Debugging method of medical robot, medical robot and debugging system

Abstract

The embodiment of the invention provides a debugging method of a medical robot, the medical robot and a debugging system, the debugging method is applied to the debugging system, the debugging system is used for debugging and maintaining a plurality of trolleys in the medical robot, and the plurality of trolleys are in communication connection based on Ethercat. The debugging method comprises the steps that the debugging system responds to selection operation triggered by a user on a control corresponding to each trolley on a debugging maintenance interface, and a network topology structure diagram corresponding to a target trolley is obtained; the debugging system obtains parameter information of at least one driver corresponding to a target to-be-debugged module in response to a selection operation triggered by a user on a control corresponding to the target to-be-debugged module in the network topology structure diagram, and generates a debugging interface based on the parameter information; the debugging system responds to the selection operation triggered by the user on the control corresponding to the target function in the function menu on the debugging interface, and the action corresponding to the target function is executed, so that the debugging and maintenance difficulty is reduced, and the debugging and maintenance efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a debugging method of a medical robot, a medical robot and a debugging system. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive medical robots are widely used in surgical departments such as urology, thoracic surgery, general surgery, and neurosurgery due to their high dexterity, high control accuracy, and intuitive surgical images. Among them, the most widely used minimally invasive medical robot is the laparoscopic medical robot, which is used to perform surgeries on the patient's abdomen, pelvis, chest, and other parts of the body. The laparoscopic medical robot consists of a doctor's console (also called a doctor's trolley), a patient operating table (also called a patient trolley), and an image platform (also called an image trolley). The trolleys are connected by optical fiber integrated cables to realize information interaction, network communication, master-slave control, image transmission, and other functions between the trolleys.

[0003] In order to keep the medical robot in a relatively perfect state, it is often necessary to perform debugging and maintenance on each trolley according to the actual usage status. However, when debugging or maintaining the medical robot, it can often only be done on its corresponding trolley, which is cumbersome and inefficient. Summary of the invention

[0004] The present application provides a debugging method for a medical robot, a medical robot, and a debugging system, which can reduce the difficulty of debugging and maintenance and improve the efficiency of debugging and maintenance.

[0005] In a first aspect of the present application, a debugging method for a medical robot is provided, which is applied to a debugging system, wherein the debugging system is used to perform debugging and maintenance processing on multiple trolleys in the medical robot, and the multiple trolleys are linked based on Ethercat communication; the method comprises:

[0006] The debugging system responds to the user's selection operation triggered by the control corresponding to each trolley in the debugging and maintenance interface, determines the target trolley in the medical robot for scanning, obtains the network topology structure diagram corresponding to the target trolley and displays it through the control interface; the network topology structure diagram is used to indicate the link relationship between multiple modules to be debugged in the target trolley;

[0007] The debugging system, in response to a selection operation triggered by a user on the control interface on a control corresponding to a target module to be debugged among the multiple modules to be debugged, acquires parameter information of at least one driver corresponding to the target module to be debugged, and generates a debugging interface based on the parameter information of the at least one driver corresponding to the target module to be debugged;

[0008] The debugging system executes an action corresponding to the target function in response to a selection operation triggered by a user on a control corresponding to a target function in a function menu in the debugging interface.

[0009] In some embodiments, the debugging system executes an action corresponding to the target function in response to a user's selection operation triggered by a control corresponding to a target function in a function menu in the debugging interface, including at least one of the following:

[0010] If the target function is parameter adjustment, the debugging system obtains target parameter information of the target driver in response to a user's adjustment operation on parameter information of a target driver in the at least one driver corresponding to the target module to be debugged, and modifies and / or saves the parameter information of the target driver based on the target parameter information of the target driver in response to a user's selection operation on at least one control corresponding to the parameter adjustment;

[0011] If the target function is data processing, the debugging system performs at least one of uploading, downloading and calibrating parameter information of a target driver in the at least one driver corresponding to the target module to be debugged in response to a user's selection operation of a control corresponding to the data processing;

[0012] If the target function is system adjustment, the debugging system acquires target debugging data in response to the user's selection operation of the control corresponding to the system adjustment, and saves and / or upgrades the current system based on the target debugging data;

[0013] If the target function is a log operation, the debugging system saves the current log information in response to the user's selection operation of the control corresponding to the log operation.

[0014] In some embodiments, the method further comprises:

[0015] The debugging system simulates the operating state of the at least one driver based on the parameter information of the at least one driver corresponding to the target module to be debugged;

[0016] The debugging system generates an operation dynamic diagram corresponding to the target vehicle based on the simulation result of the operation status of the at least one driver, and displays the operation dynamic diagram.

[0017] In some embodiments, the method further comprises:

[0018] The debugging system obtains the authority information corresponding to the user in response to the login operation input by the user, and displays the debugging maintenance interface corresponding to the user based on the authority information corresponding to the user.

[0019] In some embodiments, the method further comprises:

[0020] The debugging system detects the operating status of the medical robot and / or each of the trolleys in response to the login operation input by the user, and obtains the detection results corresponding to the medical robot and / or each of the trolleys;

[0021] If the detection results corresponding to the medical robot and / or each of the trolleys indicate the existence of a fault, the debugging system displays fault information corresponding to the fault; the fault information includes at least one of prompt information, alarm information and suggestion information.

[0022] In some embodiments, the method further comprises:

[0023] The debugging system closes or shields the fault information in response to the user's selection operation triggered by the fault information.

[0024] In a second aspect of the present application, a medical robot is provided, comprising a plurality of trolleys, wherein the plurality of trolleys are linked based on Ethercat communication; the plurality of trolleys include a doctor trolley and a patient trolley; the doctor trolley and the patient trolley are both provided with an industrial computer, a control module, a mode switching module, a debugging interface and an Ethercat branch; the control module is coupled to the Ethercat branch, and the debugging interface, the industrial computer and the Ethercat branch are respectively coupled to the mode switching module; the mode switching module is used to connect the debugging interface with the Ethercat branch, or to connect the industrial computer with the Ethercat branch; the debugging interface is used to couple with a debugging system, and the debugging system executes the method described in any one of the above embodiments when the debugging interface is connected to the Ethercat branch.

[0025] In some embodiments, the mode switching module is a first switching component;

[0026] When the first switching component is in the first posture, the debugging interface is connected to the Ethercat splitter;

[0027] When the first switching component is in the second position, the industrial computer is connected to the Ethercat splitter.

[0028] In some embodiments, the mode switching module is a second switching component;

[0029] When the control module outputs the first signal, the second switching component connects the debugging interface and the Ethercat splitter;

[0030] When the control module outputs the second signal or does not output the second signal, the second component connects the industrial computer and the Ethercat splitter.

