part stops running. According to the embodiment of the invention, the operation convenience and safety of the emergency stop control circuit can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an emergency stop control circuit and a surgical system. Background Art

[0002] Surgical systems play an important role in modern medicine, especially minimally invasive surgical systems, such as endoscopic surgical systems, which can assist doctors in performing precise surgical operations. In a surgical system, a surgical robot may include a main hand controller located on the doctor's console and surgical instruments on a robotic arm coupled to an arm system. During the operation, the surgeon remotely controls the movements of the robotic arm and surgical instruments through the main hand controller. In order to prevent the robot from losing control, an emergency stop device is usually provided at a prominent position on the outside of the console body. In an emergency, an emergency stop command is sent to the robot, the emergency stop device is activated, and the robotic arm and surgical instruments stop moving to avoid accidents.

[0003] However, in the related technologies, either a single emergency stop switch is required to achieve the emergency stop of the entire surgical system, which is relatively simple to control, but medical staff may not have time to press the emergency stop switch when they are far away from the emergency stop switch, which may easily cause safety accidents; or the emergency stop protection of each console and arm system is relatively independent, and the emergency stop switch of a single console cannot control all robots to stop, making it difficult to quickly control the entire surgical system to stop working, and there is still a risk of causing safety accidents. Therefore, there is an urgent need for an easy-to-operate, safe and reliable emergency stop control circuit to ensure the stable and safe operation of the entire surgical system. Summary of the invention

[0004] The present invention provides an emergency stop control circuit and a surgical system to improve the operating convenience and safety of the emergency stop control circuit and ensure the stable and safe operation of the entire surgical system.

[0005] In a first aspect, an embodiment of the present invention provides an emergency stop control circuit, which is applied to a surgical system, wherein the surgical system comprises: an arm system and at least one console; the arm system comprises at least one mechanical arm;

[0006] The emergency stop control circuit comprises:

[0007] A plurality of emergency stop switches are respectively arranged in the arm system and each of the control consoles; wherein the plurality of emergency stop switches are connected in series between the power supply terminal and the ground terminal of the emergency stop control circuit to form an emergency stop control loop;

[0008] A switch control unit is respectively provided corresponding to each of the robotic arms; the switch control unit includes a control component and an action component; wherein, for any of the switch control units: the control component is connected in series in the emergency stop control loop, and the action component is connected to the robotic arm corresponding to the switch control unit; the control component is used to control the action component to operate when at least one of the emergency stop switches is disconnected, so that the robotic arm connected to the action component stops running.

[0009] Optionally, the robotic arm includes a driving component, and the driving component is powered by a driving power supply;

[0010] The switch control unit includes: a relay; wherein the control component includes a coil of the relay, and the coil is connected in series in the emergency stop control loop; the action component includes contacts of the relay, and the contacts are connected between the drive component in the robotic arm corresponding to the switch control unit and the drive power supply.

[0011] Optionally, the arm system includes a plurality of mechanical arms, and the emergency stop control circuit includes a plurality of switch control units having the same number as the number of the mechanical arms;

[0012] The control components of each switch control unit are connected in parallel to form a control component group, and the control component group is connected in series in the emergency stop control loop.

[0013] Optionally, from the power supply end to the ground end, the first end of the first emergency stop switch is connected to the power supply end, the first ends of the remaining emergency stop switches are connected to the second ends of the previous emergency stop switch, and the second end of the last emergency stop switch is connected to the ground end;

[0014] The emergency stop control circuit also includes:

[0015] A plurality of acquisition modules are respectively arranged corresponding to the plurality of emergency stop switches and are respectively arranged in the arm system and each of the consoles; the acquisition module is connected to the second end of the corresponding emergency stop switch and to the ground end; the acquisition module is used to acquire the potential difference between the second end of the corresponding emergency stop switch and the ground end, and form a switch sampling signal according to the potential difference;

[0016] A plurality of controllers, respectively connected to the acquisition modules, and respectively arranged in the arm system and the consoles; the controller is used to determine whether there is a disconnected emergency stop switch in the emergency stop control loop between the power supply end and the second end of the emergency stop switch corresponding to the acquisition module connected to the controller according to the switch sampling signal output by the acquisition module;

[0017] Wherein, the control component in each of the switch control units is connected between the second end of the last emergency stop switch and the ground end.

[0018] Optionally, the acquisition module includes: a photoelectric coupler;

[0019] The transmitting part of the photoelectric coupler is connected between the second end of the emergency stop switch corresponding to the acquisition module and the ground terminal;

[0020] The receiving part of the photoelectric coupler is connected to the controller corresponding to the acquisition module.

