An intelligent control system for a dexterous cardiac surgery robot

Abstract

The present invention discloses an intelligent control system for a dexterous cardiac surgery robot, comprising: a host computer, a control unit, an acquisition unit, a protection unit, a communication unit, a storage unit and a drive unit; wherein the control unit performs consistency judgment on external instructions sent by the host computer and transmitted by communication unit A and communication unit B, and if they are consistent, receives the external instructions that pass the consistency as valid external instructions; otherwise, sends an error result to the host computer; determines whether to send a drive shutdown instruction to the drive unit; performs motion planning and sends the motion instruction to the drive unit; the drive unit obtains a motor motion control instruction according to the motion instruction, sends the instruction to the motors of multiple functional arms, and controls the movement of the multiple functional arms; the acquisition unit collects functional arm status information of the functional arms in real time, sends the information to the protection unit, performs over-limit judgment and consistency judgment, and sends the judgment result and the functional arm status 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] Dexterous cardiac surgical robots (including master and slave systems) can reduce the surgeon's physical workload during surgery. Existing dexterous cardiac surgical robotic systems typically operate in a master-slave mode. The slave's functional arms lack flexibility and freedom, relying primarily on the master's control. Each movement of these instruments, which enter the human body and operate, is crucial for the patient's life. Currently, little research has been conducted on slave control systems. The slave's limited freedom of movement and synchronization are poor, and its control complexity is complex and unintelligent. The coordination between the functional arms is limited, hindering their operation within the patient's body. Furthermore, traditional control systems typically employ a decentralized control architecture, with each axis having its own independent controller and driver. This creates interference and conflict between axes, and the motion accuracy and stability of multi-axis motion control systems with multiple functional arms struggle to meet high-precision control and motion requirements. Even with a single master controller and multiple drive systems, synchronized motion cannot accurately follow a predetermined motion pattern, resulting in poor collaborative operation. This impacts the surgical process and increases surgical risk. Furthermore, there are no reliable solutions for data acquisition, communication, and protection issues.

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

[0004] (1) The degree of freedom of the hands is not high, the synchronization is not good, the control complexity is high, it is not intelligent, and the coordination of the various functional arms is not high.

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

[0006] The existing patent application number is CN 107092215B, which describes a multi-axis motion controller with a high-frequency digital processing chip as its core. Although this patent has achieved 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 operation and increases the difficulty of the operation.

[0009] (3) It does not have the feature of redundant processing, which 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, provide an intelligent control system for a dexterous cardiac surgery robot, and 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 acquisition unit A and acquisition unit B; acquisition unit A and acquisition unit B serve as backup for each other; the protection unit includes protection unit A and protection unit B; protection unit A and protection unit B serve as backup for each other; the communication unit includes communication unit A and communication unit B; communication unit A and communication unit B serve as backup 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 results; sends an external instruction to the communication unit according to the communication mode that is normal; 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, an 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 acquisition 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 instructions of the control unit;

[0019] The acquisition unit collects 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 based on 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 points of the motion trajectory of each functional arm are calculated;

[0025] According to the interpolation position point and function of each functional arm, the motion mode of each degree of freedom in each functional arm is determined;

[0026] Determine the motion instructions based on the motion mode of each degree of freedom and the interpolation position points of the motion trajectory of each functional arm;

[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, estimate the distance between the current position and the target position;

[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, motor motion control instructions are obtained according to the motion instructions and sent to the motors of multiple functional arms, specifically:

[0035] According to the functional arm sequence number in the motion instruction, the motion instruction is decomposed into the motor motion control instruction 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 results. 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 the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus in sequence;

[0038] S61. Label the communication self-test instructions received by the communication unit A via the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus as datas1, datas2, datas3, and datas4, respectively; and label the communication self-test instructions received by the communication unit B via 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 host 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. Count 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-test 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, and datas4 with the communication single-ended self-test instructions, and determines that the communication mode with a deviation value less than a set threshold is the normal communication mode of communication unit A; communication unit B compares the received communication self-test instructions datal1, datal2, datal3, and datal4 with the communication single-ended self-test instructions, 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 proceeds to 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 unit 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] Furthermore, in the above system, the over-limit judgment and consistency judgment are performed based on 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 a set of data Ds collected by acquisition unit A and data D1 collected by acquisition unit B exceeds the protection threshold; if so, determining that the protection threshold is exceeded, and sending the determination result to the control unit; if not, proceeding to step S73;

[0050] S73. Compare the data collected by acquisition unit A and acquisition unit B one by one. If the difference exceeds the threshold, it is determined that the difference exceeds the threshold. The determination result is sent to the control unit to find the different data. The different data is re-collected. If there are three different data, the machine is stopped for inspection. If the difference does not exceed the threshold, the process proceeds to 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] Furthermore, in the above system, the method for 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. The PS end is processed as a storage unit to store data and as a control unit to perform kinematic planning algorithms and interpolation algorithms. The planned instructions are sent to the PL end of the other part of the chip, so that the heart moves according to the agreed positions of the joints of each arm of the hand, and the arms cooperate with each other, ensuring that it has the characteristics of high-precision control, intelligence, flexibility, and real-time performance.

