Emergency stop control circuit and surgical system

Abstract

The application discloses an emergency stop control circuit and a surgical system, and belongs to the technical field of medical devices. The emergency stop control circuit is applied to the 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 a switch control unit arranged respectively corresponding to each mechanical arm. Each emergency stop switch is arranged corresponding to the arm system and each console respectively, and is connected in series between a power supply end and a grounding end of the emergency stop control circuit to form an emergency stop control loop; the switch control unit comprises a control component and a moving component; for any switch control unit: the control component is connected in series in the emergency stop control loop, and the moving component is connected to the mechanical arm corresponding to the switch control unit; the control component is used for controlling the moving component to move when at least one emergency stop switch is turned off, so that the mechanical arm connected to the moving component stops running. The embodiment of the application can improve the operation convenience and safety of the emergency stop control circuit.

Description

TECHNICAL FIELD

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

[0002] Surgical systems play an important role in modern medicine, especially minimally invasive surgical systems such as endoscopic surgical systems, which can assist surgeons in performing precise surgical operations. In a surgical system, a surgical robot can include a master controller located at a surgeon's console and a surgical instrument coupled to a mechanical arm of an arm system, and during a surgical procedure, the surgeon remotely controls the mechanical arm and the surgical instrument to act through the master controller. In order to prevent the robot from losing control, an emergency stop device is usually provided at a prominent position outside the console body, and in an emergency state, an emergency stop instruction is sent to the robot to start the emergency stop device to stop the mechanical arm and the surgical instrument from moving, so as to avoid accidents.

[0003] However, in the related art, either a single emergency stop switch is needed to implement emergency stop of the entire surgical system, which is relatively simple to control, but medical personnel may not have enough time to press the emergency stop switch when they are far away from the emergency stop switch, which may 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 still posing a risk of causing safety accidents. Therefore, there is an urgent need for an emergency stop control circuit that is easy to operate and safe and reliable to ensure stable and safe operation of the entire surgical system. SUMMARY

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

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

[0006] The emergency stop control circuit comprises:

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

[0008] A switch control unit is arranged for each of the mechanical arms; the switch control unit comprises a control component and an action component; 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 mechanical arm corresponding to the switch control unit; the control component is configured to control the action component to act when at least one of the emergency stop switches is turned off, so that the mechanical arm connected to the action component stops running.

[0009] Optionally, the mechanical arm comprises a driving assembly, and the driving assembly is powered by a driving power supply.

[0010] The switch control unit comprises a relay; the control component comprises a coil of the relay, which is connected in series in the emergency stop control loop; the action component comprises a contact of the relay, which is connected between the driving assembly in the mechanical arm corresponding to the switch control unit and the driving power supply.

[0011] Optionally, the arm system comprises a plurality of mechanical arms, and the emergency stop control circuit comprises a plurality of switch control units equal in number to the mechanical arms.

[0012] The control components of each of the switch control units 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 a first emergency stop switch is connected to the power supply end, the first end of each of the remaining emergency stop switches is connected to the second end of a previous emergency stop switch, and the second end of a last emergency stop switch is connected to the ground end.

[0014] The emergency stop control circuit further comprises:

[0015] A plurality of acquisition modules are arranged corresponding to the plurality of emergency stop switches and are arranged in the arm system and each of the control consoles; each of the acquisition modules is connected to the second end of the corresponding emergency stop switch and is connected to the ground end; each of the acquisition modules is configured to acquire a 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 are arranged corresponding to each of the acquisition modules and are arranged in the arm system and each of the control consoles; each of the controllers is configured to determine, according to the switch sampling signal output by the connected acquisition module, whether there is a disconnected emergency stop switch between the power supply end and the second end of the emergency stop switch corresponding to the acquisition module connected to the controller in the emergency stop control loop.

[0017] The control part 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 comprises an optoelectronic coupler.

[0019] The emitting part of the optoelectronic coupler is connected between the second end of the corresponding emergency stop switch and the ground end of the acquisition module.