[0021] Optionally, the acquisition module further includes: a first resistor, which is connected in series with the emission part of the photoelectric coupler between the second end of the emergency stop switch corresponding to the acquisition module and the ground end.

[0022] Optionally, the emergency stop control circuit further includes: a plurality of warning modules, which are respectively connected to each of the controllers and are respectively arranged in the arm system and each of the control consoles; wherein the warning module includes: at least one of an indicator light, a buzzer and a vibrator.

[0023] Optionally, the arm system includes a first control panel, and the console includes a second control panel;

[0024] The power supply end, the ground end, the acquisition module and the controller in the arm system, and the control components of each switch control unit are all integrated in the first control board; the first control board includes: a first output interface, a second output interface and a first input interface; the emergency stop switch in the arm system is connected between the power supply end and the first output interface, the ground end is connected to the second output interface, the acquisition module in the arm system is connected between the first output interface and the second output interface, and each control component is connected between the ground end and the first input interface;

[0025] The acquisition module and the controller in the same console are integrated into the second control board of the console; the second control board includes: a second input interface, a third input interface, a fourth output interface and a third output interface; the emergency stop switch in the console is connected between the second input interface and the third output interface, the acquisition module in the console is connected between the third input interface and the third output interface, and the fourth output interface is connected to the third input interface;

[0026] Wherein, the surgical system includes multiple consoles; in the first console, the second input interface is connected to the first output interface, and the third input interface is connected to the second output interface; in each subsequent console, the second input interface is connected to the third output interface of the second control board in the previous console, and the third input interface is connected to the fourth output interface of the second control board in the previous console; in the last console, the third output interface is connected to the first input interface.

[0027] Optionally, the surgical system further comprises: an imaging trolley, the imaging trolley comprises: a third control panel, the third control panel comprises a fourth input interface and a fifth output interface;

[0028] The emergency stop control circuit also includes: a connecting line, which is arranged in the third control board and connected between the fourth input interface and the fifth output interface; the third output interface in the last console is connected to the fourth input interface, and the fifth output interface is connected to the first input interface.

[0029] In a second aspect, an embodiment of the present invention further provides a surgical system, comprising: an arm system, at least one console, and an emergency stop control circuit as provided in any embodiment of the present invention.

[0030] In the emergency stop control circuit provided by the embodiment of the present invention, multiple emergency stop switches are arranged in series in the emergency stop control loop, and the control components of the switch control unit corresponding to each mechanical arm are connected in series in the emergency stop control loop. In this way, when the surgical system is working normally, each emergency stop switch is turned on, the entire emergency stop control loop is energized, each control component is energized, each action component does not start braking, and does not affect the action of each mechanical arm, which is equivalent to the emergency stop control circuit not enabling the braking function. When an emergency or special situation requires the arm system to be stopped quickly, when at least one emergency stop switch is disconnected, the emergency stop function is triggered, each control component loses power, and each action component is controlled to act, so as to realize the emergency braking of all mechanical arms in the whole system. The emergency stop control circuit supports the serial connection of multiple consoles, and supports the braking control of a multi-arm (XB) system with multiple mechanical arms. The loop is simple and reliable, and the emergency stop function can be ensured to be realized normally. In addition, multiple emergency stop switches are respectively arranged in the arm system and each console, forming a distributed arrangement of emergency stop switches. In an emergency, the operator can quickly disconnect the nearest emergency stop switch to ensure the safety of the system. In summary, the embodiments of the present invention can improve the convenience, timeliness and safety of the operation of the emergency stop control circuit, and ensure the stable and safe operation of the entire surgical system.

[0031] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 is a structural schematic diagram of an emergency stop control circuit provided by an embodiment of the present invention;

[0034] Figure 2 is a structural schematic diagram of another emergency stop control circuit provided by an embodiment of the present invention;

[0035] Figure 3 It is a structural schematic diagram of another emergency stop control circuit provided by an embodiment of the present invention;

[0036] Figure 4 It is a structural schematic diagram of another emergency stop control circuit provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0039] An embodiment of the present invention provides an emergency stop control (STO) circuit, which can be applied to a surgical system to ensure reliable and safe operation of the surgical system. The surgical system includes: an arm system and at least one console; the arm system includes at least one robotic arm. The console is a doctor's operating table, and the console can control the movement of each robotic arm in the robotic arm. Figure 1 Schematic diagram of an emergency stop control circuit provided by an embodiment of the present invention. Figure 1 The emergency stop control circuit includes: a plurality of emergency stop switches K, and a switch control unit 10 respectively arranged corresponding to each robot arm 21.