[0031] In a third aspect of the present application, a debugging system is provided, comprising:

[0032] A scanning module, for responding to a selection operation triggered by a user on a control corresponding to each of the trolleys in a debugging and maintenance interface, determining a network topology diagram corresponding to the target trolley in the medical robot and displaying it through a control interface; the network topology diagram is used to indicate a link relationship between multiple modules to be debugged in the target trolley;

[0033] an acquisition module, configured to acquire parameter information of at least one driver corresponding to a target module to be debugged among the multiple modules to be debugged in response to a selection operation triggered by a user on the control interface on the target module to be debugged, and generate a debugging interface based on the parameter information of the at least one driver corresponding to the target module to be debugged;

[0034] The processing module is used to execute an action corresponding to the target function in response to a selection operation triggered by a user on a control corresponding to a target function in a function menu in the debugging interface.

[0035] An embodiment of the present application provides a debugging method for a medical robot, which is applied to a debugging system, wherein the debugging system is used to perform debugging and maintenance on multiple trolleys in the medical robot, and the multiple trolleys are linked based on Ethercat communication; the method includes: the debugging system responds to a selection operation triggered by a user on a control corresponding to each trolley in a debugging and maintenance interface, scans a target trolley among the multiple trolleys, obtains a network topology diagram corresponding to the target trolley and displays it through a control interface; the network topology diagram is used to indicate the link relationship between multiple modules to be debugged in the target trolley; the debugging system responds to a selection operation triggered by a user on a control corresponding to a target module to be debugged among the multiple modules to be debugged in the control interface, obtains parameter information of at least one driver corresponding to the target module to be debugged, and generates a debugging interface based on the parameter information of at least one driver corresponding to the target module to be debugged; the debugging system responds to a selection operation triggered by a user on a control corresponding to a target function in a function menu in the debugging interface, and executes an action corresponding to the target function. In this way, by scanning the industrial computer, control module and modules to be debugged in the target trolley, operations can be performed on the visual control interface to complete the debugging and maintenance of the target trolley, and multiple trolleys can be debugged and maintained at the same time, which reduces the difficulty of debugging and maintenance and improves the efficiency of debugging and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in 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.

[0037] Figure 1 A schematic diagram of the structure of a medical robot provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of a flow chart of a debugging method for a medical robot provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of a debugging and maintenance interface provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of a control interface provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of another control interface provided in an embodiment of the present application;

[0042] Figure 6 A flowchart of another debugging method for a medical robot provided in an embodiment of the present application;

[0043] Figure 7 A flowchart of another method for debugging a medical robot provided in an embodiment of the present application;

[0044] Figure 8 A schematic diagram of the structure of a debugging system provided in an embodiment of the present application;

[0045] Fig. 9 A schematic diagram of the structure of a debugging device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application.

[0047] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation to the present application, and the protection scope of the present application is limited only by the claims. In other places, known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the main points of the invention of the present application.

[0048] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that changes in mechanical structure, connection / position relationship, physical composition, electrical and steps can be made without departing from the spirit and scope of the present application. Such changes can be either replacement or combination of elements of several embodiments of the present application, or replacement or combination of known contents.

[0049] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used to describe the relationship between one component or feature shown in the figure and another component or feature for the convenience of explanation. It should be understood that spatially relative terms can only be used under the conditions of the positioning direction of the device in use or operation (except for the positioning direction specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein are interpreted accordingly.

[0050] As used herein, "several", "one", and "the" are intended to include plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or parts, but do not exclude the presence of one or more other features, steps, operations, elements, parts, and / or groups thereof.

[0051] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part", "module", "assembly" and "element" are used interchangeably.

[0052] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector may be a surgical tool associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist joint", "joint seat") for the surgical tool, so that the position and / or orientation of the end effector can be flexibly manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0053] The term "mating" (sometimes referred to as "connecting", "linking", "coupling", "mounting", "assembling") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mating" can be interpreted to mean a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0054] The term "joint position" can be broadly understood as the angle of a joint or its spatial position. The angle of a joint refers to the actual rotation angle of the joint relative to the zero point within its range of rotation. If there is no zero point, it is the incremental rotation angle. The spatial position refers to the position of the virtual joint center in a specific spatial coordinate system. For example, for a Cartesian spatial coordinate system, the spatial position refers to the three-dimensional position in XYZ coordinates.

[0055] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0056] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive medical robots are widely used in surgical departments such as urology, thoracic surgery, general surgery, and neurosurgery due to their high dexterity, high control accuracy, and intuitive surgical images. Among them, the most widely used minimally invasive medical robot is the laparoscopic medical robot, which is used to perform surgeries on the patient's abdomen, pelvis, chest, and other parts of the body. The laparoscopic medical robot consists of a doctor's console (also called a doctor's trolley), a patient operating table (also called a patient trolley), and an image platform (also called an image trolley). The trolleys are connected by optical fiber integrated cables to realize information interaction, network communication, master-slave control, image transmission, and other functions between the trolleys.

[0057] In some embodiments, the patient trolley generally includes a chassis, a column, a plurality of surgical arms connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each surgical arm. The surgical instrument and / or laparoscope is detachably connected to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. Each surgical instrument manipulator can be allowed to control the relevant surgical instruments in various forms of one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is generally located at the position where the surgical instrument enters the body wall, and the center of motion is generally referred to as the "distal center" or "fixed point".

[0058] In some embodiments, the imaging trolley generally includes one or more video displays with a video image capture function (commonly an endoscope) and for displaying the surgical instruments in the captured image. In some laparoscopic medical robots, an optical device is included to transmit the image from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmit the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on a video display for observation by other doctors or assistants.

[0059] In some embodiments, the doctor's trolley generally includes a chassis, a pedal assembly, a stereo monitor, a main control arm, and a manual controller connected to the end of the main control arm. The surgeon controls the manual controller and the pedal assembly to achieve specific movements and / or energy excitation of the surgical instrument. The surgeon's control platform can be at a single location in the surgical system composed of a laparoscopic medical robot or it can be distributed at two or more locations in the system, and the remote control master / slave operation can be completed according to a preset control degree, for example, one location is used as the main control for the main operation, and another location is used as the auxiliary control for an auxiliary operation. The main control completes the main surgical operation, and the auxiliary control completes auxiliary operations such as laparoscope movement or tissue traction. In some embodiments, the manual controller can be an input device capable of completing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operation signal, and after being processed by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the final movement of the surgical instrument.

[0060] Generally, the force generated by the remote motor is transmitted via a transmission system, which transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located at a location remote from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol and telepresentation surgery will understand such systems and their components and will not be described in detail here.