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

[0021] Optionally, the acquisition module further comprises a first resistor connected in series with the emitting part of the optoelectronic coupler between the second end of the corresponding emergency stop switch and the ground end of the acquisition module.

[0022] Optionally, the emergency stop control circuit further comprises a plurality of warning modules corresponding to the controllers respectively and arranged in the arm system and the control consoles respectively, wherein the warning modules comprise at least one of an indicator light, a buzzer and a vibrator.

[0023] Optionally, the arm system comprises a first control board, and the control console comprises a second control board.

[0024] The power end, the ground end, the acquisition module and the controllers in the arm system, and the control parts of the switch control units are integrated in the first control board; the first control board comprises 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 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 the control parts are connected between the ground end and the first input interface.

[0025] The acquisition module and the controllers in the same control console are integrated in the second control board of the control console; the second control board comprises a second input interface, a third input interface, a fourth output interface and a third output interface; the emergency stop switch in the control console is connected between the second input interface and the third output interface, the acquisition module in the control 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] The surgical system comprises a plurality of the control consoles; in the first control 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 control console, the second input interface is connected to the third output interface of the second control panel in the previous control console, and the third input interface is connected to the fourth output interface of the second control panel in the previous control console; and in the last control console, the third output interface is connected to the first input interface.

[0027] Optionally, the surgical system further comprises an image trolley, wherein the image trolley comprises a third control panel, and the third control panel comprises a fourth input interface and a fifth output interface.

[0028] The emergency stop control circuit further comprises a connecting line arranged in the third control panel and connected between the fourth input interface and the fifth output interface; the third output interface in the last control console is connected to the fourth input interface, and the fifth output interface is connected to the first input interface.

[0029] In the second aspect, the embodiments of the present application further provide a surgical system, which comprises an arm system, at least one control console, and an emergency stop control circuit as provided in any of the embodiments of the present application.

[0030] In the emergency stop control circuit provided by the embodiments of the present application, a plurality of emergency stop switches are connected in series in the emergency stop control loop, and the control components of the switch control units corresponding to the mechanical arms are connected in series in the emergency stop control loop. In this way, when the surgical system is normally working, each emergency stop switch is turned on, the entire emergency stop control loop is electrified, each control component is powered, each action component is not started to brake, and the action of each mechanical arm is not affected, which is equivalent to that the emergency stop control circuit does not use the braking function. When an emergency or special situation occurs and the arm system needs to be quickly stopped, in the case that at least one emergency stop switch is turned off, the emergency stop function is triggered, each control component is powered off, each action component is controlled to act, and the emergency braking of all the mechanical arms of the entire system is realized. The emergency stop control circuit supports the connection of a plurality of control consoles and supports the braking control of a multi-arm (XB) system having a plurality of mechanical arms, the loop is simple and reliable, and the normal implementation of the emergency stop function can be ensured. Moreover, the plurality of emergency stop switches are respectively arranged in the arm system and each control console, forming a distributed arrangement of the emergency stop switches, and in the case of an emergency, an operator can quickly turn off the nearest emergency stop switch to ensure the safety of the system. In summary, the embodiments of the present application can improve the operation convenience, timeliness and safety of the emergency stop control circuit, and ensure the stable and safe operation of the entire surgical system.

[0031] It is to be understood that the embodiments described herein are merely exemplary of the application and that a person skilled in the art can devise other embodiments without departing from the scope of the present application. It is also to be understood that not all of the benefits described herein need necessarily be realized in any particular embodiment of the application. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

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

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

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

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

[0037] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should be within the scope of the present application.