[0040] Among them, a plurality of emergency stop switches K are respectively correspondingly arranged in the arm system 200 and each control console 300. A plurality of emergency stop switches K are connected in series between the power supply terminal VS and the ground terminal GND of the emergency stop control circuit to form an emergency stop control loop 100. The switch control unit 10 includes a control component 11 and an action component 12; the control component 11 can control the action component 12 to be in different working states when it is powered on or off. Among them, for any switch control unit 10: the control component 11 is connected in series in the emergency stop control loop 100, and the action component 12 is connected to the robot arm 21 corresponding to the switch control unit 10. For any switch control unit 10: the control component 11 is used to control the action component 12 in the switch control unit 10 to operate when at least one emergency stop switch K is disconnected, so that the robot arm 21 connected to the action component 12 stops running.

[0041] Exemplarily, the emergency stop switch K can be set at a prominent position outside the device (e.g., the arm system 200 or the console 300), such as on the armrest of the device, so that the doctor can promptly and conveniently control the emergency stop switch K to turn off when a dangerous situation occurs. Exemplarily, each emergency stop switch K can be set on the device in the form of an emergency stop key (or button), and the emergency stop switch K can be set as a normally closed switch, for example, and when the emergency stop switch K is pressed, the emergency stop switch K is disconnected.

[0042] For the convenience of description below, the emergency stop control loop 100 is referred to as a loop where necessary. Also, the side of each emergency stop switch K close to the power supply terminal VS is called the first end, and the side close to the ground terminal GND is called the second end, and the emergency stop switches K are arranged in sequence from the power supply terminal VS to the ground terminal GND. Then, in the emergency stop control loop 100, the first end of the first emergency stop switch K is connected to the power supply terminal VS, the first ends of the remaining emergency stop switches K are connected to the second ends of the previous emergency stop switch K, and the second end of the last emergency stop switch K is connected to the ground terminal GND. Among them, any emergency stop switch K in the loop can belong to the arm system 200, and the other emergency stop switches K belong to each control console 300 respectively. Figure 1 By way of example, the first emergency stop switch K belongs to the arm system 200 .

[0043] For any switch control unit 10, its control component 11 is connected in series in the emergency stop control loop 100, and can be connected in series between the power supply terminal VS and the first emergency stop switch K, between adjacent emergency stop switches K, or between the last emergency stop switch K and the ground terminal GND. When the arm system 200 includes multiple robotic arms 21, the emergency stop control circuit includes the same number of switch control units 10 as the number of robotic arms 21. The control components 11 of different switch control units 10 can be connected in series at different positions in the emergency stop control loop 100, for example Figure 1 Alternatively, the control components 11 of different switch control units 10 can be connected in series and then connected to any position in the emergency stop control loop 100, for example Figure 1 Alternatively, the control components 11 of different switch control units 10 can be connected in parallel and then connected in series to any position in the emergency stop control loop 100, for example Figure 2 The control components 11 in the circuit are not specifically limited here, as long as any emergency stop switch K is disconnected, each control component 11 can be de-energized.

[0044] Exemplarily, the action component 12 may be a switch device, connected between the driving component (e.g., a motor) of the robot arm 21 corresponding to the switch control unit 10, and a driving power supply that supplies power to the driving component; the control component 11 may control the switch device to disconnect when power is lost, cut off the power supply of the driving component, and thereby control the robot arm 21 to stop moving. Alternatively, the action component 12 may be a control device, and the control component 11 may control the driving component of the robot arm 21 to power off when power is lost, thereby controlling the robot arm 21 to stop moving. Alternatively, the action component 12 may be a braking device, and the control component 11 may release the braking device when power is lost to control the robot arm 21 to stop moving. The specific type of the action component 12 is not limited here, as long as the robot arm 21 can be controlled to stop moving under the control of the control component 11.

[0045] For example, when dual (multiple) robots are required to work together, the emergency stop switches K in the consoles 300 of each robot are all connected in series to the emergency stop control loop 100. No matter which emergency stop switch K is disconnected, all control components 11 on the entire emergency stop control loop 100 can be de-energized, thereby controlling all mechanical arms 21 in the arm system 200 to stop moving, for example, the entire system can be controlled to be powered off. In this way, when an emergency occurs in any device in the arm system 200 and each console 300, all mechanical arms 21 can be controlled to stop running by disconnecting the emergency stop switch K on the device; on the other hand, when any emergency occurs at any position in the surgical system, the operator can quickly press the emergency stop switch K closest to his current position to control all mechanical arms 21 to stop running and avoid the risk of expansion.

