Intelligent control system of skilful robot for cardiac surgery

Abstract

The invention discloses an intelligent control system of a cardiac surgery dexterous robot. The intelligent control system comprises an upper computer, a control unit, an acquisition unit, a protection unit, a communication unit, a storage unit and a driving unit, wherein the control unit is used for carrying out consistency judgment on external instructions sent by the upper computer and transmitted by the communication unit A and the communication unit B, and if the external instructions are consistent, receiving the external instructions passing the consistency as effective external instructions; otherwise, an error result is sent to the upper computer; determining whether to send a driving closing instruction to the driving unit; motion planning is carried out, and a motion instruction is sent to the driving unit; the driving unit is used for obtaining a motor motion control instruction according to the motion instruction, sending the motor motion control instruction to motors of the multiple functional arms and controlling the multiple functional arms to move; and the acquisition unit is used for acquiring functional arm state information of the functional arm in real time, sending the functional arm state information to the protection unit, carrying out overrun judgment and consistency judgment, and sending a judgment result and the functional arm state information to the control unit.

Description

Technical Field

[0001] The invention relates to an intelligent control system of a dexterous robot for cardiac surgery, belonging to the technical field of medical treatment. Background Art

[0002] Cardiac surgery dexterous robots (including master and slave systems) can reduce the physical labor of doctors during surgery. Existing dexterous cardiac surgery robot systems usually use master and slave as the main working mode. The flexibility and freedom of each functional arm of the slave is not high. Most of them are driven by the master hand. Each action of the instrument that enters the human body and operates is related to the patient's life safety. At present, there are not many studies on the control system of the slave hand. The freedom of the slave hand is not high, the synchronization is not good, and the control complexity is high. It is not intelligent, and the coordination of each functional arm is not high, which is not conducive to the operation of the slave hand in the patient's body. In addition, the traditional control system usually adopts a decentralized control architecture. Each axis has an independent controller and driver. Interference and conflict are easy to occur between axes. The motion accuracy and stability of the multi-functional arm multi-axis motion control system are difficult to meet the requirements of high-precision control and motion; even if a master control plus multiple drive systems cannot accurately move synchronously according to the predetermined motion model, the collaborative work effect is poor; the progress of the operation is affected, the risk of the operation is increased, and there is no more reliable solution for acquisition problems, communication problems and protection problems.

[0003] The existing patent application number is CN 115153852 A Surgical robot, control method, system and readable storage medium. Although this patent realizes the control function of the surgical robot to a certain extent, it still has many shortcomings:

[0004] (1) The hands have low degrees of freedom, poor synchronization, high control complexity, lack of intelligence, and low coordination among the functional arms.

[0005] (2) Insufficient manual dexterity, slow processing speed, and poor synchronization

[0006] The existing patent application number is CN 107092215B, a multi-axis motion controller with a high-frequency digital processing chip as the core. Although this patent has realized the multi-axis control function of the surgical robot to a certain extent, it still has many shortcomings:

[0007] (1) This patent still relies on the driver and algorithm chips to operate separately, and cannot accurately synchronize movement according to the predetermined motion model.

[0008] (2) Using external CAN or SPI for low-speed communication results in poor collaborative work, which affects the progress of the surgery and increases the difficulty of the surgery.

[0009] (3) The lack of redundant processing increases the probability of failure and increases the risk of surgery. Summary of the invention

[0010] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide an intelligent control system for a dexterous robot for cardiac surgery, and to enhance safety.

[0011] The technical solution of the present invention is:

[0012] The present invention discloses an intelligent control system for a dexterous cardiac surgery robot, comprising: a host computer, a control unit, a collection unit, a protection unit, a communication unit, a storage unit and a drive unit; wherein:

[0013] The acquisition unit includes an acquisition unit A and an acquisition unit B; the acquisition unit A and the acquisition unit B are backed up for each other; the protection unit includes a protection unit A and a protection unit B; the protection unit A and the protection unit B are backed up for each other; the communication unit includes a communication unit A and a communication unit B, and the communication unit A and the communication unit B are backed up for each other;

[0014] The host computer performs communication self-test on multiple communication modes, and determines the communication mode that is normal according to the self-test result; sends an external instruction to the communication unit according to the communication mode that is normal according to the self-test result; and switches the communication mode according to the error result sent by the control unit;

[0015] The communication unit forwards the external command to the control unit;

[0016] The control unit performs consistency judgment on the external instructions sent by the host computer transmitted by the communication unit A and the communication unit B. If they are consistent, the external instructions that pass the consistency are received as valid external instructions; otherwise, the error result is sent to the host computer; according to the judgment result sent by the protection unit, it is determined whether to send a shutdown drive instruction to the drive unit; according to the valid external instructions and the functional arm state information collected by the collection unit, motion planning is performed, and the motion instruction is sent to the drive unit;

[0017] The driving unit obtains a motor motion control instruction according to the motion instruction, and sends the instruction to the motors of the multiple functional arms to control the motion of the multiple functional arms;

[0018] The storage unit is used to store the collected data of the collection unit and the fault mode and the motion instruction of the control unit;

[0019] The acquisition unit acquires the functional arm status information of the functional arm in real time and sends it to the protection unit

[0020] The protection unit performs over-limit judgment and consistency judgment according to the functional arm status information sent by the acquisition unit, and sends the judgment result and the functional arm status information to the control unit.