[0038] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0039] The embodiment of the present application provides a kind of emergency stop control (STO) circuit, it can be applied to surgical system, for guaranteeing that surgical system reliably and safely operates.Therein, surgical system includes: arm system and at least one console;Arm system includes at least one mechanical arm.Control console is the operating table of doctor, and control console can control the action of each mechanical arm in mechanical arm. Figure 1 It is a kind of structure schematic diagram of emergency stop control circuit provided by the embodiment of the present application.Referring to Figure 1 , the emergency stop control circuit includes: multiple emergency stop switches K, and the switch control unit 10 set respectively corresponding each mechanical arm 21.

[0040] Wherein, multiple emergency stop switches K are set respectively in arm system 200 and each control console 300.Corresponding, multiple emergency stop switches K are connected in series between the power supply end VS and the ground end GND of emergency stop control circuit, and constitute emergency stop control loop 100.Switch control unit 10 includes control component 11 and action component 12;Control component 11 can control action component 12 to be in different working states in the state of power-on and power-off.Therein, for any switch control unit 10: control component 11 is connected in series in emergency stop control loop 100, and action component 12 is connected with the mechanical arm 21 corresponding to switch control unit 10.For any switch control unit 10: control component 11 is used to control the action of action component 12 in the switch control unit 10 when at least one emergency stop switch K is disconnected, so that the mechanical arm 21 connected with the action component 12 stops running.

[0041] Exemplarily, emergency stop switch K can be set in the prominent position outside the device (for example, arm system 200 or control console 300), for example, set on the armrest of the device, so that the doctor can control emergency stop switch K to be turned off in time and conveniently when danger occurs.Exemplarily, each emergency stop switch K can be in the form of emergency stop key (or button) and set on the device, and emergency stop switch K can be set as normally closed switch, and emergency stop switch K is disconnected when being pressed.

[0042] In order to facilitate description, emergency stop control loop 100 is referred to as loop in the required position, and the side close to power supply end VS of each emergency stop switch K is referred to as first end, and the side close to ground end GND is referred to as second end, and each emergency stop switch K is sequentially sorted from power supply end VS to ground end GND.Then, in emergency stop control loop 100, the first end of the first emergency stop switch K is connected with power supply end VS, the first end of the rest emergency stop switch K is connected with the second end of the previous emergency stop switch K, and the second end of the last emergency stop switch K is connected with ground end GND.Therein, any emergency stop switch K in loop can belong to arm system 200, and other emergency stop switches K belong to each control console 300 respectively. Figure 1 Exemplarily, the first emergency stop switch K belongs to 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, specifically between the power supply end 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 end GND. When the arm system 200 includes multiple mechanical arms 21, the emergency stop control circuit includes the same number of switch control units 10 as the number of mechanical 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 the first and second control components 11 from left to right in FIG. 1. Alternatively, the control components 11 of different switch control units 10 can be connected in series and then connected at any position in the emergency stop control loop 100, for example Figure 1 the second and third control components 11 from left to right in FIG. 1. Alternatively, the control components 11 of different switch control units 10 can be connected in parallel and then connected at any position in the emergency stop control loop 100, for example Figure 2 the control components 11 in FIG. 1. Here, the connection position of the control component 11 is not limited, as long as when any emergency stop switch K is open, the control components 11 are all de-energized.

[0044] Exemplarily, the action component 12 can be a switch device connected between the switch control unit 10 corresponding to the mechanical arm 21, the driving assembly (e.g. motor) of the mechanical arm 21, and the driving power supply that supplies power to the driving assembly; the control component 11 can control the switch device to be open when de-energized, thereby cutting off the power supply of the driving assembly and controlling the mechanical arm 21 to stop moving. Alternatively, the action component 12 can be a control device, and the control component 11 can make the control device control the driving assembly of the mechanical arm 21 to be powered off when de-energized, thereby controlling the mechanical arm 21 to stop moving. Alternatively, the action component 12 can be a brake device, and the control component 11 can release the brake device when de-energized to control the mechanical arm 21 to stop moving. Here, the specific type of the action component 12 is not limited, as long as it can control the mechanical arm 21 to stop moving under the control of the control component 11.