[0046] In the emergency stop control circuit provided by the embodiment of the present invention, multiple emergency stop switches K are set to be connected in series in the emergency stop control loop 100, and the control components 11 of the switch control unit 10 corresponding to each mechanical arm 21 are connected in series in the emergency stop control loop 100. In this way, when the surgical system is working normally, each emergency stop switch K is turned on, the entire emergency stop control loop 100 is energized, each control component 11 is energized, each action component 12 does not start braking, and does not affect the action of each mechanical arm 21, which is equivalent to the emergency stop control circuit not enabling the braking function. When encountering an emergency or special situation and needing to quickly stop the operation of the arm system 200, when at least one emergency stop switch K is disconnected, the emergency stop function is triggered, each control component 11 is de-energized, and each action component 12 is controlled to act, so as to realize the emergency braking of all mechanical arms 21 of the entire system. The emergency stop control circuit supports the serial connection of multiple consoles 300, and supports the braking control of a multi-arm (XB) system with multiple mechanical arms 21. The loop is simple and reliable, and can ensure the normal implementation of the emergency stop function. In addition, multiple emergency stop switches K are respectively arranged in the arm system 200 and each console 300, forming a distributed arrangement of the emergency stop switches K. In an emergency, the operator can quickly disconnect the nearest emergency stop switch K to ensure system safety. In summary, the embodiments of the present invention can improve the convenience, timeliness and safety of the emergency stop control circuit, and ensure the stable and safe operation of the entire surgical system.

[0047] On the basis of the above-mentioned embodiments, optionally, the robot arm 21 includes a driving component, and the driving component is powered by a driving power supply. The switch control unit 10 specifically includes: a relay. Among them, the control component 11 includes a coil of a relay, and the coil is connected in series in the emergency stop control loop. The action component 12 includes contacts of a relay, and the contacts are connected between the driving component and the driving power supply in the robot arm 21 corresponding to the switch control unit 10. Exemplarily, the driving components of multiple robot arms can be powered by one driving power supply or by multiple driving power supplies respectively, which is not limited here. In the relay, when the coil is energized, the contacts are turned on, and the driving component is energized and works normally; when the coil is de-energized, the contacts are disconnected, and the driving component loses power and stops driving the robot arm 21 to operate.

[0048] In this embodiment, the switch control unit 10 is composed of a relay, so that the switch control unit 10 has a simple structure and is easy to implement. In addition, by cutting off the power supply of the drive component, rapid, safe, reliable and accurate electrical braking can be achieved, and the control method is simple to implement and easy to operate.

[0049] Based on the above embodiments, optionally, there are multiple connection modes of the control component 11 in the emergency stop control loop 100, several of which are exemplified below, but are not intended to limit the present invention.

[0050] In one embodiment, optionally, when the arm system includes a robotic arm, the emergency stop control circuit includes a switch control unit 10 , and the control component 11 in the switch control unit 10 can be connected in series at any position in the emergency stop control loop 100 .

[0051] In another embodiment, optionally, when the arm system 200 includes a plurality of mechanical arms 21, the emergency stop control circuit includes a plurality of switch control units 10 having the same number as the mechanical arms 21. The connection relationship of the control components 11 of the plurality of switch control units 10 in the emergency stop control loop 100 may be the following:

[0052] 1) All control components 11 are connected in series.

[0053] For example, the control components 11 are connected in series and then connected in series in the emergency stop control loop 100 ; or, at least some of the control components 11 can be connected in series at different positions in the emergency stop control loop 100 .

[0054] 2) At least some of the control components 11 are connected in parallel and then in series in the emergency stop control loop 100 .

[0055] For example, some control components 11 are connected in parallel as a group and then connected in series in the emergency stop control loop 100 , and other control components 11 may also be connected in parallel and / or in series.

[0056] Or, if Figure 2 , the control components 11 of all switch control units 10 can be connected in parallel to form a control component group 111, and the control component group 111 is connected in series in the emergency stop control loop 100. In this way, compared with the solution of the control components 11 having a series relationship, the voltage level requirement of the power supply terminal VS can be reduced on the basis of meeting the driving voltage level of each control component 11, thereby improving the loop safety. For example, the power supply terminal VS can be connected to a 24V DC voltage.

[0057] It is understandable that no matter how many switch control units 10 are included in the emergency stop control circuit, it is preferred that all control components 11 are arranged between the second end of the last emergency stop switch K and the ground terminal GND to ensure that when any emergency stop switch K is disconnected, all control components 11 can be de-energized. This can avoid the control components 11 being connected in series at the front end of the loop, but when the emergency stop switch K at the rear end of the loop is disconnected, the power supply terminal VS forms an electrical path through the still-conducting emergency stop switch K and other grounding devices in the surgical system that are coupled to the emergency stop control loop, resulting in the control components 11 connected in series in the electrical path not being de-energized.

