Energy instrument control system and method for endoscopic surgical robot

Abstract

The invention relates to the technical field of medical instruments, and provides an energy instrument control system and method of an endoscopic surgery robot. The system comprises a first energy instrument and a second energy instrument, the first energy instrument can be triggered by a trigger to execute a first preset action or a second preset action, and the second energy instrument can be triggered to execute the first preset action. A controller in the system responds to a trigger instruction of a trigger, reads an energy instrument associated with the trigger instruction to judge the instrument type, and drives the energy instrument to execute a preset action according to the instrument type. And when the second energy instrument executes the preset action, shielding a trigger instruction irrelevant to the second energy instrument to prevent other energy instruments from being mistakenly triggered, so that the safety of the operation process is improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an energy device control system and method for a laparoscopic surgical robot. Background Art

[0002] Energy instruments used in laparoscopic surgery can be used in conjunction with endoscopes to treat the patient's affected area. However, handheld energy instruments are prone to safety hazards due to factors such as fatigue, shaking, and obstruction of vision. With the continuous development and clinical application of laparoscopic surgical robot technology, traditional handheld energy instruments will gradually be replaced by the operation of energy instruments controlled by surgical robot arms to avoid the defects of handheld operation methods such as easy fatigue, easy shaking, and unclear vision of electrosurgical knives, thereby improving the safety, stability, and efficiency of the surgical process.

[0003] In the related art, control instructions can be sent to the main control device by triggering the control pedal, and different control pedals are used to control the energy device to perform different preset actions. The control instruction can also include the energy value used to perform the preset action. The main control device controls the energy device clamped on the mechanical arm to cooperate with the endoscope to perform a variety of preset actions according to the various control instructions.

[0004] However, in laparoscopic surgery, there may be more than one type of robotic arms and energy devices involved, the control pedals associated with the energy devices are different, and the energy values ​​required by various energy devices are also different. Therefore, under the premise of a large number of robotic arms and energy devices, it is easy to trigger the energy devices incorrectly due to the wrong input of control commands during the operation, posing a safety hazard. Summary of the invention

[0005] The present application provides an energy instrument control system and method for a laparoscopic surgical robot to solve the problem of energy instruments being triggered incorrectly due to erroneous input of control instructions during surgery, thereby posing a potential safety hazard.

[0006] In a first aspect, the present application provides an energy instrument control system for a laparoscopic surgical robot, comprising:

[0007] An energy device, configured to execute a preset action in response to a control instruction of the controller; the energy device comprises a first energy device and a second energy device;

[0008] A trigger, configured to send a trigger instruction to the controller, the trigger comprising a first trigger and a second trigger, the first trigger being used to send the trigger instruction to make the first energy device or the second energy device perform a first preset action, and the second trigger being used to send the trigger instruction to make the first energy device perform a second preset action;

[0009] The controller is configured as:

[0010] In response to the trigger instruction, marking an energy device associated with the trigger instruction;

[0011] Reading device information of the marked energy device to identify the device type of the marked energy device;

[0012] If the energy device is a first energy device, controlling the first energy device to perform a preset action based on the trigger instruction;

[0013] If the energy device is a second energy device, then stop responding to the trigger instruction sent by the second trigger, and execute the first preset action based on the trigger instruction sent by the first trigger.

[0014] In some feasible embodiments, the system further comprises a master control arm and a slave mechanical arm; the master control arm is electrically connected to one of the slave mechanical arms; the energy device is clamped on the execution end of the slave mechanical arm; the controller responds to the trigger instruction, marks the energy device associated with the trigger instruction, and is configured as follows:

[0015] It is detected that a user operates the master control arm, a slave mechanical arm associated with the user operation is marked; and an energy device clamped on the slave mechanical arm associated with the user operation is marked.

[0016] In some feasible embodiments, the system further comprises a driving board; the controller reads the device information of the marked energy device and is configured to:

[0017] Controlling the driving board to read the device information of the marked energy device, wherein the device information includes the serial number and device ID of the energy device;

[0018] The device information is received and parsed to obtain the device type of the marked energy device.

[0019] In some feasible embodiments, the controller controls the first energy device to perform a preset action based on the trigger instruction, and is configured as follows:

[0020] If the trigger instruction is sent by the first trigger, the first energy device is controlled to perform a first preset action;

[0021] If the trigger instruction is sent by the second trigger, the first energy device is controlled to perform a second preset action.

[0022] In some feasible embodiments, the controller includes at least one main optical fiber interface for communication connection with the first energy device; and includes at least one energy interface for connection with the energy interface of the first energy device; when the controller controls the first energy device to perform a preset action based on the trigger instruction, the controller is further configured to:

[0023] Parsing the trigger instruction to obtain preset action information associated with the trigger instruction;

[0024] According to the preset action information, setting the output mode; the setting of the output mode includes starting the optical fiber interface associated with the preset action, starting the energy interface associated with the preset action, and setting the energy value transmitted by the energy interface;

[0025] The first energy device is driven to perform a preset action according to the output mode.