[0021] Furthermore, in the above system, the control unit, acquisition unit A, protection unit A, communication unit A and storage unit constitute the PS end of APSOC; the acquisition unit B, protection unit B, communication unit B and drive unit constitute the PL end of APSOC, and the PS end and the PL end communicate through the APSOC communication interface.

[0022] Furthermore, in the above system, motion planning is performed and motion instructions are sent to the drive unit. The specific method is as follows:

[0023] Determine the function, target position and movement time of each functional arm according to external instructions;

[0024] According to the target position and movement time of each functional arm, the interpolation position point of the movement trajectory of each functional arm is calculated;

[0025] According to the interpolation position points and functions of each functional arm, the movement mode of each degree of freedom in each functional arm is determined;

[0026] According to the motion mode of each degree of freedom and the interpolation position points of the motion trajectory of each functional arm, the motion instruction is determined;

[0027] Send motion instructions to the drive unit.

[0028] Furthermore, in the above system, the interpolation position point of each functional arm is calculated according to the target position and movement time of each functional arm. The specific method is as follows:

[0029] According to the target position of each functional arm, the distance between the current position and the target position is estimated;

[0030] Divide the distance into n segments and obtain the distance of each segment; n is an integer greater than 1;

[0031] Set the initial speed of the movement;

[0032] According to the initial speed, the distance of each segment and the movement time, the acceleration of each segment is obtained;

[0033] According to the distance and acceleration of each segment, the interpolation position point of each functional arm is obtained.

[0034] Furthermore, in the above system, according to the motion instruction, the motor motion control instruction is obtained and sent to the motors of the multiple functional arms, specifically:

[0035] According to the functional arm sequence number in the motion command, the motion command is decomposed into the motor motion control command of each functional arm and sent to the motors of multiple functional arms.

[0036] Furthermore, in the above system, the communication self-test is performed on multiple communication modes, and the communication mode that is self-tested normal is determined according to the self-test result. The specific method is:

[0037] S60, communication unit A and communication unit B receive the communication single-ended self-test instruction transmitted by the host computer through ethercat network, Ethernet, wifi wireless network and CAN bus in turn;

[0038] S61, marking the communication self-test instructions received by the communication unit A through the ethercat network, Ethernet, wifi wireless network, and CAN bus as datas1, datas2, datas3, and datas4 respectively, and marking the communication self-test instructions received by the communication unit B through the ethercat network, Ethernet, wifi wireless network, and CAN bus as datal1, datal2, datal3, and datal4 respectively;

[0039] S62, perform communication self-test on communication unit A and communication unit B respectively; if two or more communication modes pass the self-test, record the communication mode that is normal in the self-test, and proceed to step S63; otherwise, send an alarm signal to the upper computer;

[0040] S63, communication unit A and communication unit B respectively use the same self-test normal communication method to receive the self-test data sent by the upper computer, and compare the self-test data of communication unit A with the self-test data of communication unit B; determine whether the comparison results of two or more communication methods meet the threshold range, if so, record the communication method with normal self-test as the communication method with normal self-test; if not, perform a shutdown inspection.

[0041] Furthermore, in the above system, the communication mode is switched according to the error result sent by the control unit, and the specific method is as follows:

[0042] S71, counting the error results sent by the control unit to obtain the number of errors;

[0043] S72. If the number of errors is greater than or equal to 3, select the communication method with the highest priority other than the current communication method from the communication methods that are normal in self-test as the communication method, resend the external command, and clear the number of errors; if not, send the external command again.

[0044] Furthermore, in the above system, the communication self-check is performed on the communication unit A and the communication unit B respectively, and the specific method is as follows:

[0045] S81, communication unit A compares the received communication self-test instructions datas1, datas2, datas3, datas4 with the communication single-end self-test instructions respectively, and determines that the communication mode with a deviation value less than the set threshold is the normal communication mode of communication unit A; communication unit B compares the received communication self-test instructions datal1, datal2, datal3, datal4 with the communication single-end self-test instructions respectively, and determines that the communication mode with a deviation value less than the set threshold is the normal communication mode of communication unit B, and enters step S82; if the deviation values ​​are all greater than the set threshold, it is determined that there is no normal communication mode, and the machine is stopped for inspection;

[0046] S82, determine whether there are two or more identical communication modes in the normal communication mode of communication unit A and the normal communication mode of communication unit B. If so, obtain the normal communication mode for self-test; if not, stop the machine for inspection.