[0057] (2) The present invention adds a control unit, which mainly performs kinematic planning algorithms and interpolation algorithms, thereby increasing 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 incorporates a synchronous drive unit, which is primarily a drive algorithm that supports multiple functional arms with multiple degrees of freedom, enabling the motor to follow control instructions to rotate multiple functional arms for controlled motion. At the same time, a synchronous control signal is added to the algorithm, thereby improving the synchronization performance of the motor control, enhancing the coordination capability of multiple arms, and improving the servo performance of the surgical robot, as well as the real-time performance and reliability, which is beneficial to the coordinated control of each arm.

[0059] (4) The present invention incorporates a redundant acquisition unit, which facilitates the confirmation of collected data. At the same time, when one acquisition fails, another acquisition can be used to perform the operation instead, thus 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 incorporates a protection unit, and this control system improves the flexibility of the hands, improves surgical accuracy and safety, improves control precision, and reduces harm to the patient;

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

[0063] Figure 1 It 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 flowchart of redundant communication and error correction of the present invention;

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

[0067] Figure 5 It 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 will be further described in detail below with reference to 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 acquisition unit A and acquisition unit B; acquisition unit A and acquisition unit B serve as backup for each other; the protection unit includes protection unit A and protection unit B; protection unit A and protection unit B serve as backup for each other; the communication unit includes communication unit A and communication unit B; communication unit A and communication unit B serve as backup for each other;

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

[0073] a communication unit, which 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 communication unit A and communication unit B. If they are consistent, the external instructions that pass the consistency are received as valid external instructions; otherwise, an error result is sent to the host computer; based on the judgment result sent by the protection unit, it is determined whether to send a drive shutdown instruction to the drive unit; based on the valid external instructions and the functional arm status information collected by the acquisition unit, motion planning is performed and the motion instruction is sent to the drive unit;

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

[0076] A storage unit, used for storing the collected data of the collection unit and the fault mode and 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 based on 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 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 as follows:

[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 points of the motion trajectory of each functional arm are calculated;

[0083] According to the interpolation position point and function of each functional arm, the motion mode of each degree of freedom in each functional arm is determined;

[0084] Determine the motion instructions based on the motion mode of each degree of freedom and the interpolation position points of the motion trajectory of each functional arm;

[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, estimate the distance between the current position and the target position;

[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 instructions, motor motion control instructions are obtained and sent to the motors of the multiple functional arms, specifically:

[0093] According to the functional arm sequence number in the motion instruction, the motion instruction is decomposed into the motor motion control instruction 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 based on the self-test results. 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 the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus in sequence;

[0096] S61. Label the communication self-test instructions received by the communication unit A via the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus as datas1, datas2, datas3, and datas4, respectively; and label the communication self-test instructions received by the communication unit B via 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 host 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. Count 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-test 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, and datas4 with the communication single-ended self-test instructions, and determines that the communication mode with a deviation value less than a set threshold is the normal communication mode of communication unit A; communication unit B compares the received communication self-test instructions datal1, datal2, datal3, and datal4 with the communication single-ended self-test instructions, 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 proceeds to 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 unit 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, based on 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:

[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 a set of data Ds collected by acquisition unit A and data D1 collected by acquisition unit B exceeds the protection threshold; if so, determining that the protection threshold is exceeded, and sending the determination result to the control unit; if not, proceeding to step S73;

[0108] S73. Compare the data collected by acquisition unit A and acquisition unit B one by one. If the difference exceeds the threshold, it is determined that the difference exceeds the threshold. The determination result is sent to the control unit to find the different data. The different data is re-collected. If there are three different data, the machine is stopped for inspection. If the difference does not exceed the threshold, the process proceeds to 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-off 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, the control system comprising: a PL end and a PS end; the PS end comprises a control unit, a collection unit A, a protection unit A, a communication unit A, and a storage unit; the PL end comprises a collection unit B, a protection unit B, a communication unit B, and a drive unit. Figure 1 shown.

[0115] The present invention integrates both the main control and drive algorithms into a single chip. The main control chip is an APSOC chip, which is divided into two parts: a power supply (PS) and a positioning system (PL). The PS acts as a storage unit for data storage and a control unit for kinematic planning and interpolation algorithms. This sends planned instructions to the PL side of the chip, enabling the heart to move according to agreed positions at each joint in each arm, ensuring coordination between the arms and ensuring high-precision control, intelligence, flexibility, and real-time performance. The PL side primarily drives the motors of the multiple functional arms. The two shared functions of the PS and PL are communication with the host computer, data collection from multiple functional arms, and transmission of protection instructions. Each of these three functions serves as a redundant design, improving surgical reliability, reducing failures caused by data collection and communication errors, and enhancing the reliability of the surgical robot. Internal communication between the PS and PL ensures timely operation.