[0026] In some feasible embodiments, the controller further includes at least one spare optical fiber interface to replace the main optical fiber interface for communication connection with the first energy device, and the controller sets the output mode according to the preset action information, and is further configured as follows:

[0027] Detecting fault information of the main optical fiber interface, and marking the main optical fiber interface generating the fault information;

[0028] The backup optical fiber interface associated with the marked main optical fiber interface is started to establish a communication connection with the first energy device to set the output mode.

[0029] In some feasible embodiments, the system further comprises an electric control box, a photoelectric conversion module, and an optical fiber; the main optical fiber interface is connected to the receiving end of the photoelectric conversion module through the optical fiber, and the transmitting end of the photoelectric conversion module is connected to the receiving end of the electric control box through the optical fiber; the transmitting end of the electric control box is communicatively connected to the first energy device; the controller drives the first energy device to perform a preset action according to the output mode, and is configured as follows:

[0030] Based on the optical fiber, a control instruction containing an output mode is sent to the electric control box to drive the first energy device to perform a preset action; wherein the photoelectric conversion module is used to modulate the control instruction sent based on the optical fiber.

[0031] In some feasible embodiments, the controller further includes a main relay module and at least one backup relay module; the energy interface is connected to the energy interface of the first energy device through the main relay module or the backup relay module; the controller sets the output mode according to the preset action information, and is further configured as:

[0032] Detecting fault information of the main relay module and marking the main relay module generating the fault information;

[0033] The backup relay module is started to establish a connection with the energy interface of the first energy device to set an output mode.

[0034] In some feasible embodiments, the system further includes an endoscope, an endoscope trigger, and an image display terminal; and the controller is further configured to:

[0035] In response to a trigger instruction of the endoscope trigger, driving the endoscope to acquire target image data;

[0036] receiving target image data acquired by the endoscope;

[0037] The target image data is sent to the image display end through an optical fiber, so as to be displayed on the image display end.

[0038] In a second aspect, the present application provides an energy instrument control method for a laparoscopic surgical robot, which is applied to an energy instrument control system of a laparoscopic surgical robot, the system comprising a trigger and an energy instrument; the energy instrument is configured to perform a preset action in response to a control instruction of the controller; the energy instrument comprises a first energy instrument and a second energy instrument; the trigger is configured to send a trigger instruction to the controller, the trigger comprises a first trigger and a second trigger, the first trigger is used to trigger the first energy instrument or the second energy instrument to perform a first preset action, and the second trigger is used to trigger the first energy instrument to perform a second preset action; the method comprises:

[0039] In response to the trigger instruction, marking an energy device associated with the trigger instruction;

[0040] Reading device information of the marked energy device to identify the device type of the marked energy device;

[0041] If the energy device is a first energy device, controlling the first energy device to perform a preset action based on the trigger instruction;

[0042] If the energy device is a second energy device, then stop responding to the trigger instruction sent by the second trigger, and execute the first preset action based on the trigger instruction sent by the first trigger.

[0043] It can be known from the above technical content that the present application provides an energy instrument control system and method for a laparoscopic surgical robot. The system includes a first energy instrument and a second energy instrument, and the first energy instrument can be triggered by a trigger to perform a first preset action or a second preset action, and the second energy instrument can be triggered to perform the first preset action. The controller in the system responds to the trigger instruction of the trigger, reads the energy instrument associated with the trigger instruction to determine the instrument type, and drives the energy instrument to perform the preset action according to the instrument type. And when the second energy instrument performs the preset action, the trigger instructions unrelated to the second energy instrument are shielded to prevent the erroneous triggering of other energy instruments and improve the safety of the surgical process. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 A schematic diagram of a subsystem platform of a laparoscopic surgical robot provided in an embodiment of the present application;

[0046] Figure 2 A flow chart of energy device control for a laparoscopic surgical robot provided in an embodiment of the present application;

[0047] Figure 3 A flowchart of a controller provided in an embodiment of the present application reading device information of an energy device;

[0048] Figure 4 A schematic diagram of a main optical fiber interface and a backup optical fiber interface provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a controller provided in an embodiment of the present application driving a first energy device to perform a preset action;

[0050] Figure 6 A schematic diagram of a controller provided in an embodiment of the present application driving a second energy device to perform a preset action;

[0051] Figure 7 A schematic diagram of subsystem platform communication provided in an embodiment of the present application;

[0052] Figure 8 A schematic diagram of a main relay module and a backup relay module provided in an embodiment of the present application;

[0053] Fig. 9 A functional schematic diagram of the endoscope and image display terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0055] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0056] 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 other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0057] The following terms used herein 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", etc., can be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for the convenience of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation of the top and bottom. And the device can be oriented in other ways (for example, rotated 90 ° or in other orientations), and the spatially relative descriptors used here are interpreted accordingly.