[0047] Further, in the above system, the over-limit judgment and consistency judgment are performed according to the functional arm status information sent by the acquisition unit, and the judgment result and the functional arm status information are sent to the control unit. The specific method is:

[0048] S71, marking the data collected by the collection unit A as data Ds; marking the data collected by the collection unit B as data D1;

[0049] S72, determining whether one of the data Ds collected by the collection unit A and the data D1 collected by the collection unit B exceeds the protection threshold; if so, the determination result is that the protection threshold is exceeded, and the determination result is sent to the control unit; if not, proceeding to step S73;

[0050] S73, compare the data collected by the collection unit A and the collection unit B one by one, if the difference exceeds the threshold, then judge the result as the difference exceeds the threshold; send the judgment result to the control unit, find out the different data, re-collect the different data, and stop the machine for inspection if the data are different three times; if the difference does not exceed the threshold, enter step S74;

[0051] S74, after taking the average value of the data collected by the collection unit A and the collection unit B, generate functional arm status information and output it to the control unit.

[0052] Further, in the above system, the method of determining whether to send a shutdown drive instruction to the drive unit according to the judgment result sent by the protection unit is as follows:

[0053] If the judgment result is that the protection threshold is exceeded, a shutdown drive instruction is sent to the drive unit;

[0054] If the judgment result is that the difference exceeds the threshold, the number of errors is increased by 1; if the number of errors is equal to 3, a shutdown drive instruction is sent and the number of errors is set to 0.

[0055] The beneficial effects of the present invention and the prior art are:

[0056] (1) The present invention designs an intelligent control system and control method for a dexterous cardiac surgery robot, which processes the PS end as a storage unit to store data, and as a control unit to perform kinematic planning algorithms and interpolation algorithms, and sends the planned instructions to the other part of the chip, the PL end, so that the heart moves from each joint of each arm of the hand according to the agreed position, so that each arm cooperates with each other, ensuring that it has the characteristics of high-precision control, intelligence, flexibility, real-time performance, etc.

[0057] (2) The present invention adds a control unit, which mainly performs kinematic planning algorithm and interpolation algorithm, thereby improving the control accuracy, increasing the response rate, reducing the harm to the patient, improving the reliability of cardiac surgery, increasing the intelligence of the system, and enhancing safety and practicality;

[0058] (3) The present invention adds a synchronous drive unit, which is mainly a drive algorithm that supports multiple functional arms with multiple degrees of freedom, so that the motor follows the control command to rotate the multiple functional arms to perform control movements. At the same time, a synchronous control signal is added to the algorithm, which improves the synchronization performance of the motor control, enhances the coordination ability of the multiple arms, improves the servo performance of the surgical robot, improves the real-time performance and reliability, and is conducive to the coordinated control of each arm;

[0059] (4) The present invention adds a redundant acquisition unit, which is conducive to the confirmation of the collected data. At the same time, when one acquisition fails, another acquisition can be used to replace the operation, forming a redundant acquisition unit, ensuring the accurate performance of the system and improving the reliability of the system; ensuring the parameter accuracy of each joint of the cardiac dexterous robot system, reducing the parameter debugging time caused by failures, and improving the intelligence and reliability of the system;

[0060] (5) The present invention adds the redundant communication unit mentioned above to avoid surgical problems caused by communication, thereby improving the safety, reliability, real-time performance and stability of the system;

[0061] (6) The present invention adds a protection unit, and the control system improves the flexibility of the hands, improves the accuracy and safety of surgery, improves the control accuracy, and reduces the harm to the patient;

[0062] (7) The present invention adds an integrated storage module, which is beneficial to data extraction and data tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 is a system block diagram of the present invention;

[0064] Figure 2 It is a control flow chart of the present invention;

[0065] Figure 3 It is a redundant communication and error correction flow chart of the present invention;

[0066] Figure 4 It is a data collection flow chart of the present invention;

[0067] Figure 5 is the interpolation flow chart of the present invention;

[0068] Figure 6 It is a synchronous control flow chart of the present invention. DETAILED DESCRIPTION

[0069] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0070] like Figure 1 As shown, the present invention discloses an intelligent control system for a dexterous cardiac surgery robot, comprising: a host computer, a control unit, a collection unit, a protection unit, a communication unit, a storage unit and a drive unit; wherein,

[0071] The acquisition unit includes an acquisition unit A and an acquisition unit B; the acquisition unit A and the acquisition unit B are backed up for each other; the protection unit includes a protection unit A and a protection unit B; the protection unit A and the protection unit B are backed up for each other; the communication unit includes a communication unit A and a communication unit B, and the communication unit A and the communication unit B are backed up for each other;