[0061] In some embodiments, since each surgical arm in the medical robot is composed of a motor, a driver and an encoder, and the driver needs to be configured with parameters to control the motor movement, in order to keep the medical robot in a relatively perfect state, it is often necessary to perform debugging and maintenance on each trolley according to the actual use status. When debugging or maintaining the medical robot, debugging and maintenance can often only be performed on the corresponding trolley, which is cumbersome and inefficient.

[0062] In order to solve the above technical problems. The present application provides a debugging method for a medical robot, which is applied to a debugging system, wherein the debugging system is used to debug multiple trolleys in the medical robot, wherein the trolley includes an industrial computer, a control module and multiple modules to be debugged, wherein the industrial computer, the control module and each module to be debugged are all based on Ethercat communication links, and the control modules of two adjacent trolleys in the multiple trolleys are based on Ethercat communication links; wherein, the debugging method scans the industrial computer, the control module and each module to be debugged in the target trolley, and then operates on a visual control interface to complete the debugging and maintenance of the target trolley, and can also debug and maintain multiple trolleys at the same time, which not only reduces the difficulty of debugging and maintenance, but also improves the efficiency of debugging and maintenance.

[0063] Before describing the technical solution of the embodiment of the present application, the application scenario of the debugging method of the embodiment of the present application is first described in conjunction with the accompanying drawings. The application scenario includes a medical robot and a debugging device.

[0064] In some embodiments, Figure 1 This is a schematic diagram of the structure of the medical robot provided in the embodiment of the present application. Figure 1 As shown, the medical robot includes multiple trolleys, and the multiple trolleys are linked based on Ethercat communication. Among them, the multiple trolleys may include a doctor trolley (also known as a doctor console), an image trolley (also known as an image platform) and a patient trolley (also known as a patient operating table); the multiple trolleys may also include a doctor trolley and a patient trolley. In the embodiment of the present application, an exemplary description will be given by taking multiple trolleys including a doctor trolley, an image trolley and a patient trolley as an example.

[0065] In some embodiments, the doctor's trolley and the patient's trolley are both provided with an industrial computer, a control module, a mode switching module, a debugging interface and an Ethercat splitter; the control module is coupled to the Ethercat splitter, and the debugging interface, the industrial computer and the Ethercat splitter are respectively coupled to the mode switching module; the mode switching module is used to connect the debugging interface with the Ethercat splitter, or to connect the industrial computer with the Ethercat splitter; the debugging interface is used to couple with the debugging system, and the debugging system executes the debugging method provided in the embodiment of the present application when the debugging interface is connected to the Ethercat splitter.

[0066] For example, Figure 1 As shown, the doctor's console includes an industrial computer, a programmable logic controller (PLC) module (also called a control module), a mode switching component, a debugging interface, an Ethercat splitter, a left main control arm, a right main control arm, a human-machine adjustment device, and a photoelectric converter. The human-machine adjustment device on the doctor's trolley includes an armrest adjustment module, a monitor adjustment module group, and a pedal module. Among them, the armrest adjustment module may include a main armrest lifting module; the monitor adjustment module may include a monitor lifting module and a monitor rotation module; the pedal adjustment module may include a pedal telescopic module. The left main control arm, the right main control arm, and each module in the human-machine adjustment device on the doctor's console are composed of a driver module, a motor joint module, and an encoder. Among them, the industrial computer and debugging interface in the doctor's trolley are coupled to the mode switching module through a network cable, the mode switching module is coupled to the input (IN) interface of the Ethercat splitter through a network cable, the output (OUT) interface of the Ethercat splitter is respectively coupled to the PLC module, the right main control arm and the armrest adjustment module in the human-machine adjustment device through the network cable, the PLC module is respectively coupled to the photoelectric converter and the left main control arm through the network cable; in the human-machine adjustment device, the armrest adjustment module is coupled to the monitor adjustment module, and the monitor adjustment module is coupled to the pedal adjustment module.

[0067] Continue as Figure 1As shown, the patient surgical platform includes an industrial computer, a PLC module (also called a control module), a mode switching module, a debugging interface, an Ethercat splitter, an Ethercat switch, at least one robotic arm, a human-machine adjustment device, and a photoelectric converter. Specifically, the patient trolley includes robotic arm 1, robotic arm 2, robotic arm 3...robotic arm n; the human-machine adjustment device on the patient trolley includes a chassis drive module, a support foot adjustment module, a spatial position adjustment, and a rotation angle adjustment. Among them, the control position adjustment module includes a column lifting module and a beam telescopic module, and the rotation angle module includes a beam rotation module and a suspension rotation module. Each module in the robotic arm and the human-machine adjustment device on the patient surgical platform is composed of a driver module, a motor joint module, and an encoder. Among them, the industrial computer and debugging interface in the patient trolley are coupled to the mode switching module through a network cable, the mode switching module is coupled to the input (IN) interface of the Ethercat splitter through a network cable, and the output (OUT) interface of the Ethercat splitter is coupled to the PLC module, the input (IN) interface of the Ethercat switch and the chassis drive module in the human-machine adjustment device through the network cable; in the human-machine adjustment device, the chassis drive module is coupled to the support foot adjustment module, the support foot adjustment module is coupled to the space position adjustment module, and the space position adjustment module is coupled to the rotation angle module; the PLC module is coupled to the photoelectric converter through the network cable, and the output (OUT) interface of the Ethercat switch is coupled to each robotic arm in the patient trolley through the network cable.

[0068] Continue as Figure 1 As shown, the image platform includes an industrial computer ( Figure 1 Not shown), 3D image processing board ( Figure 1 (not shown), an Ethercat switch and an optoelectronic converter. Among them, two optoelectronic converters can be provided, and the Ethercat switch is coupled to the two optoelectronic converters respectively through a network cable. One of the two optoelectronic converters in the image trolley can be coupled to the optoelectronic converter in the doctor trolley through a multi-core optical fiber cable, and the other of the two optoelectronic converters in the image trolley can be coupled to the optoelectronic converter in the patient trolley through a multi-core optical fiber cable. In this way, the doctor trolley, the image trolley and the patient trolley can be connected through the bridging and network topology between modules such as the industrial computer, the PLC module, the Ethercat splitter and the optoelectronic converter, so that the master-slave and debugging and maintenance network structures of the three trolleys can be interconnected.

[0069] In some embodiments, if the multiple carts only include a doctor cart and a patient cart, the optoelectronic converter of the doctor cart is coupled to the optoelectronic converter in the patient through a multi-core optical fiber cable to achieve intercommunication of the master-slave and debugging and maintenance network structures between the doctor cart and the patient cart.