[0058] As used herein, "several", the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0059] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part" and "item" are used interchangeably.

[0060] The term "surgical instrument" is used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, including an end effector. An end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, 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") for the surgical tool, so that the position and orientation of the end effector can be 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 knives that translate along a 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.

[0061] The term "energy device" is used here to describe surgical instruments that emit energy used during surgery. They generally utilize electrical energy or mechanical energy such as high-frequency current, ultrasound, and microwaves. These energies interact with living tissue while cutting tissue and organs or stopping bleeding, such as electrocoagulation hooks, electrocoagulation scissors, and ultrasonic scalpels.

[0062] The description of the terms "one embodiment", "some embodiments", "example", "preferred", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0063] 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.

[0064] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been widely used for its advantages of small surgical trauma, short recovery time and less pain for patients. A surgical robot is a robot that can be remotely controlled to complete surgery. The surgeon controls the surgical instruments on the instrument driver on the surgical side at the console. Among them, minimally invasive surgical robots, such as laparoscopic robots, can avoid operational limitations with their high dexterity, high control accuracy, and intuitive surgical images, such as hand vibration during filtering operations, and are widely used in surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. Of course, minimally invasive surgical robots are also suitable for other surgical areas. The applicable areas of minimally invasive surgical robots in the embodiments of this application are only used as some specific examples for illustration, and do not limit the scope of application of surgical robots.

[0065] Overview of master-slave teleoperated laparoscopic surgical robots.

[0066] Laparoscopic surgical robots usually include a doctor control platform, a patient platform, and an image platform. The surgeon sits on the doctor control platform to view the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and to control the movement of the robotic arm on the patient platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0067] The patient platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is 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 usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0068] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits 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 the video display for observation by the assistant.

[0069] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing 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 movement of the surgical instrument.

[0070] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device for controlling the manipulator may be located remotely 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 telemanipulation, telecontrol, and telepresentation surgery will be familiar with such systems and their components.

[0071] like Figure 1 As shown, the laparoscopic surgical robot used to perform laparoscopic surgery can be divided into multiple subsystem platforms, such as a doctor control platform, an image platform, and a patient platform. The bottom of the subsystem platform can be provided with a chassis and universal wheels to form a trolley structure for easy movement. Among them, the doctor control platform is provided with a main armrest, a main control arm, a human-machine adjustment device and other systems. By operating the main control arm of the doctor control platform and inputting control instructions to the control system of the doctor control platform, the slave mechanical arm on the patient platform or the energy device on the slave mechanical arm can be controlled to perform preset actions to complete the operation. The image platform can be equipped with image processors, image displays and other equipment to provide real-time feedback on the surgical situation. The image platform is set between the doctor control platform and the patient platform and can also serve as a communication and control center to facilitate communication between multiple subsystem platforms.

[0072] like Figure 1As shown, when operating the main control arm of the doctor control platform, the slave mechanical arm can be driven to move to adjust the position of the slave mechanical arm and the position of the energy device on the slave mechanical arm. At the same time, it is necessary to input a control instruction to the doctor control platform to trigger the energy device on the slave mechanical arm to perform a preset action. In some embodiments, the doctor control platform includes a trigger, such as a pedal, and the energy device associated with the pedal can be triggered to perform an action by triggering the pedal. It is understandable that different pedals can be associated with different energy devices to drive different energy devices to perform different preset actions.

[0073] The structures and working principles of some energy devices are similar, and they can perform similar / identical actions, such as monopolar and bipolar energy devices. Among them, monopolar energy devices can perform two preset actions, electrocute and electrocoagulation; while bipolar energy devices can only perform the preset action of electrocoagulation. Monopolar energy devices and bipolar energy devices are difficult to distinguish based on their similar structures. Both monopolar and bipolar energy devices can perform the preset action of electrocoagulation, so there is a situation where they share pedals. Furthermore, when inputting control instructions to drive the energy device, it is easy to misoperate the energy device due to incorrect control of the pedal, posing a safety hazard.

[0074] In view of the above problems, if Figure 2 As shown, the present application provides an energy instrument control system for a laparoscopic surgical robot, comprising:

[0075] An energy device, configured to execute a preset action in response to a control instruction of the controller; the energy device comprises a first energy device and a second energy device;

[0076] A trigger, configured to send a trigger instruction to the controller, the trigger comprising a first trigger and a second trigger, the first trigger being used to send the trigger instruction to make the first energy device or the second energy device perform a first preset action, and the second trigger being used to send the trigger instruction to make the first energy device perform a second preset action;

[0077] The controller is configured as:

[0078] S100: In response to the trigger instruction, marking an energy device associated with the trigger instruction;

[0079] S200: Reading device information of the marked energy device to identify the device type of the marked energy device;

[0080] S300: If the energy device is a first energy device, controlling the first energy device to perform a preset action based on the trigger instruction;

[0081] S400: If the energy device is a second energy device, stop responding to the trigger instruction sent by the second trigger, and execute a first preset action based on the trigger instruction sent by the first trigger.