[0072] The host computer performs communication self-test on multiple communication modes, and determines the communication mode that is normal according to the self-test results; sends external instructions to the communication unit according to the communication mode that is normal; and switches the communication mode according to the error results sent by the control unit;

[0073] A communication unit forwards external commands to the control unit;

[0074] The control unit performs consistency judgment on the external instructions sent by the host computer transmitted by the communication unit A and the communication unit B. If they are consistent, the external instructions that pass the consistency are received as valid external instructions; otherwise, the error result is sent to the host computer; according to the judgment result sent by the protection unit, it is determined whether to send a shutdown drive instruction to the drive unit; according to the valid external instructions and the functional arm status information collected by the collection unit, motion planning is performed, and the motion instruction is sent to the drive unit;

[0075] The driving unit obtains the motor motion control instruction according to the motion instruction, and sends it to the motors of the multiple functional arms to control the motion of the multiple functional arms;

[0076] A storage unit, used for storing the collected data and the fault mode of the collection unit and the motion instructions of the control unit;

[0077] The acquisition unit collects the functional arm status information of the functional arm in real time and sends it to the protection unit

[0078] The protection unit performs over-limit judgment and consistency judgment according to the functional arm status information sent by the acquisition unit, and sends the judgment result and the functional arm status information to the control unit.

[0079] Preferably, the control unit, acquisition unit A, protection unit A, communication unit A and storage unit constitute the PS end of APSOC; the acquisition unit B, protection unit B, communication unit B and drive unit constitute the PL end of APSOC, and the PS end and the PL end communicate through the APSOC communication interface.

[0080] Preferably, motion planning is performed and motion instructions are sent to the drive unit. The specific method is:

[0081] Determine the function, target position and movement time of each functional arm according to external instructions;

[0082] According to the target position and movement time of each functional arm, the interpolation position point of the movement trajectory of each functional arm is calculated;

[0083] According to the interpolation position points and functions of each functional arm, the movement mode of each degree of freedom in each functional arm is determined;

[0084] According to the motion mode of each degree of freedom and the interpolation position points of the motion trajectory of each functional arm, the motion instruction is determined;

[0085] Send motion instructions to the drive unit.

[0086] Preferably, the interpolation position point of each functional arm is calculated according to the target position and movement time of each functional arm, and the specific method is:

[0087] According to the target position of each functional arm, the distance between the current position and the target position is estimated;

[0088] Divide the distance into n segments and obtain the distance of each segment; n is an integer greater than 1;

[0089] Set the initial speed of the movement;

[0090] According to the initial speed, the distance of each segment and the movement time, the acceleration of each segment is obtained;

[0091] According to the distance and acceleration of each segment, the interpolation position point of each functional arm is obtained.

[0092] Preferably, according to the motion instruction, a motor motion control instruction is obtained and sent to the motors of the multiple functional arms, specifically:

[0093] According to the functional arm sequence number in the motion command, the motion command is decomposed into the motor motion control command of each functional arm and sent to the motors of multiple functional arms.

[0094] Preferably, a communication self-test is performed on multiple communication modes, and a communication mode that is normal in the self-test is determined according to the self-test result. The specific method is:

[0095] S60, communication unit A and communication unit B receive the communication single-ended self-test instruction transmitted by the host computer through ethercat network, Ethernet, wifi wireless network and CAN bus in turn;

[0096] S61, marking the communication self-test instructions received by the communication unit A through the ethercat network, Ethernet, wifi wireless network, and CAN bus as datas1, datas2, datas3, and datas4 respectively, and marking the communication self-test instructions received by the communication unit B through the ethercat network, Ethernet, wifi wireless network, and CAN bus as datal1, datal2, datal3, and datal4 respectively;

[0097] S62, perform communication self-test on communication unit A and communication unit B respectively; if two or more communication modes pass the self-test, record the communication mode that is normal in the self-test, and proceed to step S63; otherwise, send an alarm signal to the upper computer;

[0098] S63, communication unit A and communication unit B respectively use the same self-test normal communication method to receive the self-test data sent by the upper computer, and compare the self-test data of communication unit A with the self-test data of communication unit B; determine whether the comparison results of two or more communication methods meet the threshold range, if so, record the communication method with normal self-test as the communication method with normal self-test; if not, perform a shutdown inspection.

[0099] Preferably, the communication mode is switched according to the error result sent by the control unit, and the specific method is:

[0100] S71, counting the error results sent by the control unit to obtain the number of errors;

[0101] S72. If the number of errors is greater than or equal to 3, select the communication method with the highest priority other than the current communication method from the communication methods that are normal in self-test as the communication method, resend the external command, and clear the number of errors; if not, send the external command again.

