Control system and method and surgical robot

Abstract

The invention belongs to the technical field of surgical robots, and discloses a control system and method and a surgical robot. The problems that a control system of an existing surgical robot comprises a large number of control devices, occupies a large space and has a large number of wires are solved. The control system comprises a main control module, a driving module and a motor module, the driving module comprises a mother board and a plurality of driving units, the plurality of driving units are integrally connected to the mother board, and the mother board is provided with a bus inlet and a bus outlet; the main control module is connected with the bus inlet; and the motor module is connected with the bus outlet. The plurality of driving units are integrated and connected to the mother board, so that integration and simplification of the plurality of driving units are realized, control signals of the main control module can be issued to the corresponding driving units only from the bus inlet, and then control information is issued to the corresponding motor modules from the bus outlet, so that the occupied space is reduced, and the cost is reduced. The number of wires in the control signal transmission process is reduced, and the reliability of the whole control system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a control system and method thereof, and a surgical robot. Background Art

[0002] The surgical robot is a complex that integrates many modern high-tech technologies. With the extensive clinical application of surgical robots, many medical problems have been solved.

[0003] The master-slave surgical robot system includes a doctor control platform and a patient surgery platform. The doctor control platform is used to send control commands to the patient surgery platform according to the doctor's operations to control the patient surgery platform; the patient surgery platform is used to respond to the control commands sent by the doctor control platform and perform corresponding surgical operations; the core of the patient surgery platform includes a trolley and a robotic arm located on the trolley, and surgical instruments are connected to the end of the robotic arm; in order to ensure that the operation is carried out safely and effectively, the trolley needs to be able to move and adjust the height according to actual needs, and the robotic arm also needs to be adjusted according to actual needs during the operation. This control process requires a large number of drive units and motors to cooperate and implement.

[0004] Taking the example of any robot arm with four joints in the above control system, when the four joints of the robot arm need to be adjusted according to actual needs, at least four drivers and four motors are required for coordinated control. Since the robot arm needs to minimize weight and volume, it is necessary to control the space it occupies to the extreme, and it is necessary to avoid the problem of too many wiring in a small space to create safety hazards. Summary of the invention

[0005] The object of the present invention is to provide a control system and method thereof and a surgical robot to solve the problem that the control system of the existing surgical robot includes more control components occupying a larger space and having more wiring.

[0006] To achieve this object, the present invention adopts the following technical solution: a control system, including a main control module, a drive module and a motor module;

[0007] The driving module includes a motherboard and a plurality of driving units, wherein the plurality of driving units are integrated and connected to the motherboard, and a bus inlet and a bus outlet are configured on the motherboard;

[0008] The main control module is connected to the bus inlet, and the control signal of the main control module can be transmitted to a preset drive module according to a preset path. The motor module is connected to the bus outlet.

[0009] Preferably, a power supply interface and a plurality of power supply circuits are formed on the motherboard;

[0010] The power supply interface introduces power supply to the multiple driving units respectively through the multiple power supply circuits.

[0011] As a preferred embodiment, it also includes a voltage conversion circuit;

[0012] The voltage conversion circuit is connected to the power supply interface, and the voltage conversion circuit is used to convert the power input by the power supply interface.

[0013] Preferably, the motherboard is formed with a plurality of motor encoder detection circuits and a plurality of motor encoder detection interfaces corresponding to the plurality of drive units;

[0014] Each of the driving units is connected to a corresponding motor module via a corresponding motor encoder detection circuit and a motor encoder detection interface.

[0015] Preferably, a plurality of anti-interference circuits are formed on the motherboard;

[0016] The anti-interference circuit includes a plurality of capacitors and resistors, and is used to optimize the signal transmitted from the bus outlet to the motor module.

[0017] Preferably, a ground protection circuit is formed on the motherboard;

[0018] The grounding protection circuit is used to perform grounding protection on the driving module.