[0082] In some embodiments, the first energy device is a monopolar energy device that can perform electrocoagulation and electrocuting actions; the second energy device is a bipolar energy device that can perform electrocoagulation actions. The first trigger is a blue pedal for triggering the first energy device or the second energy device to perform electrocoagulation actions; the second trigger is a yellow pedal for triggering the first energy device to perform electrocuting actions. It should be noted that the types of energy devices, executable actions, and types and colors of triggers do not constitute limitations on this application, but are only used to illustrate the technical content of this application.

[0083] It is understandable that the energy device is arranged on a patient platform that can carry a slave robot arm and the energy device, and the trigger is arranged on a doctor control platform. The controller is used to control the energy device to perform a preset action according to the trigger instruction of the doctor. The controller may refer to an energy device control board arranged on the image platform. The controller can be communicatively connected with the trigger and the energy device.

[0084] Following the above embodiment, after the trigger is triggered, a trigger instruction is generated and transmitted to the controller. After the controller recognizes the trigger instruction, it marks the energy device associated with the trigger instruction to reduce the probability of mis-triggering the energy device. It is understandable that any energy device has device information, so the controller can read the device information of the energy device to identify the device type of the energy device, so as to drive the energy device to perform a preset action according to the device type of the energy device and the trigger instruction.

[0085] When the controller identifies the energy device, it can also identify the robotic arm associated with the trigger instruction according to the operation of the robotic arm to improve the accuracy of energy device identification, thereby reducing the probability of mis-triggering the energy device. In some embodiments, the energy device is set on the slave robotic arm of the patient platform. When driving the energy device, the user also needs to operate the master control arm of the doctor control platform to drive the slave robotic arm to adjust the energy device to a preset position.

[0086] It is understandable that if Figure 3 As shown, the energy instrument control system of the laparoscopic surgical robot includes a master control arm and a slave robot arm; the master control arm is electrically connected to one of the slave robots; the energy instrument is clamped on the execution end of the slave robot arm; the controller responds to the trigger instruction, marks the energy instrument associated with the trigger instruction, and is configured as follows:

[0087] It is detected that a user operates the master control arm, a slave mechanical arm associated with the user operation is marked; and an energy device clamped on the slave mechanical arm associated with the user operation is marked.

[0088] In some embodiments, the master control arm can be connected to multiple slave mechanical arms, and then according to different needs, the master control arm can be operated to drive different slave mechanical arms and energy devices on the slave mechanical arms to reach a preset position to meet the needs. Therefore, when the master control arm drives the slave mechanical arm to move, the controller can determine the running slave mechanical arm through sensors set on the master control arm and the slave mechanical arm, and mark the moving slave mechanical arm and the energy device on the slave mechanical arm. When reading the device information of the energy device, the controller only needs to find the corresponding slave mechanical arm and the energy device on the slave mechanical arm according to the mark, and read the device information of the energy device.

[0089] In the above embodiment, the controller marks the energy device associated with the trigger instruction based on the trigger instruction and the operating status of the master control arm and the slave mechanical arm, which is conducive to improving the accuracy of reading the energy device associated with the trigger instruction. After identifying the type of energy device, the controller can judge the trigger instruction in combination with the preset action that can be executed by the energy device to reduce the probability of erroneous operation of the energy device due to erroneous input of the control instruction / trigger instruction.

[0090] like Figure 3 As shown, in some embodiments, the energy instrument control system of the laparoscopic surgical robot further includes a driving board; the controller reads the instrument information of the marked energy instrument and is configured as follows:

[0091] Controlling the driving board to read the device information of the marked energy device, wherein the device information includes the serial number and device ID of the energy device;

[0092] The device information is received and parsed to obtain the device type of the marked energy device.

[0093] The driver board can be communicatively connected with the energy device and the controller, and the driver board can be used to read device information that can characterize the type of the energy device, such as the serial number and device ID of the energy device. After reading the device information, the driver board can transmit the device information to the controller, and the controller can identify the type of the energy device according to the device information, or it can identify the type of the energy device and transmit the identification result to the controller. The controller can start the control interface associated with the energy device according to the type of the device, and configure the energy output value for starting the energy device.

[0094] It is understandable that the energy output value of the energy device and the control interface associated with the energy device can be stored in the controller or storage structure in the form of a configuration table, so that the controller can call according to the device type of the energy device, thereby reducing the response time of the controller. The device information of the energy device is read by the driver board to identify the type of the energy device, and the configuration table is set to adapt to the application scenarios of multiple slave mechanical arms carrying multiple energy devices, which is conducive to improving the adaptability of the energy device control system.