[0102] Preferably, communication self-check is performed on communication unit A and communication unit B respectively, and the specific method is as follows:

[0103] S81, communication unit A compares the received communication self-test instructions datas1, datas2, datas3, datas4 with the communication single-end self-test instructions respectively, and determines that the communication mode with a deviation value less than the set threshold is the normal communication mode of communication unit A; communication unit B compares the received communication self-test instructions datal1, datal2, datal3, datal4 with the communication single-end self-test instructions respectively, and determines that the communication mode with a deviation value less than the set threshold is the normal communication mode of communication unit B, and enters step S82; if the deviation values ​​are all greater than the set threshold, it is determined that there is no normal communication mode, and the machine is stopped for inspection;

[0104] S82, determine whether there are two or more identical communication modes in the normal communication mode of communication unit A and the normal communication mode of communication unit B. If so, obtain the normal communication mode for self-test; if not, stop the machine for inspection.

[0105] Preferably, over-limit judgment and consistency judgment are performed according to the functional arm status information sent by the acquisition unit, and the judgment result and the functional arm status information are sent to the control unit. The specific method is:

[0106] S71, marking the data collected by the collection unit A as data Ds; marking the data collected by the collection unit B as data D1;

[0107] S72, determining whether one of the data Ds collected by the collection unit A and the data D1 collected by the collection unit B exceeds the protection threshold; if so, the determination result is that the protection threshold is exceeded, and the determination result is sent to the control unit; if not, proceeding to step S73;

[0108] S73, compare the data collected by the collection unit A and the collection unit B one by one, if the difference exceeds the threshold, then judge the result as the difference exceeds the threshold; send the judgment result to the control unit, find out the different data, re-collect the different data, and stop the machine for inspection if the data are different three times; if the difference does not exceed the threshold, enter step S74;

[0109] S74, after taking the average value of the data collected by the collection unit A and the collection unit B, generate functional arm status information and output it to the control unit.

[0110] Preferably, according to the judgment result sent by the protection unit, it is determined whether to send a drive shutdown instruction to the drive unit, and the specific method is:

[0111] If the judgment result is that the protection threshold is exceeded, a shutdown drive instruction is sent to the drive unit;

[0112] If the judgment result is that the difference exceeds the threshold, the number of errors is increased by 1; if the number of errors is equal to 3, a shutdown drive instruction is sent and the number of errors is set to 0.

[0113] Example

[0114] This embodiment provides an intelligent control system for a dexterous cardiac surgery robot, wherein the control system includes: a PL end and a PS end; the PS end includes a control unit, a collection unit A, a protection unit A, a communication unit A, and a storage unit; the PL end includes a collection unit B, a protection unit B, a communication unit B, and a drive unit. Figure 1 shown.

[0115] The main control and driving algorithms are placed in one chip, and the main control chip is an APSOC chip, which is divided into two parts, the PS end and the PL end. The present invention processes the PS end as a storage unit to store data, and as a control unit, performs kinematic planning algorithms and interpolation algorithms, and sends the planned instructions to the other part of the chip, the PL end, so that the heart moves from each joint of each arm of the hand according to the agreed position, so that each arm cooperates with each other, ensuring that it has the characteristics of high-precision control, intelligence, flexibility, and real-time performance; the PL end is mainly used to drive the motors of multiple functional arms, and the two common functions of the PS end and the PL end are to communicate with the host computer, collect data from multiple functional arms, and send protection instructions at the same time. Each of these three functions exists as a redundant design, which improves the reliability of the operation, reduces the failures caused by collection and communication failures, and increases the reliability of the surgical robot. The PS end and the PL end communicate internally to ensure timeliness.

[0116] In the above control unit, kinematic planning algorithm and interpolation algorithm are mainly performed based on the received instructions and the data of the acquisition unit, and the planned instructions are sent to the PL end. The control accuracy is improved, the response rate is increased, the harm to the patient is reduced, the reliability of cardiac surgery is improved, the intelligence of the system is increased, and the safety and practicality are enhanced;

[0117] In the above-mentioned drive unit, there is mainly a drive algorithm that supports multiple functional arms with multiple degrees of freedom. It receives control instructions sent by the PS end, including (position, speed, current, torque, etc.), obtains electrical angle information, motor expected id and iq through the basic FOC algorithm in the drive unit, calculates the motor required id and iq, so that the motor follows the control instructions to rotate multiple functional arms for controlled movement. At the same time, a synchronous control signal is added to the algorithm to improve the synchronization performance of the motor control, enhance the coordination ability of multiple arms, improve the servo performance of the surgical robot, improve the real-time performance and reliability performance, and is conducive to the coordinated control of each arm.

[0118] In the above-mentioned storage unit, file reading and work logs, various test results and failure modes are mainly stored, which is conducive to data retrieval, ensures data traceability, and serves as a reference for subsequent troubleshooting and control.