[0045] Exemplarily, when the dual (multi) robots need to work cooperatively, the emergency stop switches K in the control consoles 300 are all connected in series in the emergency stop control loop 100, and no matter which emergency stop switch K is disconnected, all the control components 11 in the emergency stop control loop 100 can be de-energized, so as to control all the mechanical arms 21 in the arm system 200 to stop moving, for example, the whole system can be controlled to be powered off. In this way, when an emergency occurs in any device in the arm system 200 and the control consoles 300, all the mechanical arms 21 can be controlled to stop moving by disconnecting the emergency stop switch K on the device; on the other hand, when an emergency occurs in any position in the surgical system, the operator can quickly press the emergency stop switch K closest to the current position of the operator to control all the mechanical arms 21 to stop moving, so as to avoid the risk of expansion.

[0046] In the emergency stop control circuit provided by the embodiment of the application, a plurality of emergency stop switches K are connected in series in the emergency stop control loop 100, and the control components 11 of the switch control units 10 corresponding to the mechanical arms 21 are connected in series in the emergency stop control loop 100. In this way, when the surgical system is normally working, all the emergency stop switches K are turned on, the whole emergency stop control loop 100 is powered on, all the control components 11 are powered on, and all the action components 12 are not started to brake, which does not affect the movement of the mechanical arms 21, and is equivalent to that the emergency stop control circuit does not use the braking function. When an emergency or special situation occurs and the arm system 200 needs to be quickly stopped, in the case that at least one emergency stop switch K is disconnected, the emergency stop function is triggered, all the control components 11 are de-energized, all the action components 12 are controlled to move, and the emergency braking of all the mechanical arms 21 in the whole system is realized. The emergency stop control circuit supports the connection of a plurality of control consoles 300 and supports the braking control of a multi-arm (XB) system with a plurality of mechanical arms 21, the loop is simple and reliable, and the normal realization of the emergency stop function can be ensured. Moreover, the plurality of emergency stop switches K are respectively arranged in the arm system 200 and the control consoles 300, and a distributed arrangement of the emergency stop switches K is formed, so that when an emergency occurs, the operator can quickly disconnect the nearest emergency stop switch K to ensure the safety of the system. In summary, the embodiment of the application can improve the operation convenience, timeliness and safety of the emergency stop control circuit, and ensure the stable and safe operation of the whole surgical system.

[0047] On the basis of the above-mentioned embodiments, optionally, the mechanical arm 21 comprises a driving assembly, and the driving assembly is powered by a driving power supply. The switch control unit 10 specifically comprises: a relay. The control component 11 comprises a coil of the relay, and the coil is connected in series in the emergency stop control loop. The action component 12 comprises a contact of the relay, and the contact is connected between the driving assembly in the corresponding mechanical arm 21 of the switch control unit 10 and the driving power supply. Exemplarily, the driving assemblies of the plurality of mechanical arms can be powered by one driving power supply or by a plurality of driving power supplies respectively, which is not limited here. In the relay, when the coil is powered on, the contact is turned on, and the driving assembly is powered on to normally work; when the coil is powered off, the contact is turned off, and the driving assembly is powered off to stop driving the mechanical arm 21 to work.

[0048] In this embodiment, the relay is adopted to constitute the switch control unit 10, so that the structure of the switch control unit 10 is simple and easy to realize. Moreover, by cutting off the power supply of the driving assembly, the electrical braking can be realized quickly, safely, reliably and accurately, and the control mode is simple to realize and easy to operate.

[0049] On the basis of the above-mentioned embodiments, optionally, the connection mode of the control component 11 in the emergency stop control loop 100 has a plurality of modes, and the following will exemplarily illustrate several modes, but the present application is not limited thereto.

[0050] In one embodiment, optionally, in the case that the arm system comprises one mechanical arm, the emergency stop control circuit comprises one 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, in the case that the arm system 200 comprises a plurality of mechanical arms 21, the emergency stop control circuit comprises a plurality of switch control units 10 which are the same in 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 can be the following modes:

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

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

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

[0055] For example, part of the control components 11 are connected in parallel to form a group and then connected in series in the emergency stop control loop 100, and the other control components 11 can also have a parallel and / or series connection relationship.