[0058] Figure 3 is a structural diagram of another emergency stop control circuit provided by an embodiment of the present invention. Figure 3 On the basis of the above embodiments, optionally, the emergency stop control circuit further includes: a plurality of acquisition modules 20 and a plurality of controllers 30. Among them, the plurality of acquisition modules 20 are respectively set corresponding to the plurality of emergency stop switches K, and are respectively set in the arm system 200 and each console 300. The acquisition module 20 is connected to the second end of the corresponding emergency stop switch K, and is connected to the ground terminal GND. The plurality of controllers 30 are respectively connected to the acquisition modules 20, and are respectively set in the arm system 200 and each console 300. In other words, the arm system 200 and each console 300 are equipped with an emergency stop switch K, an acquisition module 20 and a controller 30.

[0059] Among them, the acquisition module 20 is used to collect the potential difference between the second end of the corresponding emergency stop switch K and the ground terminal GND, and form a switch sampling signal according to the potential difference. Specifically, when there is a potential difference between the second end of the emergency stop switch K and the ground terminal GND, it indicates that the emergency stop switch K and each of the emergency stop switches K at the front end are all turned on, so that the positive voltage signal of the power supply terminal VS can be transmitted to the second end of the emergency stop switch K; when there is no potential difference between the second end of the emergency stop switch K and the ground terminal GND, it indicates that there is at least one disconnected emergency stop switch K in the emergency stop switch K and each of the emergency stop switches K at the front end, so that the second end of the emergency stop switch K loses power. The controller 30 is used to determine whether there is a disconnected emergency stop switch K between the power supply terminal VS and the second end of the emergency stop switch K corresponding to the acquisition module 20 connected to the controller 30 in the emergency stop control loop 100 according to the switch sampling signal output by the acquisition module 20. Exemplarily, when there is or does not exist a potential difference between the second end of the emergency stop switch K and the ground terminal GND, the potential of the switch sampling signal is different, and the controller 30 can determine whether there is a disconnected emergency stop switch K among the collected emergency stop switch K and the emergency stop switches K at its front end according to the potential of the switch sampling signal.

[0060] It should be noted that, when the acquisition module 20 is provided, since the acquisition module 20 itself is connected to the ground terminal GND, in order to prevent the power supply terminal VS from forming an electrical path to the ground through the turned-on emergency stop switch and the acquisition module 20 to affect the action of the switch control unit 10, the control components 11 in each switch control unit 10 can be connected between the second end of the last emergency stop switch K and the ground terminal GND, for example, connected in parallel to form a control component group 111 and then connected in series between the second end of the last emergency stop switch K and the ground terminal GND.

[0061] Figure 4 is a structural diagram of another emergency stop control circuit provided by an embodiment of the present invention. Figure 4 Specifically, the acquisition module 20 includes: a photoelectric coupler. The transmitting part U1A of the photoelectric coupler is connected between the second end of the emergency stop switch K corresponding to the acquisition module 20 and the ground terminal GND; the receiving part of the photoelectric coupler (not shown in the figure) is connected to the controller 30 corresponding to the acquisition module. Further, the acquisition module 20 may also include: a first resistor R1, which can be used as a current limiting protection resistor and is connected in series with the transmitting part U1A of the photoelectric coupler between the second end of the emergency stop switch K corresponding to the acquisition module 20 and the ground terminal GND.

[0062] In this way, the electrical isolation between the emergency stop control loop 100 and the controller 30 can be achieved through the photocoupler, avoiding mutual interference and influence between the emergency stop control loop 100 and the controller 30, and ensuring the reliability and safety of the emergency stop control circuit. In addition, with respect to the ground terminal GND, the transmitting part U1A of the photocoupler in each device is used in parallel, which can ensure the independence of the photocoupler collection in each device; and the transmitting part U1A of the photocoupler in each device and the coil of each relay (i.e., the control component 11) are all used in parallel, which can avoid the arm system relay circuit voltage not meeting the requirements due to the serious voltage division of the photocoupler resistance when used in series.

[0063] It can be understood that when any emergency stop switch in the system is disconnected, there is no potential difference between the second end of each corresponding emergency stop switch K in the subsequent stage and the ground terminal GND, and all the photoelectric couplers connected to each emergency stop switch K in the subsequent stage are triggered. According to this characteristic, it can be judged that at least the emergency stop switch K connected to the triggered first-pole photoelectric coupler has been disconnected.