[0119] In the above-mentioned acquisition units A and B, such as Figure 2 As shown in the schematic diagram of the acquisition unit, it mainly includes a temperature acquisition unit, a voltage acquisition unit, a current acquisition unit, a speed acquisition unit, a torque acquisition unit, a position acquisition unit, and an image acquisition unit. The PS end and the PL end perform acquisition at the same time. The PL end transmits the acquired data to the PS end through internal communication, and at the same time, the data collected by the PS end is compared in real time, which is conducive to confirming the acquired data. At the same time, when a kind of acquisition fails (for example, in three acquisitions, the acquisition of PS and PL is compared with itself. When the average value of the three times is greater than 10%, it is considered that there is a problem with this acquisition method), another kind of acquisition can be used to replace the operation, forming acquisition units A and B. The design of this unit ensures the accurate performance of the system and improves the reliability of the system; ensures the parameter accuracy of each joint of the cardiac dexterous robot system, reduces the parameter debugging time caused by failures, and improves the intelligence and reliability of the system;

[0120] The above-mentioned communication units A and B mainly include ethercat communication, Ethernet communication and wifi communication, etc., which can be one or more. These communications are mainly used for communication between the PS end, PL end and the host computer, receiving the control instructions of the host computer, and selecting a stable communication method in the initialization state. During operation, each communication data is received by the PS end and the PL end at the same time. The PS end compares whether the data instructions are consistent. If they are consistent, the operation is executed to avoid surgical problems caused by communication and improve the safety, reliability, real-time and stability of the system.

[0121] In the above redundant protection unit, such as Figure 1 As shown, it mainly includes an overcurrent protection unit, an overvoltage protection unit, an overtemperature protection unit, an overforce protection unit, and a position offset protection unit; it mainly uses the data of the acquisition unit and the functional arm status information sent by the acquisition unit to perform over-limit judgment and consistency judgment, and sends the judgment result and the functional arm status information to the control unit; thereby improving the reliability and safety performance of the system.

[0122] like Figure 2 As shown, the control method is specifically:

[0123] (1) Start working and carry out the power-on initialization phase;

[0124] (2) The PS and PL terminals simultaneously receive the detection communication command from the host computer, determine a communication mode, and select one of the two modes (i.e., CAN, ethercat communication, Ethernet communication, and wifi communication) for the PS and PL terminals;

[0125] (3) After the communication mode is determined, the PS and PL receive the data from the host computer and collect the data through the acquisition unit;

[0126] (4) Determine whether the data received by the PS end and the PL end are consistent. If they are consistent, the received data is used as the control target variable. Otherwise, the communication error correction process is entered until they are consistent. Determine whether the data collected by the acquisition unit of the PS end and the PL end are consistent. If they are consistent, the collected data is compared with the designed acquisition threshold. If they are within the threshold range, the data is used as the control initial variable. Otherwise, the protection process is entered.

[0127] (5) The control target variables and control initial variables in step 4 are used as the data for trajectory planning and interpolation on the PS side, interpolation motion is performed, control instructions are generated, and sent to the PL side.

[0128] (6) The PL-side drive unit receives the control instructions of step 5, i.e., current, position, speed, torque, etc., performs the calculation of the drive algorithm, and generates the PWM control timing;

[0129] (7) Control the multi-degree-of-freedom motion of a single arm or control the motion of multiple arms;

[0130] (8)The process ends.

[0131] like Figure 3 As shown in the figure, the redundant communication and error correction process is as follows:

[0132] S60, communication unit A and communication unit B receive the communication single-ended self-test instruction transmitted by the host computer through ethercat network, Ethernet, wifi wireless network and CAN bus in turn;

[0133] S61, marking the communication self-test instructions received by the communication unit A through the ethercat network, Ethernet, wifi wireless network, and CAN bus as datas1, datas2, datas3, and datas4 respectively, and marking the communication self-test instructions received by the communication unit B through the ethercat network, Ethernet, wifi wireless network, and CAN bus as datal1, datal2, datal3, and datal4 respectively;

[0134] S62, perform communication self-test on communication unit A and communication unit B respectively; if two or more communication modes pass the self-test, record the communication mode that is normal in the self-test, and proceed to step S63; otherwise, send an alarm signal to the upper computer;

[0135] S63, communication unit A and communication unit B respectively use the same self-test normal communication method to receive the self-test data sent by the upper computer, and compare the self-test data of communication unit A with the self-test data of communication unit B; determine whether the comparison results of two or more communication methods meet the threshold range, if so, record the communication method with normal self-test as the communication method with normal self-test; if not, perform a shutdown inspection.