[0019] Preferably, a test circuit and a test interface are formed on the motherboard;

[0020] The test interface can be connected to an external host computer to adjust the parameter information of the driving module through the test circuit.

[0021] Preferably, a heat dissipation circuit and a heat dissipation interface are formed on the motherboard;

[0022] The heat dissipation interface is used to connect a heat dissipation device to dissipate heat from the drive module.

[0023] Preferably, the driving unit includes a double row of pins, and the motherboard is correspondingly provided with a double row of sockets;

[0024] The double-row pins are plugged into the double-row sockets.

[0025] A control method includes the control system described above, and the specific steps include:

[0026] Integrate and connect the plurality of driving units to the motherboard;

[0027] connecting the main control module to the bus inlet;

[0028] The motor module is connected to the bus outlet.

[0029] A surgical robot, characterized by comprising the control system described above.

[0030] Beneficial effects of the present invention:

[0031] The control system and method thereof and surgical robot provided by the present invention include a main control module, a drive module and a motor module; the drive module includes a motherboard and a plurality of drive units, the plurality of drive units are integrated and connected to the motherboard, and a bus inlet and a bus outlet are configured on the motherboard; the main control module is connected to the bus inlet, and the control signal of the main control module can be transmitted to the preset drive unit according to the preset path, and the motor module is connected to the bus outlet. By integrating and connecting the plurality of drive units included in the control system to the motherboard, the plurality of drive units are integrated and unified, and the main control module only needs to send a plurality of control signals from the bus inlet to the corresponding drive units respectively, and then send the control information to the corresponding motor module from the bus outlet, thereby reducing the space occupied by the plurality of drive units respectively, and reducing the number of wiring in the control signal transmission process, thereby improving the reliability and safety of the overall control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a block diagram of a control system provided by Embodiment 1 of the present invention;

[0033] Figure 2 is a front view of a driving module provided in Embodiment 1 of the present invention;

[0034] Figure 3 is a front view of a motherboard provided in the first embodiment of the present invention;

[0035] Figure 4 is a schematic structural diagram of a motherboard provided in Embodiment 1 of the present invention;

[0036] Figures 5 to 8 is a circuit diagram of four driving units provided in Embodiment 1 of the present invention;

[0037] Fig. 9 is a circuit diagram of a power supply circuit provided in Embodiment 1 of the present invention;

[0038] Fig.10 is a circuit diagram of a voltage conversion circuit provided in Embodiment 1 of the present invention;

[0039] Figure 11-14 is a circuit diagram of four motor encoder detection circuits provided in Embodiment 1 of the present invention;

[0040] Figure 15-18 is a circuit diagram of four anti-interference circuits provided in Embodiment 1 of the present invention;

[0041] Fig.19 is a circuit diagram of a ground protection circuit provided in Embodiment 1 of the present invention;

[0042] Fig. 20 is a circuit diagram of a test circuit provided in Embodiment 1 of the present invention;

[0043] Fig.21 4 is a circuit diagram of a heat dissipation circuit provided in Embodiment 1 of the present invention.

[0044] In the figure: 10, main control module;

[0045] 20. Drive module; 21. Drive unit; 22. Motherboard; 23. Bus inlet; 24. Bus outlet; 25. Power supply interface; 26. Power supply circuit; 27. Converter circuit; 28. Motor encoder detection interface; 29. ​​Motor encoder detection circuit; 210. Anti-interference circuit; 211. Ground protection circuit; 212. Test circuit; 213. Test interface; 214. Heat dissipation circuit; 215. Heat dissipation interface; 216. Double-row jack;

[0046] 30. Motor module. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0048] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0050] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0051] Embodiment 1

[0052] like Figures 1 to 4 As shown, the control system provided in this embodiment includes a main control module, a drive module 20 and a motor module 30; the drive module 20 includes a motherboard 22 and a plurality of drive units 21, the plurality of drive units 21 are integrated and connected to the motherboard 22, and a bus input 23 and a bus output 24 are configured on the motherboard 22; the main control module 10 is connected to the bus input 23, and the control signal of the main control module 10 can be transmitted to the preset drive unit 21 according to a preset path, and the motor module 30 is connected to the bus output 24.