[0070] It should be noted that, in actual application, Ethercat signals are transmitted through multi-core optical fiber cables between the trolleys and network cables in each trolley. The multi-core optical fiber cables between the trolleys and the network cables in each trolley can be replaced with other cables capable of transmitting Ethercat signals, which is not limited in the embodiments of the present application.

[0071] In some embodiments, the mode switching module switches the working mode of the corresponding trolley by connecting the debugging interface with the Ethercat splitter or connecting the industrial computer with the Ethercat splitter. The debugging interface is used to couple with the debugging system, and the debugging system is used to debug and maintain multiple trolleys in the medical robot. Among them, the debugging system can be deployed in a debugging device, and the debugging device can be a server or a terminal device. The terminal device can include at least one of a personal computer, a laptop computer, a smart phone, a tablet computer, and a portable wearable device; the server can include an independent server or a server cluster composed of multiple servers, which is not limited in the embodiments of the present application.

[0072] Exemplarily, the working modes of the doctor's trolley and / or the patient's trolley include a normal working mode and a debugging and maintenance mode. When the mode switching module connects the industrial computer and the Ethercat splitter, the corresponding trolley (such as the doctor's trolley and the patient's trolley) is in the normal working mode. At this time, the industrial computer controls the left main control arm and the right main control arm to perform the action corresponding to the operation instruction according to the operation instruction input by the user, or sends the corresponding action instruction to the PLC module, and the PLC module controls each module in the human-machine adjustment device to perform the action corresponding to the action instruction in response to the action instruction sent by the industrial computer. When the mode switching module connects the debugging interface and the Ethercat splitter, the corresponding trolley (such as the doctor's trolley and the patient's trolley) is in the debugging and maintenance mode. At this time, the corresponding debugging interface can be coupled to the debugging device, and the debugging system in the debugging device performs the corresponding action according to the selection operation input by the user to complete the debugging and maintenance processing of each trolley in the medical robot.

[0073] In some embodiments, the mode switching module can be physically operated to switch the debug interface connected to the Ethercat splitter to the industrial computer connected to the Ethercat splitter, or the industrial computer connected to the Ethercat splitter to the debug interface connected to the Ethercat splitter. That is, the mode switching module can be a first switching component; when the first switching component is in the first position, the debug interface is connected to the Ethercat splitter, and the corresponding trolley is in a debugging and maintenance state; when the first switching component is in the second position, the industrial computer is connected to the Ethercat splitter, and the corresponding trolley is in a normal working state.

[0074] Exemplarily, the first switching component can be a knob, in which case the first posture and the second posture are used to indicate the angle of the knob. For example, when the knob is at the first angle, the debugging interface is connected to the Ethercat splitter; when the knob is at the second angle, the industrial computer is connected to the Ethercat splitter. The first switching component can also be a dial button, in which case the first posture and the second posture are used to indicate the state of the dial button. For example, when the dial button is in the upward state, the debugging interface is connected to the Ethercat splitter; when the dial button is in the downward state, the industrial computer is connected to the Ethercat splitter. It can be understood that in order to avoid misoperation or touch, a protective cover is provided on the outside of the first switching component, and maintenance personnel need to remove the protective cover before operating the first switching component.

[0075] In other embodiments, the mode switching module can also trigger the debugging interface connected to the Ethercat splitter to switch to the industrial computer connected to the Ethercat splitter, or the industrial computer connected to the Ethercat splitter to switch to the debugging interface connected to the Ethercat splitter based on the detection result. That is, the mode switching module can also be a second switching component; when the control module outputs a first signal, the second switching component connects the debugging interface and the Ethercat splitter, and the corresponding trolley is in a debugging and maintenance state; when the control module outputs a second signal or does not output the first signal, the second component connects the industrial computer and the Ethercat splitter, and the corresponding trolley is in a normal working state. Among them, the control module outputs a first signal to indicate that the debugging interface is linked to the debugging system; the control module outputs a second signal to indicate that the debugging interface is not linked to the debugging system.

[0076] Exemplarily, the second switching component can be a relay. When the control module outputs the first signal, it means that the debugging interface is linked to the debugging system. At this time, the relay will be triggered, so that the debugging interface is connected to the Ethercat splitter, and the corresponding trolley is in a debugging and maintenance state. When the control module outputs the second signal, it means that the debugging interface is not linked to the debugging system. At this time, the relay is not triggered, the industrial computer is connected to the Ethercat splitter, and the corresponding trolley is in a normal working state.

[0077] It should be noted that in the embodiment of the present application, the working state of the medical robot can be switched to the debugging and maintenance state first, and then the debugging device and the medical robot can be connected; or the debugging device and the medical robot can be connected first, and then the working state of the medical robot can be switched to the debugging and maintenance state. The embodiment of the present application is not limited to this. Among them, when the mode switching module includes a second switching component, after the debugging device and the medical robot are connected, the working state of the medical robot will automatically switch to the debugging and maintenance state.

[0078] The following is combined with Figure 2, the debugging method of the medical robot provided in the embodiment of the present application is described. It should be noted that the debugging method of the medical robot provided in the embodiment of the present application can be implemented by the debugging system in the above embodiment, and the debugging system can be deployed in the debugging device. Figure 2 As shown, an embodiment of the present application provides a debugging method for a medical robot, and the debugging method for a medical robot includes S201-S203.

[0079] S201. The debugging system responds to the selection operation triggered by the user on the control corresponding to each trolley in the debugging and maintenance interface, determines the network topology diagram corresponding to the target trolley in the medical robot and displays it through the control interface.

[0080] Among them, the network topology diagram is used to indicate the link relationship between multiple modules to be debugged in the target trolley, that is, the network topology diagram indicates all physical links in the target trolley.

[0081] In some embodiments, the debugging and maintenance interface is used to display the controls corresponding to each trolley in the medical robot. The target trolley is the trolley corresponding to the control triggered by the user in the debugging and maintenance interface, that is, the target trolley is the trolley selected by the user from multiple trolleys.

[0082] In some embodiments, the debugging system may scan multiple physical links in the medical robot in response to the user's selection operation triggered by the control corresponding to each trolley in the debugging and maintenance interface. Alternatively, before the debugging system determines the network topology diagram corresponding to the target trolley among multiple trolleys and displays it through the control interface in response to the user's selection operation triggered by the control corresponding to each trolley in the debugging and maintenance interface, the debugging system scans the physical links in the medical robot in response to the scanning instruction triggered by the user clicking the corresponding control, or the debugging system automatically scans the physical links of the medical robot after the debugging device is connected to the medical robot. This application does not limit this.