[0116] The control unit receives instructions and performs kinematic planning and interpolation algorithms based on the data from the acquisition unit, sending the planned instructions to the PL terminal. This improves control accuracy, increases response speed, reduces harm to patients, improves the reliability of cardiac surgery, increases the intelligence of the system, and enhances safety and practicality.

[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, and enables the motor to follow 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, 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 performs real-time comparison with the data collected by the PS end, which is conducive to confirming the acquired data. At the same time, when a failure occurs in one acquisition (for example, in three acquisitions, the PS and PL acquisitions are compared with each other. 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 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 failure, 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 types. 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 simultaneously by the PS end and the PL end. The PS end compares whether the data instructions are consistent. If they are consistent, the operation is executed, avoiding surgical problems caused by communication and improving 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 performs over-limit judgment and consistency judgment based on the data of the acquisition unit and 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; thereby improving the reliability and safety performance of the system.

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

[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 terminals (i.e., CAN, ethercat communication, Ethernet communication, and WiFi communication);

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

[0126] (4) Determine whether the data received by the PS and PL terminals 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 units of the PS and PL terminals are consistent. If they are consistent, the collected data is compared with the designed acquisition threshold. If it is 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 the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus in sequence;

[0133] S61. Label the communication self-test instructions received by the communication unit A via the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus as datas1, datas2, datas3, and datas4, respectively; and label the communication self-test instructions received by the communication unit B via 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 host 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 sides 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 the different data, re-collect the different data, and stop the machine for inspection if the difference is three times different; if the difference does not exceed the threshold, go to step (5)

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

[0142] like Figure 5 As shown in Figure 2, the interpolation method is as follows:

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

[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 in the figure, the synchronous control motion method is as follows:

[0149] Determine the function of each functional arm;

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

[0151] Determine the motion pattern for 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 present invention has been described in detail through the above preferred embodiments, it should be understood that the above description is not intended to limit the present invention. After reading the above description, various modifications and substitutions of the present invention will become apparent to those skilled in the art. Therefore, the scope of protection of the present invention should be defined by the appended claims.

[0155] The contents not described in detail in the specification of the present invention belong to the common knowledge of 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 acquisition unit A and acquisition unit B; acquisition unit A and acquisition unit B serve as backup for each other; the protection unit includes protection unit A and protection unit B; protection unit A and protection unit B serve as backup for each other; the communication unit includes communication unit A and communication unit B; communication unit A and communication unit B serve as backup 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 results; sends an external instruction to the communication unit according to the communication mode that is normal; 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, an 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 acquisition 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 of the collection unit and the fault mode and the motion instructions of the control unit; The collecting unit collects 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 based on 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; 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 points of the motion trajectory of each functional arm are calculated; According to the interpolation position point and function of each functional arm, the motion 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.

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 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: 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, estimate the distance between the current position and the target position; 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.

4. 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 instruction, the motion instruction is decomposed into the motor motion control instruction of each functional arm and sent to the motors of multiple functional arms.

5. The intelligent control system of the 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 self-tested normal is determined according to the self-test results. 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 the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus in sequence; S61. Label the communication self-test instructions received by communication unit A via the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus as datas1, datas2, datas3, and datas4, respectively; and label the communication self-test instructions received by communication unit B via the EtherCAT network, Ethernet, WiFi wireless network, and CAN bus as data11, data12, data13, and data14, 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 host 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.

6. 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. Count 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.

7. The intelligent control system of the dexterous cardiac surgery robot according to claim 5, characterized in that: The specific method of performing communication self-test on communication unit A and communication unit B is as follows: S81: Communication unit A compares the received communication self-test instructions datas1, datas2, datas3, and datas4 with the communication single-ended self-test instructions, and determines that the communication mode with a deviation value less than a set threshold is the normal communication mode of communication unit A; communication unit B compares the received communication self-test instructions data11, data12, data13, and data14 with the communication single-ended self-test instructions, 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 proceeds to 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 unit is shut down 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.

8. The intelligent control system of the dexterous cardiac surgery robot according to claim 1, characterized in that: The method of performing over-limit judgment and consistency judgment based on the functional arm status information sent by the acquisition unit, and sending the judgment result and the functional arm status information to the control unit is as follows: 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 a set of data Ds collected by acquisition unit A and data D1 collected by acquisition unit B exceeds the protection threshold; if so, determining that the protection threshold is exceeded, and sending the determination result to the control unit; if not, proceeding to step S73; S73, comparing the data collected by acquisition unit A and acquisition unit B one by one. If the difference exceeds the threshold, it is determined that the difference exceeds the threshold; the determination result is sent to the control unit, and the different data is found. The different data is re-collected. If there are three different data, the machine is stopped for inspection; 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.

9. 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 shutdown drive 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.

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