[0053] Specifically, by integrating and connecting the multiple drive units 21 included in the control system to the motherboard 22, the multiple drive units 21 are integrated and unified. The main control module 10 only needs to send multiple control signals to the corresponding drive units 21 from the bus input 23, and then send the control information to the corresponding motor module 30 from the bus output 24, thereby reducing the space occupied by the multiple drive units 21 and the number of wiring in the control signal transmission process, thereby improving the reliability and safety of the overall control system.

[0054] like Figures 5 to 8As shown, the circuit diagram of four drive units 21; the control system is used as the control system of the wheel hub of the trolley of the patient surgical platform of the surgical robot as an example for explanation; since the trolley has four wheel hubs, four motor modules 30 are required to control its adjustment and movement and other operations; there are four drive units 21 corresponding to the four motor modules 30; therefore, the four drive units 21 are integrated and connected to the motherboard 22 to realize the integration of the four drive units 21; the four drive units 21 are integrated and connected to the motherboard 22 to realize the drive module 20 with four drive units 21 on one motherboard 22, and realize the integration and integration of the drive module 20, thereby reducing the overall occupied area and improving the space utilization rate in the electrical box. It is worth mentioning that the four drive units 21 are integrated into the motherboard 22, and the motherboard 22 is a conventional circuit board. By programming the circuit routing on the circuit board, the motherboard 22 of the four drivers is merged into a board body.

[0055] Among them, multiple drive units 21 are integrated and connected to the motherboard 22. Preferably, the drive unit 21 is a double-row pin-type drive unit 21. The double-row sockets of the motherboard 22 are designed to correspond to the main body connection of the double-row pin-type drive unit 21, and the corresponding circuits are designed on the motherboard 22 to achieve a single double-row pin-type drive unit 21 with functions while occupying a smaller space.

[0056] In this embodiment, the four double-row pin-type drive unit 21 bodies can be respectively plugged into the four groups of double-row sockets of the motherboard 22, so as to realize a direct collective fixed connection between the drive unit 21 and the motherboard 22.

[0057] The main control module 10 is connected to the bus entry 23 , that is, the main control module 10 transmits the control signal of the main control module 10 to the multiple drive units 21 through only one connecting line, thereby reducing the problem of more wiring.

[0058] Among them, the control signal of the main control module 10 can be transmitted to the preset drive unit 21 according to the preset path. Preferably, the drive unit 21 is a driver with an ID address, that is, when the main control module 10 transmits the drive information, the control information is transmitted to the corresponding drive unit 21 according to the corresponding ID address, that is, the data information of the main control module 10 can be transmitted to the preset drive unit 21 according to the preset path; the preset here can be a self-identification ID address of the drive unit 21 pre-programmed in the main control module 10, so as to realize the accurate corresponding transmission process of the data information.

[0059] Among them, the motor module 30 is connected to the bus outlet 24, and the bus outlet 24 is used to connect the control signal transmitted from the drive module 20 to the motor module 30; the multiple motor encoder connections between the drive module 20 and the motor module 30 can be connected to the multiple motor encoders through the multiple motor encoder ports configured on the drive module 20.

[0060] Exemplarily, a power supply interface 25 and a plurality of power supply circuits 26 are formed on the motherboard 22 ; the power supply interface 25 introduces power supply to the plurality of driving units 21 through the plurality of power supply circuits 26 .

[0061] like Fig. 9 As shown, by forming a power supply interface 25 on the motherboard 22, an external power supply can directly power multiple drive units 21 through a power supply interface 25 and multiple power supply circuits 26, thereby avoiding the problem of requiring multiple power supply lines when powering multiple drive units 21, reducing the number of power supply lines, and improving power supply stability.