[0083] In some embodiments, the user can trigger a selection operation by clicking on the corresponding control with a mouse; or can trigger a selection operation by clicking on the corresponding control by touching the screen. This embodiment of the present application is not limited to this. Among them, in the case where the user triggers a selection operation on the control corresponding to the target trolley, the debugging device responds to the selection operation triggered by the user on the control corresponding to the target trolley, determines the physical link corresponding to the target trolley from the physical link of the medical robot, and generates a network topology diagram; after obtaining the network topology diagram corresponding to the target trolley, a control interface is generated, and the network topology diagram corresponding to the target trolley is displayed through the control interface.

[0084] For example, Figure 3 A schematic diagram of a debugging and maintenance interface is shown. Figure 3 As shown, the debugging and maintenance interface may include a menu corresponding to the doctor's cart (also called the doctor's console) ( Figure 3 301 shown in ), the menu corresponding to the image trolley (also called the image platform) ( Figure 3 302) and the menu corresponding to the patient trolley (also referred to as the patient surgical platform) ( Figure 3 303 shown in ). Wherein, if the user controls the control in the menu corresponding to the doctor console ( Figure 3 3011) shown in the figure triggers the selection operation, then the doctor console is determined to be the target trolley; if the user selects the control ( Figure 3 3021) shown in the figure triggers the selection operation, then the image platform is determined to be the target trolley; if the user controls the control ( Figure 3 3031) shown in the figure triggers the selection operation, then the patient's surgical platform is determined as the target trolley.

[0085] In some embodiments, the control interface is a lower-level menu interface of the debugging and maintenance interface, and the control interface is used to display the network topology diagram corresponding to the target trolley. The size of the control interface can be the same as the size of the debugging and maintenance interface, or it can be smaller than the size of the debugging and maintenance interface. When the size of the control interface is the same as the size of the debugging and maintenance interface, the debugging and maintenance interface can be closed while the control interface is displayed, and the debugging and maintenance interface can be displayed while the control interface is closed, or the control interface can be displayed above the debugging and maintenance interface while the debugging and maintenance interface is displayed.

[0086] For example, Figure 4 A schematic diagram of a control interface is shown. Figure 5 FIG. 2 shows another schematic diagram of a control interface. Figure 4 As shown, if the user controls the control in the menu corresponding to the doctor console ( Figure 3 3011) shown in the figure triggers the selection operation, then the debugging device scans the doctor console to obtain the network topology diagram corresponding to the doctor console ( Figure 4 401) and displayed through the control interface. Figure 5 As shown, if the user controls the control in the menu corresponding to the patient operating table ( Figure 3 3031 in ) triggers the selection operation, the debugging device scans the patient's operating table to obtain the network topology diagram corresponding to the patient's operating table ( Figure 5 501) shown in FIG. 5 and displayed through a control interface.

[0087] In some embodiments, the debugging device scans the target trolley to determine multiple modules to be debugged in the target trolley and the physical links of the actual wiring between the multiple modules to be debugged, that is, to obtain the wiring links between the multiple modules to be debugged. The multiple modules to be debugged include the drivers of all joints or adjustment devices in the target trolley.

[0088] For example, if the target trolley is a doctor's trolley, the network topology diagram obtained by the debugging device after scanning the target trolley will be as follows: Figure 4 As shown. Figure 4 The network topology diagram shown in the figure can determine that the wiring links between the multiple modules to be debugged in the doctor's trolley are: industrial computer and PLC module ( Figure 4 PLC shown in), left main control arm, main armrest lifting module ( Figure 4 The main armrest lifting module shown in the figure is connected to the right main control arm; the PLC module is connected to the right main control arm; the main armrest lifting module is connected to the monitor lifting module ( Figure 4 Monitor lifting and lowering as shown in the figure), foot pedal retractable module ( Figure 4 Foot movement as shown in ) and monitor rotation module ( Figure 4 The monitor shown in the figure rotates) and is linked in sequence. In some application scenarios, each main control arm on the doctor's trolley is provided with a corresponding opening and closing joint; therefore, Figure 4 In the network topology diagram shown, the right master control arm is also connected to the opening and closing joint corresponding to the right master control arm, and the left master control arm is also connected to the opening and closing joint corresponding to the left master control arm.

[0089] For example, if the target trolley is a patient trolley, the network topology diagram obtained by the debugging device after scanning the target trolley is as follows: Figure 5 As shown. Figure 5 The network topology diagram shown in the figure can determine that the wiring links between the multiple modules to be debugged in the doctor's trolley are: industrial computer and PLC module ( Figure 5 PLC shown in), column lifting module ( Figure 5 Column lift shown in ), Ethercat switch ( Figure 5 The switches shown in the figure are connected respectively; the column lifting module ( Figure 5 Column lift) and chassis drive module ( Figure 5 Chassis drive shown in), support foot module ( Figure 5 The support feet shown in the figure), the beam rotation module ( Figure 5 The beam rotation shown in the figure), the beam telescopic module ( Figure 5 The beam extension and retraction module (shown in Figure 5The Ethercat switch is connected to the robot arm 1, the robot arm 2, the robot arm 3, and the robot arm 4 respectively. In some application scenarios, each robot arm on the patient trolley is provided with a corresponding power box; therefore, Figure 5 In the network topology diagram shown, robot arm 1, robot arm 2, robot arm 3 and robot arm 4 are respectively connected to their corresponding power boxes.

[0090] In some embodiments, the debugging device can scan the target trolley through a scanning module deployed in the debugging device to obtain a scanning result corresponding to the target trolley; for example, the target trolley is scanned through TwinCAT software. The debugging device can also scan the target trolley through a scanning module set in the debugging system to obtain a scanning result corresponding to the target trolley; wherein, the scanning module set in the debugging system can be set according to actual needs, and the embodiments of the present application do not limit this; in addition, how to set a scanning module in the debugging system belongs to the prior art, and the embodiments of the present application will not be repeated.

[0091] S202. In response to a selection operation triggered by a user on a control interface on a control corresponding to a target module to be debugged among multiple modules to be debugged, the debugging system obtains parameter information of at least one driver corresponding to the target module to be debugged, and generates a debugging interface based on the parameter information of the at least one driver corresponding to the target module to be debugged.

[0092] In some embodiments, the debugging device obtains parameter information of at least one driver corresponding to the target module to be debugged in response to a user triggering a selection operation on a control corresponding to a target module to be debugged among multiple modules to be debugged corresponding to the target trolley in the control interface. The target module to be debugged is the module to be debugged corresponding to the control triggered by the user in the control interface, that is, the target trolley is the module to be debugged selected by the user among multiple modules to be debugged.