[0056] Or, as Figure 2 All control components 11 of the switch control units 10 can be connected in parallel as 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 scheme of control components 11 in series, the requirement for the voltage level of the power supply end VS can be reduced on the basis of meeting the driving voltage level of each control component 11, and the safety of the loop is improved. Exemplarily, the power supply end VS can be connected to a 24V DC voltage.

[0057] It can be understood that no matter how many switch control units 10 are included in the emergency stop control circuit, all control components 11 are preferably arranged between the second end of the last emergency stop switch K and the ground end GND, so that when any emergency stop switch K is turned off, all control components 11 can be de-energized. In this way, it can be avoided that when the emergency stop switch K at the rear end of the loop is turned off, the power supply end VS forms an electrical path through the still conductive emergency stop switch K and other grounding devices in the surgical system that are coupled to the emergency stop control loop, resulting in the occurrence of the situation that the control components 11 connected in series in the electrical path are not de-energized.

[0058] Figure 3 is another structure diagram of an emergency stop control circuit provided by an embodiment of the present application. Referring to Figure 3 On the basis of the above-mentioned embodiments, the emergency stop control circuit further includes a plurality of acquisition modules 20 and a plurality of controllers 30. The plurality of acquisition modules 20 are respectively arranged in the arm system 200 and each console 300 and correspond to the plurality of emergency stop switches K. The acquisition module 20 is connected to the second end of the corresponding emergency stop switch K and is connected to the ground end GND. The plurality of controllers 30 are respectively connected to the plurality of acquisition modules 20 and are respectively arranged in the arm system 200 and each console 300. That is, the arm system 200 and each console 300 are respectively provided with the emergency stop switch K, the acquisition module 20 and the controller 30.

[0059] The collecting module 20 is configured to collect a potential difference between the second end of the emergency stop switch K and the ground end 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 end GND, it indicates that the emergency stop switch K and all the emergency stop switches K in front of the emergency stop switch K are turned on, so that the positive voltage signal of the power supply end 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 end GND, it indicates that there is at least one disconnected emergency stop switch K among the emergency stop switch K and all the emergency stop switches K in front of the emergency stop switch K, so that the second end of the emergency stop switch K loses power. The controller 30 is configured to determine whether there is a disconnected emergency stop switch K between the second end of the emergency stop switch K corresponding to the collecting module 20 connected to the controller 30 in the emergency stop control loop 100 from the power supply end VS. Exemplarily, the potential of the switch sampling signal is different in the case that there is and there is not a potential difference between the second end of the emergency stop switch K and the ground end GND, and the controller 30 can determine whether there is a disconnected emergency stop switch K among the emergency stop switch K and all the emergency stop switches K in front of the emergency stop switch K according to the potential of the switch sampling signal.

[0060] It should be noted that, in the case that the collecting module 20 is provided, since the collecting module 20 is connected to the ground end GND, in order to avoid the power supply end VS forming a ground electrical path through the turned-on emergency stop switch and the collecting module 20 to affect the action of the switch control unit 10, the control component 11 in each switch control unit 10 can be connected between the second end of the last emergency stop switch K and the ground end 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 end GND.

[0061] Figure 4 is another structure diagram of an emergency stop control circuit provided by an embodiment of the present application. Referring to Figure 4 , specifically, the collecting module 20 comprises an optoelectronic coupler. The transmitting part U1A of the optoelectronic coupler is connected between the second end of the emergency stop switch K corresponding to the collecting module 20 and the ground end GND; the receiving part (not shown in the figure) of the optoelectronic coupler is connected to the controller 30 corresponding to the collecting module. Further, the collecting module 20 can further comprise 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 optoelectronic coupler between the second end of the emergency stop switch K corresponding to the collecting module 20 and the ground end GND.