[0062] In this embodiment, the external power source is preferably AC power, which generally refers to an AC 220 volt voltage; a power supply interface 25 formed on the motherboard 22 transmits the introduced four power supplies to the four drive units 21 respectively to power the four drive units 21.

[0063] like Fig.10 As shown, exemplarily, it also includes a voltage conversion circuit 27; the voltage conversion circuit 27 is connected to the power supply interface 25, and the voltage conversion circuit 27 is used to convert the power input by the power supply interface 25.

[0064] Specifically, the power introduced from the power supply interface 25 is converted by the voltage conversion circuit 27 to match the power supply requirements for various parts of the drive unit 21; for example, the AC power supply can be converted into a 24 volt power supply, and then the 24 volt power supply can be converted into a 5 volt power supply to meet various usage requirements.

[0065] The voltage conversion circuit 27 includes capacitors, resistors, etc. to form a voltage conversion loop, which can convert a higher voltage input into a lower voltage to meet various power supply requirements.

[0066] like Figures 11 to 14 As shown, exemplarily, the motherboard 22 is formed with multiple motor encoder detection circuits 29 and multiple motor encoder detection interfaces 28 corresponding to the multiple drive units 21; each of the drive units 21 is connected to the corresponding motor module 30 through the corresponding motor encoder detection circuit and the motor encoder detection interface.

[0067] Specifically, by forming multiple motor encoder detection circuits 29, the part of the motor with an encoder attached can be detected, such as adding an encoder break detection. This detection can transmit a signal to the main controller when a break occurs, to warn the corresponding position that it cannot move, etc., thereby improving overall safety.

[0068] The motor encoder disconnection detection circuit is shown in Figure 11 to Fig.14 When the driving module 20 has four driving units 21, four motor encoder disconnection detection circuits are configured to detect the disconnection between the corresponding driving units 21 and the motor encoders respectively.

[0069] In this embodiment, the motor module 30 includes four motors and four motor encoders, and therefore four motor encoder detection circuits 29 are configured accordingly. The motor encoder and the drive unit 21 are connected through the motor encoder detection interface 28, and whether there is a wire break during the connection between the drive unit 21 and the motor encoder line is detected to ensure the reliability and safety of signal transmission.

[0070] like Figure 15-18 As shown, exemplarily, a plurality of anti-interference circuits 210 are formed on the motherboard 22 ; the anti-interference circuits 210 include a plurality of capacitors and resistors, and the anti-interference circuits 210 are used to optimize the signal transmitted from the bus outlet 24 to the motor module 30 .

[0071] Specifically, the anti-interference circuit 210 formed by a plurality of capacitors and resistors is used to optimize the signal transmitted from the bus outlet 24 to the motor module 30, filter out interference signals of the transmitted control signal, and ensure the stability of the control signal transmission.

[0072] like Fig.19 As shown, illustratively, a grounding protection circuit 211 is formed on the motherboard 22 ; the grounding protection circuit 211 is used to perform grounding protection on the driving module 20 .

[0073] Specifically, the grounding protection circuit 211 is formed on the motherboard 22 to provide grounding protection for the driving module 20 , thereby preventing the driving module 20 from being affected by electromagnetic interference and other problems, thereby improving the reliability and stability of the overall communication.

[0074] like Fig. 20 As shown, preferably, a test circuit 212 and a test interface 213 are formed on the motherboard 22 ; the test interface 213 can be connected to an external host computer to adjust the parameter information of the driving module 20 through the test circuit 212 .

[0075] Specifically, by means of the test circuit 212 and the test interface 213 formed on the motherboard 22 , the external host computer can adjust the parameter information of the driving module 20 on the motherboard 22 through the test interface 213 , so that the driving module 20 can meet more parameter performance adaptation.

[0076] Specifically, the host computer connected through the test interface 213 can adjust the parameters of the multiple drive units 21 according to the ID address of each drive unit 21 itself, by software programming corresponding to the drive unit 21 to be adjusted after connecting to the host computer.