[0093] For example, the network topology diagram includes multiple nodes, and the multiple nodes correspond to the multiple modules to be debugged one by one. Each node is a control, and the user can trigger the selection operation for the control corresponding to each node by clicking each node in the network topology diagram. Figure 4As shown, if the user needs to debug and maintain the left main control arm in the doctor's trolley, the user can click on the "left main control arm" in the network topology diagram corresponding to the doctor's trolley in the control interface to obtain the parameter information of at least one driver corresponding to the left main control arm in the doctor's trolley, and generate a debugging interface based on the parameter information of at least one driver corresponding to the left main control arm. If the user needs to debug and maintain the opening and closing joint corresponding to the left main control arm in the doctor's trolley, the user can click on the "opening and closing joint" linked to the "left main control arm" in the network topology diagram corresponding to the doctor's trolley in the control interface to obtain the parameter information of at least one driver of the opening and closing joint corresponding to the left main control arm in the doctor's trolley, and generate a debugging interface based on the parameter information of at least one driver of the opening and closing joint corresponding to the left main control arm.

[0094] For example, Figure 5 As shown, if the user needs to debug and maintain the column lift in the patient trolley, the user can click on "column lift" in the network topology diagram corresponding to the patient trolley in the control interface to obtain the parameter information of at least one driver corresponding to the column lift module in the patient trolley, and generate a debugging interface based on the parameter information of at least one driver corresponding to the column lift module. If the user needs to debug and maintain the power box corresponding to the mechanical arm 1 in the patient trolley, the user can click on "power box" linked to "mechanical arm 1" in the network topology diagram corresponding to the patient trolley in the control interface to obtain the parameter information of at least one driver of the power box corresponding to the mechanical arm 1 in the patient trolley, and generate a debugging interface based on the parameter information of at least one driver of the power box corresponding to the mechanical arm 1.

[0095] In some embodiments, the debugging interface is a lower level menu interface of the control interface, and the debugging interface includes a function menu of each driver corresponding to the target to-be-debugged membrane tissue, and the debugging interface can display the parameter information of each driver corresponding to the target to-be-debugged module in real time. Wherein, the size of the debugging interface can be the same as the size of the control interface, or it can be smaller than the size of the control interface. When the size of the debugging interface is the same as the size of the control interface, the control interface can be closed while the debugging interface is displayed, and the control interface can be displayed while the debugging interface is closed, or the debugging interface can be displayed above the control interface while the control interface is displayed.

[0096] It should be noted that the user can click the control once to trigger the selection operation of the control, and the user can also click the control twice to trigger the selection operation of the control, that is, the user can also double-click the control to trigger the selection operation of the control. This embodiment of the application is not limited to this.

[0097] S203: The debugging system executes an action corresponding to the target function in response to a selection operation triggered by the user on the debugging interface on a control corresponding to the target function in the function menu.

[0098] In some embodiments, the function menu includes multiple controls, each of which corresponds to a function, that is, the function menu includes multiple functions. The target function is the function corresponding to the control that the user triggers the selection operation in the debugging interface, that is, the target function is the function selected by the user in the function menu.

[0099] Exemplarily, the multiple functions in the function menu may include at least one of parameter adjustment, data processing, system adjustment and log operation. The action corresponding to parameter adjustment includes modifying and / or saving the parameters of the driver, the action corresponding to data processing includes at least one of uploading, downloading and calibrating the parameters of the driver, the action corresponding to system adjustment includes solidifying and / or upgrading the system, and the action corresponding to log operation includes saving the current log information.

[0100] It should be noted that the functions included in the function menu in the embodiment of the present application can be set according to actual needs, and the embodiment of the present application does not limit this.

[0101] In some embodiments, the function selected from the multiple functions in the function menu is the target function.

[0102] If the target function is parameter adjustment, then in response to the user's adjustment operation on the parameter information of the target driver in at least one driver corresponding to the target module to be debugged, the target parameter information of the target driver is obtained; thereafter, in response to the user's selection operation on at least one control corresponding to the parameter adjustment, based on the target parameter information of the target driver, at least one of the following processes is performed on the parameter information of the target driver: modification, preservation and calibration.

[0103] The target parameter information is new parameter information obtained after the user completes the adjustment operation on the current parameter information.

[0104] If the target function is data processing, in response to the user's selection operation of the control corresponding to the data processing, at least one of uploading, downloading and calibrating is performed on the parameter information of the target driver in at least one driver corresponding to the target module to be debugged.

[0105] If the target function is system adjustment, in response to the user's selection operation of the control corresponding to the system adjustment, target debugging data is acquired, and based on the target debugging data, the current system is saved and / or upgraded.

[0106] In some embodiments, each interface (e.g., debugging and maintenance interface, control interface, and debugging interface) can display the current system version information (e.g., version number) and the current time. After the debugging device solidifies and / or upgrades the current system based on the target debugging data, the current system version information in the debugging interface will be synchronously updated to the version information corresponding to the target debugging data.

[0107] If the target function is a log operation, in response to the user's selection operation of a control corresponding to the log operation, the current log information is saved.

[0108] It should be noted that the control corresponding to each function may be one or more, wherein the control corresponding to each function may be set according to actual needs, and the embodiment of the present application does not limit this. Exemplarily, if the target function is parameter adjustment, the control corresponding to the parameter adjustment may be parameter information, that is, the user may enter the interactive interface corresponding to the parameter information of the target driver by clicking or touching the parameter information of the target driver in at least one driver corresponding to the target module to be debugged, and then delete and / or modify the current parameter information of the target driver in the interactive interface corresponding to the parameter information of the target driver to obtain new parameter information and complete the modification of the parameter information; after completing the modification of the parameter information, the user may click on the control in the interactive interface corresponding to the parameter information of the target driver or any area in the debugging interface except the interactive interface to choose whether to save the new parameter information. Exemplarily again, the control corresponding to the parameter adjustment may also be other controls set around the parameter information, such as: modification; that is, the user may enter the interactive interface corresponding to the parameter information of the target driver by clicking or touching the "modify" located around the parameter information, and perform corresponding adjustment operations in the interactive interface corresponding to the parameter information of the target driver.

[0109] In order to further reduce the difficulty of system debugging and maintenance and improve the efficiency of debugging and maintenance, the operation status of each module to be debugged can be simulated to obtain the operation status of the trolley, so that the user can intuitively view the operation status of the trolley during debugging and maintenance.

[0110] like Figure 6 As shown, in some embodiments, the debugging method of the medical robot provided in the embodiments of the present application also includes S601-S602.

[0111] S601: The debugging system simulates the operating state of at least one driver based on parameter information of at least one driver corresponding to a target module to be debugged.

[0112] S602: The debugging system generates an operation dynamic diagram corresponding to the target vehicle based on the simulation result of the operation status of at least one driver, and displays the operation dynamic diagram.