[0062] In this way, the electrical isolation between the emergency stop control loop 100 and the controller 30 can be realized through the optoelectronic coupler, 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, for the ground GND, the transmitting part U1A of the optoelectronic coupler in each device is used in parallel, which can ensure the independence of the light coupling collection in each device; and the transmitting part U1A of the optoelectronic coupler and the coil (i.e. the control component 11) of each relay in each device are used in parallel, which can avoid the serious voltage division of the optoelectronic coupler resistance when used in series, resulting in that the relay loop voltage of the arm system does not meet the requirements.

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

[0064] Continuing to refer to Figure 3 On the basis of the above-mentioned embodiments, optionally, the emergency stop control circuit further comprises a plurality of warning modules 40, which are respectively connected to each controller 30 and are respectively arranged in the arm system 200 and each console 300. That is, the arm system 200 and each console 300 can be equipped with a warning module 40. The controller 30 can be used to control the connected warning module 40 to give a warning when it is determined that there is an open emergency stop switch K in the emergency stop switch K and each emergency stop switch K in front of the emergency stop switch K collected by the collection module 20. In this way, by observing the position of the device (such as the arm system 200 and / or the console 300) giving a warning, the position of the emergency stop switch K pressed can be determined, so as to facilitate troubleshooting. Alternatively, the controllers 30 can be connected to each other, and any controller 30 can transmit fault information to other controllers 30 when it is determined that there is an open emergency stop switch K in the emergency stop switch K and each emergency stop switch K in front of the emergency stop switch K collected by the collection module 20, so that all controllers 30 control all warning modules 40 to give a warning. Among them, the warning module 40 can include at least one of an indicator light, a buzzer and a vibrator. Exemplarily, the warning module 40 includes an indicator light, and the emergency stop key is pressed, and the emergency stop indicator light is lit, which can play a good warning role and is beneficial to judge the machine state information.

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

[0066] Referring to Figure 4 On the basis of the above embodiments, the arm system 200 can optionally include a first control panel 201, for example, a rear control panel in the arm system 200, on which the power supply end VS, the ground end GND, the collection module 20 in the arm system 200, the controller 30 in the arm system 200, and the control component 11 of each switch control unit 10 can be integrated. The emergency stop switch K in the arm system 200 can be set at a position easy to use, for example, at a prominent position outside the body of the arm system 200, or can also 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 collection 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 a position easy to use, for example, at a prominent position outside the body of the console 300, or can also be integrated on the second control panel 301.

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

[0069] The first control panel 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 end VS and the first output interface PO1, the ground end GND is connected to the second output interface PO2, the collection 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 end GND and the first input interface PI1.

[0070] The second control board 301 comprises 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 control console 300 is connected between the second input interface PI2 and the third output interface PO3, the acquisition module in the control 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] In the case where the surgical system comprises a plurality of control consoles 300, in the first control 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 of the subsequent control consoles 300, the second input interface PI2 is connected to the third output interface PO3 of the second control board 301 in the previous control 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 control console 300; in the last control console 300, the third output interface PO3 is connected to the first input interface PI1. In the last control console 300, since there is no corresponding next control console 300, the fourth output interface PO4 can not be provided, or the third input interface PI3 and the fourth output interface PO4 are not connected. When the surgical system comprises only one control console 300, the second input interface PI2 in the control console 300 can be connected to the first output interface PO1, the third input interface PI3 can be connected to the second output interface PO2, and the third output interface PO3 can be connected to the first input interface PI1.