[0064] Continue to see Figure 3 On the basis of the above embodiments, the emergency stop control circuit may further include: a plurality of warning modules 40, which are respectively connected to the controllers 30 and are respectively arranged in the arm system 200 and the consoles 300. That is, the arm system 200 and the consoles 300 may be equipped with warning modules 40. The controller 30 may be used to control the connected warning modules 40 to give warnings when it is determined that there is a disconnected emergency stop switch K among the emergency stop switches K collected by the acquisition module 20 and the emergency stop switches K at the front end thereof. In this way, by observing the position of the device (such as the arm system 200 and / or the console 300) giving warnings, the position where the emergency stop switch K is pressed may be determined for troubleshooting. Alternatively, the controllers 30 may be connected to each other, and any controller 30 may transmit fault information to other controllers 30 when it is determined that there is a disconnected emergency stop switch K among the emergency stop switches K collected by the acquisition module 20 and the emergency stop switches K at the front end thereof, so that all controllers 30 control all warning modules 40 to give warnings. The warning module 40 may include at least one of an indicator light, a buzzer and a vibrator. For example, the warning module 40 includes an indicator light. When the emergency stop button is pressed, the emergency stop indicator light turns on, which can play a good warning role and is conducive to judging the machine status information.

[0065] In summary, the arm system 200 and the console 300 may include: an emergency stop switch K, a collection module 20, a controller 30 and an alarm module 40. On this basis, the emergency stop switch K in the arm system 200 may be set as the first emergency stop switch K in the loop, and each control component 11 may be connected between the second end of the last emergency stop switch K in the loop and the ground terminal GND, and the power supply terminal VS and the ground terminal may be integrated into the arm system 200, which is conducive to forming a loop.

[0066] See also Figure 4 On the basis of the above embodiments, the arm system 200 may optionally include a first control panel 201, such as a rear control panel in the arm system 200, on which a power supply terminal VS, a ground terminal GND, a collection module 20 in the arm system 200, a controller 30 in the arm system 200, and a control component 11 of each switch control unit 10 may be integrated. The emergency stop switch K in the arm system 200 may be set at an easily accessible position as required, such as at a prominent position outside the body of the arm system 200, or may be integrated on the first control panel 201.

[0067] The console 300 includes a second control panel 301, for example, a main control panel in the console 300, on which the acquisition module 20 in the console 300 and the controller 30 in the console 300 can be integrated. The emergency stop switch K in the console 300 can be set at an easy-to-use position according to needs, such as at a prominent position outside the console 300 body, or can also be integrated on the second control panel 301.

[0068] The connection between the components belonging to the arm system 200 and the different control consoles 300 in the emergency stop control circuit can be realized based on the relevant input and output interfaces of each control board, see Figure 4 , as follows:

[0069] The first control board 201 includes: a first output interface PO1, a second output interface PO2 and a first input interface PI1; the emergency stop switch K in the arm system 200 is connected between the power supply terminal VS and the first output interface PO1, the ground terminal GND is connected to the second output interface PO2, the acquisition module in the arm system 200 is connected between the first output interface PO1 and the second output interface PO2, and each control component 11 is connected between the ground terminal GND and the first input interface PI1.

[0070] The second control panel 301 includes: a second input interface PI2, a third input interface PI3, a fourth output interface PO4 and a third output interface PO3; the emergency stop switch K in the console 300 is connected between the second input interface PI2 and the third output interface PO3, the acquisition module in the console is connected between the third input interface PI3 and the third output interface PO3, and the fourth output interface PO4 is connected to the third input interface PI3.

[0071] Wherein, when the surgical system includes multiple consoles 300: in the first console 300, the second input interface PI2 is connected to the first output interface PO1, and the third input interface PI3 is connected to the second output interface PO2; in each subsequent console 300, the second input interface PI2 is connected to the third output interface PO3 of the second control board 301 in the previous console 300, and the third input interface PI3 is connected to the fourth output interface PO4 of the second control board 301 in the previous console 300; in the last console 300, the third output interface PO3 is connected to the first input interface PI1. Wherein, since the last console 300 has no corresponding next console 300, the fourth output interface PO4 may not be set, or the third input interface PI3 may not be connected to the fourth output interface PO4. When the surgical system includes only one console 300, the second input interface PI2 in the console 300 may be set to connect to the first output interface PO1, the third input interface PI3 is connected to the second output interface PO2, and the third output interface PO3 is connected to the first input interface PI1.

[0072] On the basis of the above-mentioned embodiments, optionally, the surgical system further includes: an imaging trolley, which serves as a connection medium between the console 300 and the arm system 200. The imaging trolley includes: a third control panel 401; the second control panel 301 in each console 300 is connected to the first control panel 201 in the arm system 200 through the third control panel 401 in the imaging trolley. Then, for the emergency stop control circuit, the third control panel 401 may include a fourth input interface PI4 and a fifth output interface PO5. The emergency stop control circuit also includes: a connecting line L, which is arranged in the third control panel 401, connected between the fourth input interface PI4 and the fifth output interface PO5, and is used to form a loop. Among them, the third output interface PO3 in the last console 300 is connected to the fourth input interface PI4, and the fifth output interface PO5 is connected to the first input interface PI1.