[0113] In some embodiments, the operation status diagram corresponding to the target trolley is used to display the operation status of each module to be debugged in the target trolley, that is, the operation status diagram corresponding to the target trolley will change with the user's adjustment operation of the parameter information of at least one driver corresponding to each module to be debugged in the target trolley. Among them, the operation dynamic diagram of the target trolley can be displayed in the debugging interface corresponding to the target module to be debugged, and can also be displayed in other interfaces, which is not limited in the embodiments of the present application. The operation status diagram corresponding to the target trolley can be a three-dimensional dynamic diagram, and the movement speed of each joint in each module to be debugged can be determined through the operation status diagram corresponding to the target trolley.

[0114] In order to further reduce the difficulty of system debugging and maintenance and improve the efficiency of debugging and maintenance, the operating status of the trolley can be detected, and when a fault is detected in the trolley, the fault information is displayed.

[0115] like Figure 7 As shown, in some embodiments, the debugging method of the medical robot provided in the embodiments of the present application also includes S701-S702.

[0116] S701. The debugging system detects the operating status of the medical robot and / or each trolley in response to the login operation input by the user, and obtains the detection results corresponding to the medical robot and / or each trolley.

[0117] S702: If the detection results corresponding to the medical robot and / or each trolley indicate a fault, the debugging system displays the fault information corresponding to the fault.

[0118] The fault information includes at least one of prompt information, alarm information and suggestion information. The prompt information is used to indicate the running status of the trolley. The alarm information is used to remind the user that the trolley currently has a fault, and the alarm information can be an alarm sound. The suggestion information is used to provide the user with suggestions for troubleshooting.

[0119] For example, Figure 3 As shown, the fault information of the medical robot and each vehicle can be displayed on the debugging and maintenance interface. The fault information corresponding to the medical robot can be displayed in the menu corresponding to the medical robot ( Figure 3 304), wherein the operation status of the medical robot may include the device status and the master-slave status. For example, the device status and the master-slave status of the medical robot may be displayed by a prompt light (such as an LED light). The fault information corresponding to each trolley may be displayed in the menu corresponding to each trolley ( Figure 3The operating status of each trolley (301, 302 and 303 shown in the figure) may include the operating status, the master-slave status and the connection status between each trolley, and the operating status and the master-slave status of each trolley can be displayed by a prompt light (such as an LED light). When the detection result indicates that there is no fault, the suggestion information may not be displayed; when the detection result indicates that there is a fault, the fault handling suggestion with the highest matching value can be obtained from the preset fault handling form based on the detected fault, and the fault handling suggestion with the highest matching value can be displayed as suggestion information in the preset area of ​​the menu corresponding to the medical robot ( Figure 3 3041 shown in ).

[0120] In some embodiments, the user may input a login operation by clicking or touching a login control on the login interface; or may input a login operation after successfully entering the debugging and maintenance interface.

[0121] Exemplarily, the debugging device detects the running status of each trolley in real time in response to the login operation input by the user to determine whether the trolley has a fault. If the detection result corresponding to the trolley indicates that there is a fault, the fault information corresponding to the fault is displayed through the fault display menu.

[0122] In some embodiments, the debugging method for a medical robot provided in an embodiment of the present application further includes: the debugging system closes or blocks the fault information in response to a user's selection operation triggered by the fault information.

[0123] For example, if the user clicks on the fault information, an operation interface corresponding to the fault information may be displayed in response to the user's selection operation triggered by the fault information, and the user may choose whether to close or block the fault information on the operation interface corresponding to the fault information.

[0124] In order to increase the system security and reliability of the medical robot, the permission setting method can be adopted to set permissions according to the login account and password corresponding to each user. That is, the permissions of multiple users can be the same or different. For example, users with low permissions can only view the information corresponding to each module to be debugged; users with higher permissions can use functions such as parameter adjustment and data processing.

[0125] In some embodiments, the debugging method for a medical robot provided in an embodiment of the present application further includes: in response to a login operation input by a user, obtaining permission information corresponding to the user, and displaying a debugging and maintenance interface corresponding to the user based on the permission information corresponding to the user.

[0126] In some embodiments, permission information is used to indicate the functions that a user can use. Different permission information corresponds to different debugging interfaces. The debugging and maintenance interfaces corresponding to different permission information can be the same or different. The control interfaces corresponding to different permission information can be the same or different.

[0127] It should be noted that the permission information corresponding to each user may be the same or different, and the corresponding permission information may be configured for each user according to actual needs, which is not limited in this embodiment of the present application.

[0128] Corresponding to the aforementioned embodiments of the debugging method of the medical robot, the present application also provides an embodiment of the debugging system of the medical robot.

[0129] Reference Figure 8 , the embodiment of the present application also provides a debugging system, including:

[0130] The scanning module 81 is used to determine the network topology diagram corresponding to the target trolley in the medical robot and display it through the control interface in response to the user's selection operation triggered by the control corresponding to each trolley in the debugging and maintenance interface; the network topology diagram is used to indicate the link relationship between multiple modules to be debugged in the target trolley;

[0131] an acquisition module 82, configured to acquire parameter information of at least one driver corresponding to a target module to be debugged among the multiple modules to be debugged in response to a selection operation triggered by a user on the control interface on the target module to be debugged, and generate a debugging interface based on the parameter information of the at least one driver corresponding to the target module to be debugged;

[0132] The processing module 83 is used to execute the action corresponding to the target function in response to the user's selection operation triggered by the control corresponding to the target function in the function menu in the debugging interface.

[0133] In some embodiments, the processing module 83 is also used to obtain target parameter information of the target driver in response to a user's adjustment operation on the parameter information of the target driver in the at least one driver corresponding to the target module to be debugged if the target function is parameter adjustment; and to modify and / or save the parameter information of the target driver based on the target parameter information of the target driver in response to a user's selection operation on at least one control corresponding to the parameter adjustment.

[0134] In some embodiments, the processing module 83 is also used to, if the target function is data processing, perform at least one of uploading, downloading and calibrating the parameter information of the target driver in the at least one driver corresponding to the target module to be debugged in response to the user's selection operation of the control corresponding to the data processing.

[0135] In some embodiments, the processing module 83 is also used to obtain target debugging data in response to the user's selection operation of the control corresponding to the system adjustment if the target function is system adjustment, and save and / or upgrade the current system based on the target debugging data.

[0136] In some embodiments, the processing module 83 is further configured to save the current log information in response to a user's selection operation of a control corresponding to the log operation if the target function is a log operation.

[0137] In some embodiments, the debugging device provided in the embodiments of the present application also includes a simulation module, which is used to simulate the operating status of the at least one driver corresponding to the target module to be debugged based on the parameter information of the at least one driver; based on the simulation result of the operating status of the at least one driver, generate an operating dynamic graph corresponding to the target trolley, and display the operating dynamic graph.