[0072] On the basis of the above-mentioned embodiments, the surgical system can further comprise an image trolley as a connecting medium between the control console 300 and the arm system 200. The image trolley comprises a third control board 401, and the second control board 301 in each of the control consoles 300 is connected to the first control board 201 in the arm system 200 through the third control board 401 in the image trolley. Then, for the emergency stop control circuit, the third control board 401 can comprise a fourth input interface PI4 and a fifth output interface PO5. The emergency stop control circuit further comprises a connecting line L provided in the third control board 401 and connected between the fourth input interface PI4 and the fifth output interface PO5, for forming a loop. In the last control console 300, the third output interface PO3 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 interface in each of the above control boards can be a LAN-IN interface, and the output interface can be a LAN-OUT interface. The connection between different control boards is an inter-system connection, and the control boards can communicate with each other through the EtherCAT protocol; the internal connection of the control board is an internal circuit. The emergency stop switch K can be arranged on the equipment handrail, and the acquisition module 20 and the controller 30 can constitute a handrail sampling and control module (RSC) in the equipment. The controller 30 can be, for example, a single-chip microcomputer, and the receiving part of the optoelectronic coupler can be connected to the IO port of the single-chip microcomputer, so that the single-chip microcomputer can determine whether the emergency stop switch K is pressed by the potential received by the IO port. 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 through an amplifying circuit such as a triode.

[0074] Taking the emergency stop switch K as an emergency stop key and the switch control unit 10 as a relay, specifically, the action logic of the loop is as follows: the normally closed point of the emergency stop key is connected in series in the loop, and the control state of the relay is: the emergency stop key is not pressed, the relay contact is closed, and the mechanical arm 21 is normally used; any emergency stop key in the loop is pressed, the relay coil loses power, the control contact is actuated, all the mechanical arms 21 controlled by all the relays lose power, and the safety emergency stop of the surgical system is realized. Taking the alarm module 40 including the indicator lamp as an example, any emergency stop key can be set to be pressed, and all the indicator lamps are always on.

[0075] In summary, the emergency stop control circuit provided by the embodiment of the present application can simultaneously connect multiple doctor control consoles in series, meets the design requirement that multiple doctor operation ends can be connected in the loop, the emergency stop related circuit structures of each control console are basically the same, the entire loop can realize linkage control, and the electrical braking is safe and reliable. Moreover, the emergency stop control circuit is easy to expand, can realize compatibility with multiple operation platforms, and multiple control consoles can be configured with the above emergency stop related circuit and connected in series in the loop to realize cooperation.

[0076] The embodiment of the present application also provides a surgical system including the emergency stop control circuit provided by any of the embodiments of the present application, and has corresponding beneficial effects. Exemplarily, the surgical system can be a minimally invasive surgical system, for example, an endoscopic surgical system.

[0077] Specifically, the surgical system can include an arm system, an emergency stop control circuit and at least one control console. Exemplarily, each control console is a doctor control console, and a master controller can be arranged in each control console. The arm system is arranged near a patient bed, a plurality of mechanical arms can be arranged in the arm system, and various surgical instruments can be connected to the mechanical arms. During the operation, the doctor can remotely control the corresponding mechanical arms and surgical instruments to act through the master controller. Exemplarily, the surgical instrument can be a lens instrument of an endoscope.

[0078] Further, the surgical system can further comprise: an image trolley connected between the control console and the arm system, the control console controls the arm system to work through the image trolley, the image trolley is used to control the arm system to perform corresponding actions according to the instructions issued by the control console. Among them, the image trolley serves as a connection medium between the control console and the arm system, and the second control board in each control console is connected to the first control board in the arm system through the third control board in the image trolley. Correspondingly, the emergency stop control circuit in the emergency stop control loop also passes through the third control board based on the connection line, realizing the connection from the last emergency stop switch in the loop to the arm system. It can be understood that for the emergency stop control circuit, the image trolley is just passed through, and there is no emergency stop button, acquisition module, warning module, etc. in the image trolley; the original main control module in the third control board of the image trolley can be used to control the arm system to perform corresponding actions according to the instructions issued by the control console, and can 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 made for the related structure of the surgical system, and the contents not described in detail here can be referred to the explanation of the above-mentioned embodiments, and the repeated contents will not be described again.