[0073] It should be noted that the input interfaces in the above-mentioned control panels can all be LAN-IN interfaces, and the output interfaces can all be LAN-OUT interfaces. The connections between different control panels are inter-system connections, and the control panels can communicate with each other through the EtherCAT protocol; the connections inside the control panel are internal lines. The emergency stop switch K can be set on the handrail of the equipment, and the acquisition module 20 and the controller 30 can constitute the handrail acquisition and control module (RSC) in the equipment. The controller 30 can be, for example, a single-chip microcomputer, and the receiving part of the photocoupler can be connected to the IO port of the single-chip microcomputer, so that the potential received by the single-chip microcomputer through the IO port can determine whether the emergency stop switch K is pressed. The alarm module 40 can be connected to other IO ports in the single-chip microcomputer, and the single-chip microcomputer can output a driving signal through the IO port to drive the alarm module 40 to alarm; the IO port can be directly connected to the alarm module 40, or connected to the alarm module 40 via an amplifying circuit such as a transistor.

[0074] Taking the emergency stop switch K as the emergency stop button and the switch control unit 10 as the relay as an example, specifically, the action logic of the loop is: the normally closed point of the emergency stop button is connected in series to the loop, and the relay control state is: the emergency stop button is not pressed, the relay contact is closed, and the robot 21 is used normally; when any emergency stop button in the loop is pressed, the relay coil loses power to control the contact action, and all robot arms 21 controlled by all relays lose power to achieve a safe emergency stop of the surgical system. Among them, taking the warning module 40 including indicator lights as an example, it can be set that when any emergency stop button is pressed, all indicator lights are always on.

[0075] In summary, the emergency stop control circuit provided by the embodiment of the present invention can simultaneously connect multiple doctor consoles in series, meeting the design requirement that multiple doctor operation terminals can be connected to the loop. The emergency stop-related circuit structure of each console is basically the same, the entire loop can achieve linkage control, and the electrical braking is safe and reliable. In addition, the emergency stop control circuit is easy to expand and can be compatible with multiple operating platforms. Multiple consoles can be configured with the above-mentioned emergency stop-related circuits and connected in series to the loop to achieve collaboration.

[0076] The embodiment of the present invention further provides a surgical system, including the emergency stop control circuit provided by any embodiment of the present invention, and having corresponding beneficial effects. Exemplarily, the surgical system may be a minimally invasive surgical system, such as an endoscopic surgical system.

[0077] Specifically, the surgical system may include: an arm system, an emergency stop control circuit, and at least one console. For example, each console is a doctor's console, and a master hand controller may be provided in each console; the arm system is provided close to the patient's bed, and multiple robotic arms may be provided in the arm system, and various surgical instruments may be connected to the robotic arms. During the operation, the doctor may remotely control the corresponding robotic arms and surgical instrument movements through the master hand controller. For example, the surgical instrument may be an endoscope lens instrument.

[0078] Furthermore, the surgical system may also include: an imaging trolley, which is connected between the console and the arm system. The console controls the arm system through the imaging trolley. The imaging trolley is used, for example, to control the arm system to perform corresponding actions according to the instructions issued by the console. Among them, the imaging trolley serves as a connection medium between the console and the arm system, and the second control board in each console is connected to the first control board in the arm system through the third control board in the imaging trolley. Correspondingly, the emergency stop control loop in the emergency stop control circuit also passes through the third control board based on the connecting line to realize the connection of the last emergency stop switch in the loop to the arm system. It can be understood that for the emergency stop control circuit, the imaging trolley is just passing by, and there is no need to set an emergency stop button, acquisition module, and alarm module in the imaging trolley; the original main control module in the third control board of the imaging trolley can be used to control the arm system to perform corresponding actions according to the instructions issued by the console, and may not participate in the control process of the emergency stop control circuit.

[0079] It should be noted that in each embodiment of the emergency stop control circuit, some specific descriptions are given for the relevant structure of the surgical system. The contents not fully described here can be referred to the explanations of the above embodiments, and the repeated contents will not be repeated.

[0080] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0081] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An emergency stop control circuit, characterized in that: Applied to a surgical system, the surgical system comprises: an arm system and at least one console; the arm system comprises at least one mechanical arm; The emergency stop control circuit comprises: A plurality of emergency stop switches are respectively arranged in the arm system and each of the control consoles; wherein the plurality of emergency stop switches are connected in series between the power supply terminal and the ground terminal of the emergency stop control circuit to form an emergency stop control loop; A switch control unit is respectively provided corresponding to each of the robotic arms; the switch control unit includes a control component and an action component; wherein, for any of the switch control units: the control component is connected in series in the emergency stop control loop, and the action component is connected to the robotic arm corresponding to the switch control unit; the control component is used to control the action component to operate when at least one of the emergency stop switches is disconnected, so that the robotic arm connected to the action component stops running.