[0136] like Figure 4 As shown in the figure, the redundant collection error correction and redundant protection process is as follows:

[0137] (1) The PS and PL ends collect data through the acquisition unit;

[0138] (2) Mark the current, voltage, temperature, speed, position, and torque data collected by PS as Is, Vs, Ts, Ss, Ps, and Ms; mark the current, voltage, temperature, speed, position, and torque data collected by PL as Il, Vl, Tl, Sl, Pl, and Ml;

[0139] (3) Determine whether the data collected by the PL or PS end exceeds the protection threshold; if so, perform protection and shut down the drive unit; if not, proceed to step (4);

[0140] (4) Compare the same type of data collected by the PS end and the PL end one by one. If the difference exceeds the threshold, the judgment result is that the difference exceeds the threshold; send the judgment result to the control unit to find out the different data, re-collect the different data, and stop checking if the data are different three times; if the difference does not exceed the threshold, go to step (5)

[0141] (5) After taking the average value of the data collected by the acquisition unit A and the acquisition unit B, the functional arm status information is generated and output to the control unit.

[0142] like Figure 5 As shown, the interpolation method is specifically:

[0143] According to the target position of each functional arm, the distance between the current position and the target position is estimated;

[0144] Divide the distance into n segments and obtain the distance of each segment; n is an integer greater than 1;

[0145] Set the initial speed of the movement;

[0146] According to the initial speed, the distance of each segment and the movement time, the acceleration of each segment is obtained;

[0147] According to the distance and acceleration of each segment, the interpolation position point of each functional arm is obtained.

[0148] like Figure 6 As shown, the synchronous control motion method is specifically:

[0149] Determine the function of each functional arm;

[0150] Calculate the motion trajectory of each functional arm;

[0151] Determine the motion pattern of each degree of freedom in the functional arm;

[0152] The synchronous motion signal is determined according to the motion mode of each degree of freedom and the motion trajectory of each functional arm.

[0153] The signal is sent to the drive unit to drive multiple arms or several degrees of freedom to move simultaneously, so that the functional arm moves to the specified position.

[0154] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

[0155] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. An intelligent control system for a dexterous cardiac surgery robot, characterized in that: include: Host computer, control unit, acquisition unit, protection unit, communication unit, storage unit and drive unit; among them, The acquisition unit includes an acquisition unit A and an acquisition unit B; the acquisition unit A and the acquisition unit B are backed up for each other; the protection unit includes a protection unit A and a protection unit B; the protection unit A and the protection unit B are backed up for each other; the communication unit includes a communication unit A and a communication unit B, and the communication unit A and the communication unit B are backed up for each other; The host computer performs communication self-test on multiple communication modes, and determines the communication mode that is normal according to the self-test result; sends an external instruction to the communication unit according to the communication mode that is normal according to the self-test result; and switches the communication mode according to the error result sent by the control unit; The communication unit forwards the external command to the control unit; The control unit performs consistency judgment on the external instructions sent by the host computer transmitted by the communication unit A and the communication unit B. If they are consistent, the external instructions that pass the consistency are received as valid external instructions; otherwise, the error result is sent to the host computer; according to the judgment result sent by the protection unit, it is determined whether to send a shutdown drive instruction to the drive unit; according to the valid external instructions and the functional arm state information collected by the collection unit, motion planning is performed, and the motion instruction is sent to the drive unit; The driving unit obtains a motor motion control instruction according to the motion instruction, and sends the instruction to the motors of the multiple functional arms to control the motion of the multiple functional arms; The storage unit is used to store the collected data and the fault mode of the collection unit and the motion instructions of the control unit; The acquisition unit acquires the functional arm status information of the functional arm in real time and sends it to the protection unit The protection unit performs over-limit judgment and consistency judgment according to the functional arm status information sent by the acquisition unit, and sends the judgment result and the functional arm status information to the control unit.

2. The intelligent control system of a dexterous cardiac surgery robot according to claim 1, characterized in that: The control unit, acquisition unit A, protection unit A, communication unit A and storage unit constitute the PS end of APSOC; the acquisition unit B, protection unit B, communication unit B and drive unit constitute the PL end of APSOC, and the PS end and the PL end communicate through the APSOC communication interface.

3. The intelligent control system of a dexterous cardiac surgery robot according to claim 1, characterized in that: Perform motion planning and send motion instructions to the drive unit. The specific method is as follows: Determine the function, target position and movement time of each functional arm according to external instructions; According to the target position and movement time of each functional arm, the interpolation position point of the movement trajectory of each functional arm is calculated; According to the interpolation position points and functions of each functional arm, the movement mode of each degree of freedom in each functional arm is determined; According to the motion mode of each degree of freedom and the interpolation position points of the motion trajectory of each functional arm, the motion instruction is determined; Send motion instructions to the drive unit.

4. The intelligent control system of a dexterous cardiac surgery robot according to claim 3, characterized in that: According to the target position and movement time of each functional arm, the interpolation position point of each functional arm is calculated. The specific method is as follows: According to the target position of each functional arm, the distance between the current position and the target position is estimated; Divide the distance into n segments and obtain the distance of each segment; n is an integer greater than 1; Set the initial speed of the movement; According to the initial speed, the distance of each segment and the movement time, the acceleration of each segment is obtained; According to the distance and acceleration of each segment, the interpolation position point of each functional arm is obtained.