[0077] like Fig.21 As shown, preferably, a heat dissipation circuit 214 and a heat dissipation interface 215 are formed on the motherboard 22 ; the heat dissipation interface 215 is used to connect a heat dissipation device to dissipate heat from the driving module 20 .

[0078] Specifically, a heat dissipation circuit 214 and a heat dissipation interface 215 are formed on the motherboard 22, and the heat dissipation interface 215 is connected to a heat dissipation device to dissipate heat from the drive module 20, thereby ensuring that the heat generated by the drive module 20 during high-speed operation is dissipated promptly and quickly, thereby ensuring the service life and performance reliability of the overall equipment.

[0079] The heat dissipation device may be a fan or other device that can dissipate heat and has a low cost.

[0080] In this embodiment, four heat dissipation interfaces 215 and four heat dissipation circuits 214 may be formed on the motherboard 22; each heat dissipation interface 215 is connected to a heat dissipation device, and the corresponding heat dissipation device dissipates heat from the driving unit 21 of the driving module 20 to ensure the heat dissipation effect.

[0081] Preferably, the driving unit 21 includes a double row of pins, and the motherboard 22 is correspondingly provided with a double row of sockets 216; the double row of pins is plugged into the double row of sockets.

[0082] Specifically, by plugging the double-row pins included in the driving unit 21 into the double-row sockets 216 configured on the motherboard 22, double-sided plug-in fixation is achieved, the fixing relationship is more stable, and the reliability of the connection relationship between the driving unit 21 and the motherboard 22 is achieved.

[0083] In this embodiment, four drive units 21 correspond to four groups of double-row pins and four groups of double-row sockets 216, and can be symmetrically arranged one by one to meet the requirement of making the volume occupied by the motherboard 22 more reasonable and avoiding the need to increase the area of ​​the larger motherboard 22.

[0084] A control method includes the control system described above, and the specific steps include:

[0085] S1, integrating and connecting the plurality of driving units 21 to the motherboard 22;

[0086] S2, connecting the main control module to the bus inlet 23;

[0087] S3 . Connect the motor module 30 to the bus outlet 24 .

[0088] Specifically, multiple drive units 21 are integrated and connected to the motherboard 22 to achieve integration and unification of the multiple drive units 21; the main control module is then connected to the bus input 23 to transmit the control signal to the multiple drive units 21 through one line, and then connected to the motor module 30 through the bus output 24 to transmit the control signal to the motor module 30, thereby achieving a fast and stable transmission process of the control signal, reducing communication wiring, and improving the reliability and safety of the overall control system.

[0089] A surgical robot, characterized by comprising the above-mentioned control system.

[0090] In this embodiment, the surgical robot includes the above-mentioned control system, which is preferably installed in the control system of the wheel hub of the trolley of the patient surgical platform of the surgical robot. Taking the control of the four wheel hubs of its trolley as an example, four drive units 21 are integrated into a motherboard 22, and the main controller transmits the wheel hub motion information to the corresponding drive unit 21. The corresponding drive unit 21 responds to the control signal and transmits the information to the wheel hub motor to control the wheel hub motion posture.

[0091] Embodiment 2

[0092] The difference between this embodiment and the first embodiment is that the surgical robot includes the above-mentioned control system, and the above-mentioned control system is installed on the wheel hub and the control system of the trolley of the patient surgical platform of the surgical robot for explanation by taking the example of the control system. Since there are four wheel hubs and four struts, the control systems of the four wheel hubs can be designed to be on a motherboard 22, that is, the drive units 21 of the four wheel hubs are plugged into one motherboard 22; the control system of the four struts is designed to be on a motherboard 22, that is, the drive units 21 of the four struts are plugged into one motherboard 22; the control systems of the four wheel hubs and the control systems of the four struts can also be designed to be on one motherboard 22, that is, the four drive units 21 of the wheel hub and the four drive units 21 of the struts are all located on one motherboard 22, so as to realize the integration and integration of control, minimize the space occupied by them and reduce the number of wiring required in the process of transmitting control signals.