2. The emergency stop control circuit according to claim 1, characterized in that: The mechanical arm includes a driving component, and the driving component is powered by a driving power supply; The switch control unit includes: a relay; wherein the control component includes a coil of the relay, and the coil is connected in series in the emergency stop control loop; the action component includes contacts of the relay, and the contacts are connected between the drive component in the robotic arm corresponding to the switch control unit and the drive power supply.

3. The emergency stop control circuit according to claim 1, characterized in that: The arm system includes a plurality of mechanical arms, and the emergency stop control circuit includes a plurality of switch control units having the same number as the mechanical arms; The control components of each switch control unit are connected in parallel to form a control component group, and the control component group is connected in series in the emergency stop control loop.

4. The emergency stop control circuit according to any one of claims 1 to 3, characterized in that: From the power supply end to the ground end, the first end of the first emergency stop switch is connected to the power supply end, the first ends of the remaining emergency stop switches are connected to the second ends of the previous emergency stop switch, and the second end of the last emergency stop switch is connected to the ground end; The emergency stop control circuit also includes: A plurality of acquisition modules are respectively arranged corresponding to the plurality of emergency stop switches and are respectively arranged in the arm system and each of the consoles; the acquisition module is connected to the second end of the corresponding emergency stop switch and to the ground end; the acquisition module is used to acquire the potential difference between the second end of the corresponding emergency stop switch and the ground end, and form a switch sampling signal according to the potential difference; A plurality of controllers, respectively connected to the acquisition modules, and respectively arranged in the arm system and the consoles; the controller is used to determine whether there is a disconnected emergency stop switch in the emergency stop control loop between the power supply end and the second end of the emergency stop switch corresponding to the acquisition module connected to the controller according to the switch sampling signal output by the acquisition module; Wherein, the control component in each of the switch control units is connected between the second end of the last emergency stop switch and the ground end.

5. The emergency stop control circuit according to claim 4, characterized in that: The acquisition module includes: a photoelectric coupler; The transmitting part of the photoelectric coupler is connected between the second end of the emergency stop switch corresponding to the acquisition module and the ground terminal; The receiving part of the photoelectric coupler is connected to the controller corresponding to the acquisition module.

6. The emergency stop control circuit according to claim 5, characterized in that: The acquisition module further includes: a first resistor connected in series with the emission part of the photoelectric coupler between the second end of the emergency stop switch corresponding to the acquisition module and the ground end.

7. The emergency stop control circuit according to claim 4, characterized in that: Also includes: A plurality of warning modules are respectively connected to the controllers and are respectively arranged in the arm system and the consoles; wherein the warning modules include at least one of an indicator light, a buzzer and a vibrator.

8. The emergency stop control circuit according to claim 4, characterized in that: The arm system includes a first control panel, and the console includes a second control panel; The power supply terminal, the ground terminal, the acquisition module and the controller in the arm system, and the control components of each switch control unit are integrated into the first control board; The first control panel includes: a first output interface, a second output interface and a first input interface; the emergency stop switch in the arm system is connected between the power supply terminal and the first output interface, the ground terminal is connected to the second output interface, the acquisition module in the arm system is connected between the first output interface and the second output interface, and each of the control components is connected between the ground terminal and the first input interface; The acquisition module and the controller in the same console are integrated into the second control board of the console; the second control board includes: a second input interface, a third input interface, a fourth output interface and a third output interface; the emergency stop switch in the console is connected between the second input interface and the third output interface, the acquisition module in the console is connected between the third input interface and the third output interface, and the fourth output interface is connected to the third input interface; Wherein, the surgical system includes multiple consoles; in the first console, the second input interface is connected to the first output interface, and the third input interface is connected to the second output interface; in each subsequent console, the second input interface is connected to the third output interface of the second control board in the previous console, and the third input interface is connected to the fourth output interface of the second control board in the previous console; in the last console, the third output interface is connected to the first input interface.

9. The emergency stop control circuit according to claim 8, characterized in that: The surgical system further comprises: an imaging trolley, the imaging trolley comprises: a third control panel, the third control panel comprises a fourth input interface and a fifth output interface; The emergency stop control circuit also includes: a connecting line, which is arranged in the third control board and connected between the fourth input interface and the fifth output interface; the third output interface in the last console is connected to the fourth input interface, and the fifth output interface is connected to the first input interface.

10. A surgical system, characterized in that: include: An arm system, at least one control console, and an emergency stop control circuit as claimed in any one of claims 1 to 9.

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