[0138] In some embodiments, the debugging device provided by the embodiments of the present application also includes a login module, which is used to obtain permission information corresponding to the user in response to a login operation input by the user, and display the debugging maintenance interface corresponding to the user based on the permission information corresponding to the user.

[0139] In some embodiments, the debugging device provided in the embodiments of the present application also includes a fault detection module, which is used to detect the operating status of the medical robot and / or each of the trolleys in response to the login operation input by the user, and obtain the detection results corresponding to the medical robot and / or each of the trolleys; if the detection results corresponding to the medical robot and / or each of the trolleys indicate the existence of a fault, the fault information corresponding to the fault is displayed; the fault information includes at least one of prompt information, alarm information and suggestion information.

[0140] In some embodiments, the processing module 83 is further configured to close or shield the fault information in response to the user's selection operation triggered by the fault information.

[0141] like Fig. 9 As shown, a debugging device provided in an embodiment of the present application may include: a processor (processor) 910, a communication interface (Communications Interface) 920, a memory (memory) 930 and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other through the communication bus 940. The processor 910 can call the logic instructions in the memory 930 to execute the above methods.

[0142] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the switchgear mechanical state monitoring method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0143] In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented to perform the above methods when executed by a processor.

[0144] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A debugging method for a medical robot, characterized in that: Applied to a debugging system, the debugging system is used to debug and maintain multiple trolleys in a medical robot, and the multiple trolleys are linked based on Ethercat communication; The method comprises: The debugging system responds to the user's selection operation triggered by the control corresponding to each trolley in the debugging and maintenance interface, determines the network topology diagram corresponding to the target trolley in the medical robot and displays it through the control interface; the network topology diagram is used to indicate the link relationship between multiple modules to be debugged in the target trolley; The debugging system, in response to a selection operation triggered by a user on the control interface on a control corresponding to a target module to be debugged among the multiple modules to be debugged, acquires parameter information of at least one driver corresponding to the target module to be debugged, and generates a debugging interface based on the parameter information of the at least one driver corresponding to the target module to be debugged; The debugging system executes an action corresponding to the target function in response to a selection operation triggered by a user on a control corresponding to a target function in a function menu in the debugging interface.

2. The method according to claim 1, characterized in that The debugging system executes an action corresponding to the target function in response to a user's selection operation triggered by a control corresponding to a target function in the function menu in the debugging interface, including at least one of the following: If the target function is parameter adjustment, the debugging system obtains target parameter information of the target driver in response to a user's adjustment operation on parameter information of a target driver in the at least one driver corresponding to the target module to be debugged, and modifies and / or saves the parameter information of the target driver based on the target parameter information of the target driver in response to a user's selection operation on at least one control corresponding to the parameter adjustment; If the target function is data processing, the debugging system performs at least one of uploading, downloading and calibrating parameter information of a target driver in the at least one driver corresponding to the target module to be debugged in response to a user's selection operation of a control corresponding to the data processing; If the target function is system adjustment, the debugging system acquires target debugging data in response to the user's selection operation of the control corresponding to the system adjustment, and saves and / or upgrades the current system based on the target debugging data; If the target function is a log operation, the debugging system saves the current log information in response to the user's selection operation of the control corresponding to the log operation.

3. The method according to claim 1, characterized in that The method further comprises: The debugging system simulates the operating state of the at least one driver based on the parameter information of the at least one driver corresponding to the target module to be debugged; The debugging system generates an operation dynamic diagram corresponding to the target vehicle based on the simulation result of the operation status of the at least one driver, and displays the operation dynamic diagram.

4. The method according to claim 3, characterized in that The method further comprises: The debugging system obtains the authority information corresponding to the user in response to the login operation input by the user, and displays the debugging maintenance interface corresponding to the user based on the authority information corresponding to the user.

5. The method according to claim 4, characterized in that The method further comprises: The debugging system detects the operating status of the medical robot and / or each of the trolleys in response to the login operation input by the user, and obtains the detection results corresponding to the medical robot and / or each of the trolleys; If the detection results corresponding to the medical robot and / or each of the trolleys indicate the existence of a fault, the debugging system displays fault information corresponding to the fault; the fault information includes at least one of prompt information, alarm information and suggestion information.

6. The method according to claim 5, characterized in that The method further comprises: The debugging system closes or shields the fault information in response to the user's selection operation triggered by the fault information.

7. A medical robot, characterized in that: The invention comprises a plurality of trolleys, wherein the plurality of trolleys are linked based on Ethercat communication; The plurality of trolleys include a doctor trolley and a patient trolley; the doctor trolley and the patient trolley are both provided with an industrial computer, a control module, a mode switching module, a debugging interface and an Ethercat splitter; The control module is coupled to the Ethercat splitter, and the debugging interface, the industrial computer and the Ethercat splitter are respectively coupled to the mode switching module; the mode switching module is used to connect the debugging interface and the Ethercat splitter, or to connect the industrial computer and the Ethercat splitter; the debugging interface is used to couple with the debugging system, and the debugging system executes the method described in any one of claims 1 to 6 when the debugging interface and the Ethercat splitter are connected.

8. The medical robot according to claim 7, characterized in that: The mode switching module is a first switching component; When the first switching component is in the first posture, the debugging interface is connected to the Ethercat splitter; When the first switching component is in the second position, the industrial computer is connected to the Ethercat splitter.

9. The medical robot according to claim 7, characterized in that: The mode switching module is a second switching component; When the control module outputs the first signal, the second switching component connects the debugging interface and the Ethercat splitter; the control module outputs the first signal to indicate that the debugging interface is linked to the debugging system; When the control module outputs the second signal or does not output the first signal, the second component connects the industrial computer and the Ethercat splitter; the control module outputs the second signal to indicate that the debugging interface is not linked to the debugging system.

10. A debugging system, characterized in that: include: A scanning module, for responding to a selection operation triggered by a user on a control corresponding to each of the trolleys in a debugging and maintenance interface, determining a network topology diagram corresponding to a target trolley in the medical robot and displaying it through a control interface; the network topology diagram is used to indicate a link relationship between multiple modules to be debugged in the target trolley; an acquisition module, configured to acquire parameter information of at least one driver corresponding to a target module to be debugged among the multiple modules to be debugged in response to a selection operation triggered by a user on the control interface on the target module to be debugged, and generate a debugging interface based on the parameter information of the at least one driver corresponding to the target module to be debugged; The processing module is used to execute an action corresponding to the target function in response to a selection operation triggered by a user on a control corresponding to a target function in a function menu in the debugging interface.

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