[0093] Embodiment 3

[0094] The difference between this embodiment and the first embodiment is that the surgical robot includes the above-mentioned control system, which is installed on the mechanical arm of the patient surgical platform of the surgical robot, each mechanical arm has four joints, each joint has a drive unit 21, and four joints require four drive units 21; the four drive units 21 are all connected to a motherboard 22, and when the posture control of the mechanical arm is realized, the general control only needs to send a control signal to the bus entry 23 on the motherboard 22, and the bus entry 23 matches the ID address of the corresponding drive unit according to the control signal to realize the transmission of the control signal to the corresponding drive unit, and the drive unit then matches the corresponding motor module 30 through the bus exit 24 to complete the control signal transmission process of the entire mechanical arm; it is worth mentioning that the patient surgical platform of the surgical robot includes four mechanical arms, and the four groups of drive units of the four mechanical arms can also be aggregated on a motherboard 22 to realize the integration and unification of the control of the four mechanical arms of the overall patient surgical platform, minimize wiring and occupied space, and improve the reliability and safety of the overall control system.

[0095] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A control system, characterized in that: include: A main control module (10); A driving module (20), the driving module (20) comprising a motherboard (22) and a plurality of driving units (21), the plurality of driving units (21) being integrally connected to the motherboard (22), and the motherboard (22) being provided with a bus inlet (23) and a bus outlet (24); The main control module (10) is connected to the bus entry (23), and the control signal of the main control module (10) can be transmitted to the preset drive module (20) according to a preset path; A motor module (30) is connected to the bus outlet (24).

2. The control system according to claim 1, characterized in that: A power supply interface (25) and a plurality of power supply circuits (26) are formed on the motherboard (22); The power supply interface (25) introduces power supply to the plurality of drive units (21) respectively through the plurality of power supply circuits (26).

3. The control system according to claim 2, characterized in that: It also includes a voltage conversion circuit (27); The voltage conversion circuit (27) is connected to the power supply interface (25), and the voltage conversion circuit (27) is used to convert the power input by the power supply interface (25).

4. The control system according to claim 1, characterized in that: The motherboard (22) is formed with a plurality of motor encoder detection circuits (29) and a plurality of motor encoder detection interfaces (28) corresponding to the plurality of drive units (21); Each of the drive units (21) is connected to a corresponding motor module (30) via a corresponding motor encoder detection circuit (29) and a motor encoder detection interface (28).

5. The control system according to claim 1, characterized in that: A plurality of anti-interference circuits (210) are formed on the motherboard (22); The anti-interference circuit (210) comprises a plurality of capacitors and resistors, and the anti-interference circuit (210) is used to optimize the signal transmitted from the bus outlet to the motor module.

6. The control system according to claim 1, characterized in that: A grounding protection circuit (211) is formed on the motherboard (22); The grounding protection circuit (211) is used to perform grounding protection on the driving module (20).

7. The control system according to claim 1, characterized in that: A test circuit (212) and a test interface (213) are formed on the motherboard (22); The test interface (213) can be externally connected to a host computer to adjust parameter information of the drive module (20) through the test circuit (212).

8. The control system according to claim 1, characterized in that: A heat dissipation circuit (214) and a heat dissipation interface (215) are formed on the motherboard (22); The heat dissipation interface (215) is used to connect a heat dissipation device to dissipate heat from the drive module (20).

9. The control system according to claim 1, characterized in that: The drive unit (21) comprises a double row of pins, and the motherboard (22) is correspondingly provided with a double row of sockets (216); The double-row pins and the double-row sockets (216) are plugged into each other.

10. A control method, characterized in that: The control system according to any one of claims 1 to 9 comprises the following specific steps: Integrating and connecting a plurality of the driving units (21) to the motherboard (22); Connecting the main control module (10) to the bus inlet (23); The motor module (30) is connected to the bus outlet (24).

11. A surgical robot, characterized in that: Comprising a control system as described in any one of claims 1-9.

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