[0095] In some embodiments, the controller identifies that the energy device is a first energy device, and can start a control interface associated with the first energy device and set the energy output value according to the configuration table. Figure 4 As shown, the controller includes at least one main optical fiber interface to communicate with the first energy device; and includes at least one energy interface to connect with the energy interface of the first energy device; when the controller controls the first energy device to perform a preset action based on the trigger instruction, the controller is also configured to:

[0096] Parsing the trigger instruction to obtain preset action information associated with the trigger instruction;

[0097] According to the preset action information, setting the output mode; the setting of the output mode includes starting the optical fiber interface associated with the preset action, starting the energy interface associated with the preset action, and setting the energy value transmitted by the energy interface;

[0098] The first energy device is driven to perform a preset action according to the output mode.

[0099] In the embodiment, the controller communicates with the energy device through the main optical fiber interface and the optical fiber to avoid the problem of electrical interference caused by electrical signal transmission, which leads to a decrease in control accuracy. The energy interface is used to provide the energy device with the energy required to perform the preset action.

[0100] The trigger instruction may include preset action information. When the controller parses the preset action information in the trigger instruction, the output mode can be set according to the preset action information. For example, when the user steps on the blue pedal used to drive the first energy device to perform an electrocuting action, the trigger instruction includes preset action information for performing an electrocuting action. After the controller parses and obtains the preset action information related to the electrocuting action, it sets the output mode for the energy device in combination with the device type of the marked energy device.

[0101] Setting the output mode includes setting the main optical fiber interface and the energy interface for communicating with the energy device, and setting the energy value output by the energy interface according to the preset action. Among them, the controller can connect multiple energy devices at the same time through the main optical fiber interface, and control different energy devices to perform preset actions by controlling the start / shutdown of the main optical fiber interface. After the output mode is set, the controller can drive the energy device to perform the preset action according to the output mode. That is, the controller controls the first energy device to perform the preset action based on the trigger instruction, and is configured as follows:

[0102] If the trigger instruction is sent by the first trigger, the first energy device is controlled to perform a first preset action;

[0103] If the trigger instruction is sent by the second trigger, the first energy device is controlled to perform a second preset action.

[0104] like Figure 5 As shown, when the controller receives the trigger instruction sent by the first trigger, it starts the control interface associated with the first preset action, configures the energy output value required for the first energy device to perform the first preset action, and drives the first energy device to perform the first preset action. Similarly, when the controller receives the trigger instruction of the second trigger, it starts the control interface associated with the second preset action, configures the energy output value required for the first energy device to perform the second preset action, and drives the first energy device to perform the second preset action.

[0105] like Figure 6 As shown, in other embodiments, the controller identifies that the energy device is a second energy device, and can start the control interface associated with the second energy device and set the energy output value according to the configuration table. When the controller receives the trigger instruction sent by the first trigger, it starts the control interface associated with the first preset action, configures the energy output value required for the second energy device to perform the first preset action, and drives the second energy device to perform the first preset action.

[0106] It should be noted that the second energy device can only execute the first preset action. Therefore, when the controller drives the second energy device to execute the first preset action, it also stops responding to the trigger instruction sent by the second trigger, so as to shield the interference of redundant signals during the operation of the second energy device, thereby reducing the situation of mis-triggering the energy device due to erroneous input control signals.

[0107] When using a trigger such as a pedal to trigger an energy device, since the pedal is not easily observed by the naked eye and is triggered only by the user's memory and operating habits, it is easy to trigger the pedal by mistake, which in turn leads to the accidental triggering of the energy device and creates a safety hazard. In particular, when the first energy device and the second energy device have the same execution action, it is easier to confuse the pedal and cause the pedal to be accidentally triggered. Therefore, when the controller is driving the second energy device / identifying that the energy device is the second energy device, it shields the trigger instructions of the trigger that is not related to the second energy device, thereby ensuring the normal operation of the second energy device and not triggering other energy devices, thereby improving the safety of the surgical process.

[0108] It should be understood that the controller shields the triggering instructions of the triggers not related to the second energy device, which is a control strategy executed for the currently running second energy device. After detecting that the second energy device has finished running, or receiving the instruction to switch the energy device, for example, when the user drives other slave mechanical arms to reach the preset position by operating the master control arm, the controller will re-identify the device type of the energy device and execute the corresponding control strategy according to the device type.

[0109] The controller controls the first energy device, the second energy device and other energy devices through different main optical fiber interfaces, and the configuration of the main optical fiber interface is associated with the energy device. Therefore, when any main optical fiber interface fails, the controller needs to be replaced to ensure that the controller can still control all energy devices. Alternatively, the configuration of the main optical fiber interface of the controller can be temporarily modified, but the optical fiber connection method between the controller and the energy device and the configuration method of the main optical fiber interface also need to be adjusted, resulting in a longer maintenance time.

[0110] Therefore, in some embodiments, the controller further includes at least one spare optical fiber interface to replace the main optical fiber interface to communicate with the first energy device, and the controller sets the output mode according to the preset action information, and is further configured as follows:

[0111] Detecting fault information of the main optical fiber interface, and marking the main optical fiber interface generating the fault information;

[0112] The backup optical fiber interface associated with the marked main optical fiber interface is started to establish a communication connection with the first energy device to set the output mode.