5. The intelligent control system of a dexterous cardiac surgery robot according to claim 1, characterized in that: According to the motion instructions, the motor motion control instructions are obtained and sent to the motors of multiple functional arms, specifically: According to the functional arm sequence number in the motion command, the motion command is decomposed into the motor motion control command of each functional arm and sent to the motors of multiple functional arms.

6. The intelligent control system of a dexterous cardiac surgery robot according to claim 1, characterized in that: The communication self-test is performed on multiple communication modes, and the communication mode that is normal in the self-test is determined according to the self-test result. The specific method is as follows: S60, communication unit A and communication unit B receive the communication single-ended self-test instruction transmitted by the host computer through ethercat network, Ethernet, wifi wireless network and CAN bus in turn; S61, marking the communication self-test instructions received by the communication unit A through the ethercat network, Ethernet, wifi wireless network, and CAN bus as datas1, datas2, datas3, and datas4 respectively, and marking the communication self-test instructions received by the communication unit B through the ethercat network, Ethernet, wifi wireless network, and CAN bus as datal1, datal2, datal3, and datal4 respectively; S62, perform communication self-test on communication unit A and communication unit B respectively; if two or more communication modes pass the self-test, record the communication mode that is normal in the self-test, and proceed to step S63; otherwise, send an alarm signal to the upper computer; S63, communication unit A and communication unit B respectively use the same self-test normal communication method to receive the self-test data sent by the upper computer, and compare the self-test data of communication unit A with the self-test data of communication unit B; determine whether the comparison results of two or more communication methods meet the threshold range, if so, record the communication method with normal self-test as the communication method with normal self-test; if not, perform a shutdown inspection.

7. The intelligent control system of a dexterous cardiac surgery robot according to claim 1, characterized in that: According to the error result sent by the control unit, the communication mode is switched. The specific method is as follows: S71, counting the error results sent by the control unit to obtain the number of errors; S72. If the number of errors is greater than or equal to 3, select the communication method with the highest priority other than the current communication method from the communication methods that are normal in self-test as the communication method, resend the external command, and clear the number of errors; if not, send the external command again.

8. The intelligent control system of a dexterous cardiac surgery robot according to claim 6, characterized in that: The specific method of performing communication self-test on communication unit A and communication unit B respectively is as follows: S81, communication unit A compares the received communication self-test instructions datas1, datas2, datas3, datas4 with the communication single-end self-test instructions respectively, and determines that the communication mode with a deviation value less than the set threshold is the normal communication mode of communication unit A; communication unit B compares the received communication self-test instructions datal1, datal2, datal3, datal4 with the communication single-end self-test instructions respectively, and determines that the communication mode with a deviation value less than the set threshold is the normal communication mode of communication unit B, and enters step S82; if the deviation values ​​are all greater than the set threshold, it is determined that there is no normal communication mode, and the machine is stopped for inspection; S82, determine whether there are two or more identical communication modes in the normal communication mode of communication unit A and the normal communication mode of communication unit B. If so, obtain the normal communication mode for self-test; if not, stop the machine for inspection.

9. The intelligent control system of a dexterous cardiac surgery robot according to claim 1, characterized in that: According to the functional arm status information sent by the acquisition unit, over-limit judgment and consistency judgment are performed, and the judgment result and the functional arm status information are sent to the control unit. The specific method is: S71, marking the data collected by the collection unit A as data Ds; marking the data collected by the collection unit B as data D1; S72, determining whether one of the data Ds collected by the collection unit A and the data D1 collected by the collection unit B exceeds the protection threshold; if so, the determination result is that the protection threshold is exceeded, and the determination result is sent to the control unit; if not, proceeding to step S73; S73, compare the data collected by the collection unit A and the collection unit B one by one, if the difference exceeds the threshold, then judge the result as the difference exceeds the threshold; send the judgment result to the control unit, find out the different data, re-collect the different data, and stop the machine for inspection if there are three different data; If the difference does not exceed the threshold, proceed to step S74; S74, after taking the average value of the data collected by the collection unit A and the collection unit B, generate functional arm status information and output it to the control unit.

10. The intelligent control system of a dexterous cardiac surgery robot according to claim 1, characterized in that: The method of determining whether to send a drive shutdown instruction to the drive unit according to the judgment result sent by the protection unit is as follows: If the judgment result is that the protection threshold is exceeded, a drive shutdown instruction is sent to the drive unit; If the judgment result is that the difference exceeds the threshold, the number of errors is increased by 1; if the number of errors is equal to 3, a shutdown drive instruction is sent and the number of errors is set to 0.

Images