[0080] It should be understood that various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0081] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An emergency stop control circuit, characterized by The application is applied to a surgical system, which 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 consoles; wherein the plurality of emergency stop switches 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; A switch control unit is arranged corresponding to each of the mechanical arms; the switch control unit comprises 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 mechanical arm corresponding to the switch control unit; the control component is used to control the action component to act when at least one of the emergency stop switches is turned off, so that the mechanical arm connected to the action component stops running.

2. The scram control circuit according to claim 1, characterized by The mechanical arm comprises a driving assembly, and the driving assembly is powered by a driving power supply; The switch control unit comprises a relay; wherein the control component comprises a coil of the relay, and the coil is connected in series in the emergency stop control loop; the action component comprises a contact of the relay, and the contact is connected between the driving assembly in the mechanical arm corresponding to the switch control unit and the driving power supply.

3. The scram control circuit according to claim 1, characterized by The arm system comprises a plurality of mechanical arms, and the emergency stop control circuit comprises a plurality of switch control units which are the same in number as the mechanical arms; The control components of each of the switch control units 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 scram control circuit according to any one of claims 1 to 3, characterized by, From the power supply end to the grounding end, the first end of the first emergency stop switch is connected to the power supply end, the first end of the remaining emergency stop switches is connected to the second end of the previous emergency stop switch, and the second end of the last emergency stop switch is connected to the grounding end; The emergency stop control circuit further comprises: A plurality of acquisition modules are arranged corresponding to the plurality of emergency stop switches and 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 connected to the grounding end; the acquisition module is used to acquire the potential difference between the second end of the corresponding emergency stop switch and the grounding end, and form a switch sampling signal according to the potential difference; A plurality of controllers are respectively connected to each of the acquisition modules and arranged in the arm system and each of the consoles; the controller is used to determine whether there is an open emergency stop switch between the second end of the emergency stop switch corresponding to the acquisition module connected to the controller and the power supply end to the grounding end in the emergency stop control loop according to the switch sampling signal output by the connected 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 grounding end.

5. The scram control circuit according to claim 4, characterized by The acquisition module comprises an optoelectronic coupler; The transmitting part of the optoelectronic coupler is connected between the second end of the corresponding emergency stop switch of the acquisition module and the grounding end; The receiving part of the optoelectronic coupler is connected to the controller corresponding to the acquisition module.

6. The scram control circuit according to claim 5, characterized by The acquisition module further comprises a first resistor connected in series between the second end of the emergency stop switch corresponding to the acquisition module of the photoelectric coupler and the ground end.

7. The scram control circuit according to claim 4, characterized by Further comprising: A plurality of warning modules corresponding to the controllers respectively, and arranged in the arm system and the control consoles respectively; wherein the warning modules comprise at least one of an indicator light, a buzzer and a vibrator.

8. The scram control circuit according to claim 4, characterized by The arm system comprises a first control board, and the control console comprises a second control board; The power end, the ground end, the acquisition module in the arm system and the controller, and the control components of the switch control units are integrated in the first control board; The first control board comprises 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 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; The acquisition module and the controller in the same control console are integrated in the second control board of the control console; the second control board comprises a second input interface, a third input interface, a fourth output interface and a third output interface; the emergency stop switch in the control console is connected between the second input interface and the third output interface, the acquisition module in the control 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; The surgical system comprises a plurality of control consoles; in the first control 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 control console, the second input interface is connected to the third output interface of the second control board in the previous control console, and the third input interface is connected to the fourth output interface of the second control board in the previous control console; in the last control console, the third output interface is connected to the first input interface.

9. The scram control circuit according to claim 8, characterized by The surgical system further comprises an image trolley, and the image trolley comprises a third control board, wherein the third control board comprises a fourth input interface and a fifth output interface; The emergency stop control circuit further comprises a connection line 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 control 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 by, Comprise: An arm system, at least one control console, and an emergency stop control circuit as claimed in any one of claims 1-9.

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