[0113] Each main optical fiber interface has a backup optical fiber interface associated with it, and the configuration of the backup optical fiber interface is exactly the same as that of the main optical fiber interface, so that when the main optical fiber interface fails, the backup optical fiber interface can replace the main optical fiber interface to communicate with the energy device. In some embodiments, when using optical fiber to connect the main optical fiber interface to establish a communication connection, it can be determined whether the main optical fiber interface is normal by observing whether the main optical fiber interface responds. For example, it can be observed whether the indicator light at the main optical fiber interface is operating normally. If the indicator light is abnormal, it indicates that the main optical fiber interface is abnormal, and it is necessary to use optical fiber to connect the backup optical fiber interface to establish a communication connection.

[0114] In other embodiments, when the controller uses the main optical fiber interface to communicate with the energy device, the main optical fiber interface fails, and the controller can receive fault information and mark the main optical fiber interface that generates the fault information according to the fault information to find a spare optical fiber interface associated with the main optical fiber interface. After finding the spare optical fiber interface, a communication connection can be established between the spare optical fiber interface and the energy device through optical fiber. It only takes one optical fiber connection to replace the controller where the main optical fiber interface fails to maintain the failed controller, which reduces the maintenance time of the controller and the probability of delaying the operation. The failed main optical fiber interface can be repaired after the operation is completed.

[0115] It is understandable that the controller can be provided with not only a spare optical fiber interface but also other redundant interfaces, which can be used to connect temporarily added energy devices so as not to affect the configuration of existing energy devices and optical fiber interfaces. Based on the feature that the controller can communicate with multiple energy devices through the optical fiber interface, in order to simplify the connection structure, reduce the accumulation of lines, and reduce the computing pressure of the controller, an industrial computer and a PLC are provided on the patient platform to communicate with the controller and transmit the instructions sent by the controller to the energy device.

[0116] like Figure 7 As shown, the energy device control system further includes an electric control box, a photoelectric conversion module, and an optical fiber; the main optical fiber interface is connected to the receiving end of the photoelectric conversion module through the optical fiber, and the transmitting end of the photoelectric conversion module is connected to the receiving end of the electric control box through the optical fiber; the transmitting end of the electric control box is connected to the first energy device in communication; the controller drives the first energy device to perform a preset action according to the output mode, and is configured as follows:

[0117] Based on the optical fiber, a control instruction containing an output mode is sent to the electric control box to drive the first energy device to perform a preset action; wherein the photoelectric conversion module is used to modulate the control instruction sent based on the optical fiber.

[0118] The control combination of industrial computer + PLC (Programmable Logic Controller) can be set in the electric control box, and the control instructions for driving the energy device sent by the controller can be received through the industrial computer. Then the control instructions are sent to the PLC, and the energy device is driven by the PLC. By integrating the industrial computer and PLC to connect multiple energy devices, the length of the optical fiber between the controller and the energy device can be reduced to reduce the difficulty of optical fiber layout, and at the same time alleviate the problem of signal transmission affected by improper optical fiber layout.

[0119] The photoelectric conversion module can be used for the conversion of optical-electrical signals, and can also be used for the modulation of optical signals, so as to completely transmit the control instructions issued by the controller to the electrical control box of the patient platform, and drive the energy device to perform the preset action, thereby improving the stability of signal transmission. It is understandable that in the energy device control system, any optical fiber connection communication point can be provided with a photoelectric conversion module to assist in signal transmission.

[0120] It is understandable that the doctor control platform and the image platform may also be provided with an electric control box, and an industrial computer + PLC control combination is provided in the electric control box of the doctor control platform, and a controller is provided in the electric control box of the image platform. Among them, the PLC and the trigger can be connected in communication to transmit the trigger signal to the industrial computer, and the industrial computer transmits the trigger signal to the controller of the image platform through the optical fiber, and the controller drives the energy device to perform the preset action according to the trigger instruction.

[0121] In the above embodiment, the electric control boxes of each platform communicate with each other through optical fiber to avoid the problem that the signal transmission is unstable due to electrical interference through electrical transmission, which affects the response speed and control accuracy of the energy device. Each module inside each platform, such as between the industrial computer and the PLC, and between the PLC and the trigger, can use shielded network cables to transmit signals to reduce interference and ensure the stability of signal transmission.

[0122] like Figure 8 As shown, when the controller transmits energy to the energy device, it needs to control the start and stop of energy transmission through the relay module. Similar to the setting method of the backup optical fiber interface, a backup relay module can also be set on the controller. That is, the controller also includes a main relay module and at least one backup relay module; the energy interface is connected to the energy interface of the first energy device through the main relay module or the backup relay module; the controller sets the output mode according to the preset action information, and is also configured as:

[0123] Detecting fault information of the main relay module and marking the main relay module generating the fault information;

[0124] The backup relay module is started to establish a connection with the energy interface of the first energy device to set an output mode.

[0125] The controller is connected to the energy interface of the energy device through the main relay module. When transmitting energy to the energy device, the relay module can be activated to transmit energy to the energy device. After the preset action is completed, the controller can turn off the relay module to stop energy transmission.

[0126] In some embodiments, it is possible to determine whether the main relay module is operating normally by observation, for example, by using devices with prompt functions such as warning lights and buzzers. If the buzzer or warning light sends out a preset alarm message, it indicates that the main relay module is operating abnormally and a backup relay module is needed to supply energy to the energy device.

[0127] In other embodiments, when a main relay module fails, the controller can detect corresponding fault information, mark the failed main relay module according to the fault information, and start the backup relay module to establish a connection with the energy interface of the energy device to output energy to the energy device. When starting the backup relay module, it is only necessary to connect the backup relay to the energy interface of the energy device using a wiring harness for transmitting energy. By setting the backup relay module on the controller, there is no need to replace the controller when the main relay fails, saving debugging and maintenance time, which is conducive to reducing the preparation time for surgery.

[0128] like Fig. 9 As shown, the energy device control system further includes an endoscope, an endoscope trigger, and an image display terminal; the controller is further configured as:

[0129] In response to a trigger instruction of the endoscope trigger, driving the endoscope to acquire target image data;

[0130] receiving target image data acquired by the endoscope;

[0131] The target image data is sent to the image display end through an optical fiber, so as to be displayed on the image display end.

[0132] The endoscope is arranged on the slave robot arm and can be used to collect images to observe the target area and adjust the energy device to a preset position to perform a preset action. The endoscope trigger can also be a pedal or a button or other component with a trigger function, which is arranged on the doctor control platform. The image display end is arranged on the image platform and the doctor control platform, which can process the images collected by the endoscope and display the images collected by the endoscope to show the target area.

[0133] In some embodiments, the user operates the master control arm to drive the slave mechanical arm to move the endoscope to a preset position, and triggers the endoscope to collect target image data of the target area through the endoscope pedal. The endoscope transmits the target image data to the image platform, which is parsed and processed by the controller set on the image platform and displayed on the image display end of the image platform. The processed target image data can also be sent to the image display end of the doctor control platform through optical fiber to display the target area.

[0134] In addition, the image display terminal can also display information about the running robot arm and energy equipment, such as the name, type, icon, and ID number of the energy equipment, to serve as a prompt, thereby reducing the risk of incorrect input of control instructions. During the process of the energy equipment executing the preset action, the image display terminal can also display the energy value of the energy equipment, and the display method of the energy value includes but is not limited to numerical value and energy bar. The image display terminal can also display the fault information of the relay module and the optical fiber interface to prompt that the system needs maintenance, which is conducive to quickly finding the fault point and reducing the system maintenance time.

[0135] The present application also provides an energy instrument control method for a laparoscopic surgical robot, which is applied to an energy instrument control system of a laparoscopic surgical robot, the system comprising a trigger and an energy instrument; the energy instrument is configured to execute a preset action in response to a control instruction of the controller; the energy instrument comprises a first energy instrument and a second energy instrument; the trigger is configured to send a trigger instruction to the controller, the trigger comprises a first trigger and a second trigger, the first trigger is used to trigger the first energy instrument or the second energy instrument to execute a first preset action, and the second trigger is used to trigger the first energy instrument to execute a second preset action; the method comprises:

[0136] In response to the trigger instruction, marking an energy device associated with the trigger instruction;

[0137] Reading device information of the marked energy device to identify the device type of the marked energy device;

[0138] If the energy device is a first energy device, controlling the first energy device to perform a preset action based on the trigger instruction;

[0139] If the energy device is a second energy device, then stop responding to the trigger instruction sent by the second trigger, and execute the first preset action based on the trigger instruction sent by the first trigger.

[0140] It can be known from the above technical content that the present application provides an energy instrument control system and method for a laparoscopic surgical robot. The system includes a first energy instrument and a second energy instrument, and the first energy instrument can be triggered by a trigger to perform a first preset action or a second preset action, and the second energy instrument can be triggered to perform the first preset action. The controller in the system responds to the trigger instruction of the trigger, reads the energy instrument associated with the trigger instruction to determine the instrument type, and drives the energy instrument to perform the preset action according to the instrument type. And when the second energy instrument performs the preset action, the trigger instructions unrelated to the second energy instrument are shielded to prevent the erroneous triggering of other energy instruments and improve the safety of the surgical process.

[0141] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. An energy instrument control system for a laparoscopic surgical robot, characterized in that: include: An energy device is configured to execute a preset action in response to a control instruction of a controller; the energy device comprises a first energy device and a second energy device; A trigger, configured to send a trigger instruction to the controller, the trigger comprising a first trigger and a second trigger, the first trigger being used to send the trigger instruction to make the first energy device or the second energy device perform a first preset action, and the second trigger being used to send the trigger instruction to make the first energy device perform a second preset action; The controller is configured as: In response to the trigger instruction, marking an energy device associated with the trigger instruction; Reading device information of the marked energy device to identify the device type of the marked energy device; If the energy device is a first energy device, controlling the first energy device to perform a preset action based on the trigger instruction; If the energy device is a second energy device, then stop responding to the trigger instruction sent by the second trigger, and execute the first preset action based on the trigger instruction sent by the first trigger.

2. The system according to claim 1, characterized in that It also includes a master control arm and a slave mechanical arm; the master control arm is electrically connected to one of the slave mechanical arms; the energy device is clamped on the execution end of the slave mechanical arm; the controller responds to the trigger instruction, marks the energy device associated with the trigger instruction, and is configured as follows: Detecting that a user operates the master control arm, marking a slave mechanical arm associated with the user operation; And marking the energy device connected to the mechanical arm in association with the user operation.

3. The system according to claim 1, characterized in that It also includes a driving board; the controller reads the device information of the marked energy device and is configured to: Controlling the driving board to read the device information of the marked energy device, wherein the device information includes the serial number and device ID of the energy device; The device information is received and parsed to obtain the device type of the marked energy device.

4. The system according to claim 1, characterized in that The controller controls the first energy device to perform a preset action based on the trigger instruction, and is configured to: If the trigger instruction is sent by the first trigger, the first energy device is controlled to perform a first preset action; If the trigger instruction is sent by the second trigger, the first energy device is controlled to perform a second preset action.

5. The system according to claim 4, characterized in that The controller includes at least one main optical fiber interface for communication connection with the first energy device; and includes at least one energy interface for connection with the energy interface of the first energy device; when the controller controls the first energy device to perform a preset action based on the trigger instruction, the controller is further configured to: Parsing the trigger instruction to obtain preset action information associated with the trigger instruction; According to the preset action information, setting the output mode; the setting of the output mode includes starting the optical fiber interface associated with the preset action, starting the energy interface associated with the preset action, and setting the energy value transmitted by the energy interface; The first energy device is driven to perform a preset action according to the output mode.

6. The system according to claim 5, characterized in that The controller further includes at least one spare optical fiber interface to replace the main optical fiber interface for communication connection with the first energy device. The controller sets the output mode according to the preset action information, and is further configured as follows: Detecting fault information of the main optical fiber interface, and marking the main optical fiber interface generating the fault information; The backup optical fiber interface associated with the marked main optical fiber interface is started to establish a communication connection with the first energy device to set the output mode.

7. The system according to claim 5, characterized in that It also includes an electric control box, a photoelectric conversion module, and an optical fiber; the main optical fiber interface is connected to the receiving end of the photoelectric conversion module through the optical fiber, and the transmitting end of the photoelectric conversion module is connected to the receiving end of the electric control box through the optical fiber; the transmitting end of the electric control box is connected to the first energy device for communication; the controller drives the first energy device to perform a preset action according to the output mode, and is configured as follows: Based on the optical fiber, a control instruction containing an output mode is sent to the electric control box to drive the first energy device to perform a preset action; wherein the photoelectric conversion module is used to modulate the control instruction sent based on the optical fiber.

8. The system according to claim 5, characterized in that The controller further includes a main relay module and at least one backup relay module; the energy interface is connected to the energy interface of the first energy device through the main relay module or the backup relay module; the controller sets the output mode according to the preset action information, and is further configured as: Detecting fault information of the main relay module and marking the main relay module generating the fault information; The backup relay module is started to establish a connection with the energy interface of the first energy device to set an output mode.

9. The system according to claim 1, characterized in that It also includes an endoscope, an endoscope trigger, and an image display terminal; the controller is also configured as: In response to a trigger instruction of the endoscope trigger, driving the endoscope to acquire target image data; receiving target image data acquired by the endoscope; The target image data is sent to the image display end through an optical fiber, so as to be displayed on the image display end.

10. A method for controlling an energy device of a laparoscopic surgical robot, applied to an energy device control system of a laparoscopic surgical robot, characterized in that: The system comprises a trigger and an energy device; the energy device is configured to execute a preset action in response to a control instruction of the controller; the energy device comprises a first energy device and a second energy device; The trigger is configured to send a trigger instruction to the controller, and the trigger includes a first trigger and a second trigger, the first trigger is used to trigger the first energy device or the second energy device to perform a first preset action, and the second trigger is used to trigger the first energy device to perform a second preset action; the method includes: In response to the trigger instruction, marking an energy device associated with the trigger instruction; Reading device information of the marked energy device to identify the device type of the marked energy device; If the energy device is a first energy device, controlling the first energy device to perform a preset action based on the trigger instruction; If the energy device is a second energy device, then stop responding to the trigger instruction sent by the second trigger, and execute the first preset action based on the trigger instruction sent by the first trigger.

Images